Add ros wapper

.gitignore

@@ -11,3 +11,11 @@ _output/
 /*WARNING*
 /*ERROR*
 /*FATAL*
+
+# ros
+
+/wrappers/ros/build
+/wrappers/ros/devel
+/wrappers/ros/install
+/wrappers/ros/.catkin_workspace
+/wrappers/ros/src/CMakeLists.txt

Makefile

@@ -12,6 +12,7 @@ help:
 	@echo "  make test            build test and run"
 	@echo "  make install         install project"
 	@echo "  make samples         build samples"
+	@echo "  make ros             build ros wrapper"
 	@echo "  make clean|cleanall  clean generated or useless things"
 
 .PHONY: help
@@ -89,9 +90,27 @@ samples: install
 
 .PHONY: samples
 
+# ros
+
+ros: install
+	@$(call echo,Make $@)
+	@cd ./wrappers/ros && catkin_make
+
+.PHONY: ros
+
+cleanros:
+	@$(call echo,Make $@)
+	@$(call rm,./wrappers/ros/build/)
+	@$(call rm,./wrappers/ros/devel/)
+	@$(call rm,./wrappers/ros/install/)
+	@$(call rm,./wrappers/ros/.catkin_workspace)
+	@$(call rm,./wrappers/ros/src/CMakeLists.txt)
+
+.PHONY: cleanros
+
 # clean
 
-clean:
+clean: cleanros
 	@$(call echo,Make $@)
 	@$(call rm,./_build/)
 	@$(call rm,./_output/)
@@ -102,19 +121,19 @@ clean:
 	@$(call rm,./test/_output/)
 	@$(MAKE) cleanlog
 
-cleanall: clean
-	@$(call rm,./doc/_output/)
-	@$(call rm,./test/gtest/_build/)
-	@$(call rm,./third_party/glog/_build/)
-	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
-
 cleanlog:
 	@$(call rm_f,*INFO*)
 	@$(call rm_f,*WARNING*)
 	@$(call rm_f,*ERROR*)
 	@$(call rm_f,*FATAL*)
 
-.PHONY: clean cleanall cleanlog
+cleanall: clean cleanlog
+	@$(call rm,./doc/_output/)
+	@$(call rm,./test/gtest/_build/)
+	@$(call rm,./third_party/glog/_build/)
+	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
+
+.PHONY: clean cleanlog cleanall
 
 # others
 

wrappers/README.md

@@ -1 +1,15 @@
 # Wrappers for MYNT® EYE SDK
+
+## MYNT EYE ROS Wrapper
+
+### Build
+
+```bash
+cd <sdk>
+make ros
+```
+
+### Run
+
+```bash
+```

wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt

@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mynt_eye_ros_wrapper)
+
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+function(checkPackage package customMessage)
+  set(varName "${package}_FOUND")
+  if (NOT "${${varName}}")
+    string(REPLACE "_" "-" aptPackage ${package})
+    if("${customMessage}" STREQUAL "")
+      message(FATAL_ERROR "\n\n ${package} is missing, please try to install it with:\n sudo apt-get install ros-$(rosversion -d)-${aptPackage}\n\n")
+    else()
+      message(FATAL_ERROR "\n\n ${customMessage} \n\n")
+    endif()
+  endif()
+endfunction(checkPackage)
+
+find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
+  image_transport
+  nodelet
+  roscpp
+  sensor_msgs
+  std_msgs
+)
+
+checkPackage("cv_bridge" "")
+checkPackage("image_transport" "")
+checkPackage("nodelet" "")
+checkPackage("roscpp" "")
+checkPackage("sensor_msgs" "")
+checkPackage("std_msgs" "")
+
+catkin_package(
+  CATKIN_DEPENDS cv_bridge image_transport nodelet roscpp sensor_msgs std_msgs
+)
+
+# Build
+
+add_compile_options(-std=c++11)
+
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+# Install
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(DIRECTORY rviz
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)

wrappers/ros/src/mynt_eye_ros_wrapper/package.xml

@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mynt_eye_ros_wrapper</name>
+  <version>0.0.0</version>
+  <description>The mynt eye ros wrapper package</description>
+
+  <maintainer email="johnzhao@slightech.com">John Zhao</maintainer>
+
+  <license>Slightech License</license>
+
+  <!-- <url type="website">http://wiki.ros.org/mynt_eye_ros_wrapper</url> -->
+
+  <author email="johnzhao@slightech.com">John Zhao</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>nodelet</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <build_export_depend>cv_bridge</build_export_depend>
+  <build_export_depend>image_transport</build_export_depend>
+  <build_export_depend>nodelet</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>nodelet</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+  </export>
+</package>