mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-10 02:10:20 +08:00
Add .camke-format.py and format CMakeLists.txt
This commit is contained in:
jj
@@ -0,0 +1,104 @@
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# -----------------------------
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# Options affecting formatting.
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# -----------------------------
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with section("format"):
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# Disable formatting entirely, making cmake-format a no-op
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disable = False
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# How wide to allow formatted cmake files
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line_width = 120
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# How many spaces to tab for indent
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tab_size = 4
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# If true, lines are indented using tab characters (utf-8 0x09) instead of
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# <tab_size> space characters (utf-8 0x20). In cases where the layout would
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# require a fractional tab character, the behavior of the fractional
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# indentation is governed by <fractional_tab_policy>
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use_tabchars = False
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# If <use_tabchars> is True, then the value of this variable indicates how
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# fractional indentions are handled during whitespace replacement. If set to
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# 'use-space', fractional indentation is left as spaces (utf-8 0x20). If set
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# to `round-up` fractional indentation is replaced with a single tab character
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# (utf-8 0x09) effectively shifting the column to the next tabstop
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fractional_tab_policy = 'use-space'
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# If an argument group contains more than this many sub-groups (parg or kwarg
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# groups) then force it to a vertical layout.
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max_subgroups_hwrap = 4
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# If a positional argument group contains more than this many arguments, then
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# force it to a vertical layout.
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max_pargs_hwrap = 6
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# If a cmdline positional group consumes more than this many lines without
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# nesting, then invalidate the layout (and nest)
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max_rows_cmdline = 2
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# If true, separate flow control names from their parentheses with a space
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separate_ctrl_name_with_space = False
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# If true, separate function names from parentheses with a space
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separate_fn_name_with_space = False
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# If a statement is wrapped to more than one line, than dangle the closing
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# parenthesis on its own line.
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dangle_parens = True
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# If the trailing parenthesis must be 'dangled' on its on line, then align it
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# to this reference: `prefix`: the start of the statement, `prefix-indent`:
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# the start of the statement, plus one indentation level, `child`: align to
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# the column of the arguments
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dangle_align = 'prefix'
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# If the statement spelling length (including space and parenthesis) is
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# smaller than this amount, then force reject nested layouts.
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min_prefix_chars = 4
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# If the statement spelling length (including space and parenthesis) is larger
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# than the tab width by more than this amount, then force reject un-nested
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# layouts.
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max_prefix_chars = 10
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# If a candidate layout is wrapped horizontally but it exceeds this many
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# lines, then reject the layout.
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max_lines_hwrap = 2
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# What style line endings to use in the output.
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line_ending = 'unix'
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# Format command names consistently as 'lower' or 'upper' case
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command_case = 'canonical'
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# Format keywords consistently as 'lower' or 'upper' case
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keyword_case = 'unchanged'
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# A list of command names which should always be wrapped
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always_wrap = []
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# If true, the argument lists which are known to be sortable will be sorted
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# lexicographicall
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enable_sort = True
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# If true, the parsers may infer whether or not an argument list is sortable
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# (without annotation).
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autosort = False
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# By default, if cmake-format cannot successfully fit everything into the
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# desired linewidth it will apply the last, most agressive attempt that it
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# made. If this flag is True, however, cmake-format will print error, exit
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# with non-zero status code, and write-out nothing
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require_valid_layout = False
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# A dictionary mapping layout nodes to a list of wrap decisions. See the
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# documentation for more information.
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layout_passes = {}
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# -----------------------------
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# Options affecting comment formatting (indirectly).
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# -----------------------------
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with section("markup"):
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# Disabling markup avoids merging consecutive comment lines
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enable_markup = False
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+149
-191
@@ -11,204 +11,179 @@ set(CMAKE_BUILD_TYPE "Release")
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option(USE_RK_HW_DECODER "Use Rockchip hardware decoder" OFF)
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option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
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if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
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endif ()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
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endif()
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# Check if ROS Jazzy or iron is installed
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if ("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
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add_compile_definitions(ROS_JAZZY)
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elseif ("$ENV{ROS_DISTRO}" STREQUAL "iron")
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add_compile_definitions(ROS_IRON)
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endif ()
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if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
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add_compile_definitions(ROS_JAZZY)
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elseif("$ENV{ROS_DISTRO}" STREQUAL "iron")
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add_compile_definitions(ROS_IRON)
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endif()
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# find dependencies
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set(dependencies
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ament_cmake
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ament_index_cpp
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Eigen3
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builtin_interfaces
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cv_bridge
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backward_ros
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camera_info_manager
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image_transport
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image_publisher
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OpenCV
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orbbec_camera_msgs
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rclcpp
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rclcpp_components
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sensor_msgs
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std_msgs
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std_srvs
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tf2
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tf2_eigen
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tf2_msgs
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tf2_ros
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tf2_sensor_msgs
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Threads
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diagnostic_updater
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diagnostic_msgs
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statistics_msgs
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ament_cmake
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ament_index_cpp
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Eigen3
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builtin_interfaces
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cv_bridge
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backward_ros
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camera_info_manager
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image_transport
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image_publisher
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OpenCV
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orbbec_camera_msgs
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rclcpp
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rclcpp_components
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sensor_msgs
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std_msgs
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std_srvs
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tf2
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tf2_eigen
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tf2_msgs
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tf2_ros
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tf2_sensor_msgs
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Threads
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diagnostic_updater
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diagnostic_msgs
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statistics_msgs
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)
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foreach (dep IN LISTS dependencies)
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find_package(${dep} REQUIRED)
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endforeach ()
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foreach(dep IN LISTS dependencies)
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find_package(${dep} REQUIRED)
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endforeach()
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find_package(PkgConfig REQUIRED)
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if (USE_RK_HW_DECODER)
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pkg_search_module(RK_MPP REQUIRED rockchip_mpp)
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if (NOT RK_MPP_FOUND)
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message(FATAL_ERROR "rockchip_mpp is not found")
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endif ()
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pkg_search_module(RGA librga)
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if (NOT RGA_FOUND)
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add_definitions(-DUSE_LIBYUV)
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message("librga is not found, use libyuv instead")
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endif ()
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endif ()
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if(USE_RK_HW_DECODER)
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pkg_search_module(RK_MPP REQUIRED rockchip_mpp)
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if(NOT RK_MPP_FOUND)
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message(FATAL_ERROR "rockchip_mpp is not found")
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endif()
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pkg_search_module(RGA librga)
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if(NOT RGA_FOUND)
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add_definitions(-DUSE_LIBYUV)
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message("librga is not found, use libyuv instead")
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endif()
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endif()
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execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES)
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execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT)
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message(STATUS "ORRBEC Machine : ${MACHINES}")
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message(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}")
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if ((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64"))
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set(HOST_PLATFORM "x64")
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elseif (${MACHINES} MATCHES "arm" OR (${MACHINES} MATCHES "aarch64" AND ${MACHINES_BIT} MATCHES "32"))
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message(FATAL_ERROR "ORBBEC SDK does not support arm32")
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set(HOST_PLATFORM "arm32")
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elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64"))
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set(HOST_PLATFORM "arm64")
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endif ()
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if((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64"))
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set(HOST_PLATFORM "x64")
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elseif(${MACHINES} MATCHES "arm" OR (${MACHINES} MATCHES "aarch64" AND ${MACHINES_BIT} MATCHES "32"))
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message(FATAL_ERROR "ORBBEC SDK does not support arm32")
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set(HOST_PLATFORM "arm32")
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elseif((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64"))
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set(HOST_PLATFORM "arm64")
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endif()
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set(ORBBEC_LIBS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/lib/${HOST_PLATFORM})
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set(ORBBEC_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/include/)
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set(CMAKE_BUILD_RPATH "${CMAKE_BUILD_RPATH}:${ORBBEC_LIBS_DIR}")
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set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_RPATH}:${ORBBEC_LIBS_DIR}")
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if (USE_NV_HW_DECODER)
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set(JETSON_MULTI_MEDIA_API_DIR /usr/src/jetson_multimedia_api)
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set(JETSON_MULTI_MEDIA_API_CLASS_DIR ${JETSON_MULTI_MEDIA_API_DIR}/samples/common/classes)
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set(JETSON_MULTI_MEDIA_API_INCLUDE_DIR ${JETSON_MULTI_MEDIA_API_DIR}/include/)
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set(LIBJPEG8B_INCLUDE_DIR ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR}/libjpeg-8b)
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set(TEGRA_ARMABI /usr/lib/aarch64-linux-gnu/)
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add_definitions(-DUSE_NV_HW_DECODER)
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add_compile_options(-Wno-missing-field-initializers -Wno-unused-parameter)
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set(NV_LIBRARIES
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-lnvjpeg -lnvbufsurface -lnvbufsurftransform -lyuv -lv4l2
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)
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list(APPEND NV_LIBRARIES
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-L${TEGRA_ARMABI} -L${TEGRA_ARMABI}/tegra)
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endif ()
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if(USE_NV_HW_DECODER)
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set(JETSON_MULTI_MEDIA_API_DIR /usr/src/jetson_multimedia_api)
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set(JETSON_MULTI_MEDIA_API_CLASS_DIR ${JETSON_MULTI_MEDIA_API_DIR}/samples/common/classes)
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set(JETSON_MULTI_MEDIA_API_INCLUDE_DIR ${JETSON_MULTI_MEDIA_API_DIR}/include/)
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set(LIBJPEG8B_INCLUDE_DIR ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR}/libjpeg-8b)
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set(TEGRA_ARMABI /usr/lib/aarch64-linux-gnu/)
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add_definitions(-DUSE_NV_HW_DECODER)
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add_compile_options(-Wno-missing-field-initializers -Wno-unused-parameter)
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set(NV_LIBRARIES -lnvjpeg -lnvbufsurface -lnvbufsurftransform -lyuv -lv4l2)
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list(APPEND NV_LIBRARIES -L${TEGRA_ARMABI} -L${TEGRA_ARMABI}/tegra)
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endif()
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set(COMMON_INCLUDE_DIRS
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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${ORBBEC_INCLUDE_DIR}
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${OpenCV_INCLUDED_DIRS}
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${CMAKE_CURRENT_SOURCE_DIR}/tools
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include> ${ORBBEC_INCLUDE_DIR} ${OpenCV_INCLUDED_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/tools
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)
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set(COMMON_LIBRARIES
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${ORBBEC_SDK_LIBRARIES}
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${OpenCV_LIBS}
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Eigen3::Eigen
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-lOrbbecSDK
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-L${ORBBEC_LIBS_DIR}
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Threads::Threads
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-lrt
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-ldw
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${ORBBEC_SDK_LIBRARIES}
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${OpenCV_LIBS}
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Eigen3::Eigen
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-lOrbbecSDK
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-L${ORBBEC_LIBS_DIR}
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Threads::Threads
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-lrt
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-ldw
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)
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if (USE_RK_HW_DECODER)
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list(APPEND COMMON_LIBRARIES
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${RK_MPP_LIBRARIES}
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${RGA_LIBRARIES}
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)
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if(USE_RK_HW_DECODER)
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list(APPEND COMMON_LIBRARIES ${RK_MPP_LIBRARIES} ${RGA_LIBRARIES})
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endif ()
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if (USE_NV_HW_DECODER)
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list(APPEND COMMON_LIBRARIES
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${NV_LIBRARIES})
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endif ()
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endif()
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if(USE_NV_HW_DECODER)
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list(APPEND COMMON_LIBRARIES ${NV_LIBRARIES})
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endif()
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set(SOURCE_FILES
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src/d2c_viewer.cpp
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src/dynamic_params.cpp
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src/image_publisher.cpp
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src/ob_camera_node_driver.cpp
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src/ob_camera_node.cpp
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src/ros_param_backend.cpp
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src/ros_service.cpp
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src/synced_imu_publisher.cpp
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src/utils.cpp
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src/jpeg_decoder.cpp
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src/d2c_viewer.cpp
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src/dynamic_params.cpp
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src/image_publisher.cpp
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src/ob_camera_node_driver.cpp
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src/ob_camera_node.cpp
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src/ros_param_backend.cpp
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src/ros_service.cpp
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src/synced_imu_publisher.cpp
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src/utils.cpp
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src/jpeg_decoder.cpp
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)
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if (USE_RK_HW_DECODER)
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add_definitions(-DUSE_RK_HW_DECODER)
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list(APPEND SOURCE_FILES src/rk_mpp_decoder.cpp)
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list(APPEND COMMON_INCLUDE_DIRS
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${RK_MPP_INCLUDE_DIRS}
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${RGA_INCLUDE_DIRS}
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)
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list(APPEND COMMON_LIBRARIES
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${RGA_LIBRARIES}
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${RK_MPP_LIBRARIES}
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)
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if (NOT RGA_FOUND)
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list(APPEND COMMON_LIBRARIES
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-lyuv
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)
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||||
endif ()
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endif ()
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if(USE_RK_HW_DECODER)
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add_definitions(-DUSE_RK_HW_DECODER)
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list(APPEND SOURCE_FILES src/rk_mpp_decoder.cpp)
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list(APPEND COMMON_INCLUDE_DIRS ${RK_MPP_INCLUDE_DIRS} ${RGA_INCLUDE_DIRS})
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list(APPEND COMMON_LIBRARIES ${RGA_LIBRARIES} ${RK_MPP_LIBRARIES})
|
||||
if(NOT RGA_FOUND)
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||||
list(APPEND COMMON_LIBRARIES -lyuv)
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||||
endif()
|
||||
endif()
|
||||
|
||||
if (USE_NV_HW_DECODER)
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||||
list(APPEND SOURCE_FILES src/jetson_nv_decoder.cpp)
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list(APPEND COMMON_INCLUDE_DIRS ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR}
|
||||
${LIBJPEG8B_INCLUDE_DIR})
|
||||
# append jetson_multimedia_api source files
|
||||
list(APPEND SOURCE_FILES
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||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBuffer.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElement.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElementProfiler.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegDecoder.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegEncoder.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvLogging.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvUtils.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2Element.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2ElementPlane.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoDecoder.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoEncoder.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBufSurface.cpp
|
||||
)
|
||||
endif ()
|
||||
if(USE_NV_HW_DECODER)
|
||||
list(APPEND SOURCE_FILES src/jetson_nv_decoder.cpp)
|
||||
list(APPEND COMMON_INCLUDE_DIRS ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR} ${LIBJPEG8B_INCLUDE_DIR})
|
||||
# append jetson_multimedia_api source files
|
||||
list(
|
||||
APPEND
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||||
SOURCE_FILES
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBuffer.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElement.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElementProfiler.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegDecoder.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegEncoder.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvLogging.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvUtils.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2Element.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2ElementPlane.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoDecoder.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoEncoder.cpp
|
||||
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBufSurface.cpp
|
||||
)
|
||||
endif()
|
||||
|
||||
macro(add_orbbec_executable TARGET SOURCE)
|
||||
add_executable(${TARGET} ${SOURCE})
|
||||
target_include_directories(${TARGET} PUBLIC ${COMMON_INCLUDE_DIRS})
|
||||
target_link_libraries(${TARGET} ${COMMON_LIBRARIES} ${PROJECT_NAME})
|
||||
ament_target_dependencies(${TARGET} ${dependencies})
|
||||
add_executable(${TARGET} ${SOURCE})
|
||||
target_include_directories(${TARGET} PUBLIC ${COMMON_INCLUDE_DIRS})
|
||||
target_link_libraries(${TARGET} ${COMMON_LIBRARIES} ${PROJECT_NAME})
|
||||
ament_target_dependencies(${TARGET} ${dependencies})
|
||||
endmacro()
|
||||
|
||||
# Define library and nodes
|
||||
add_library(${PROJECT_NAME} SHARED
|
||||
${SOURCE_FILES}
|
||||
)
|
||||
add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES})
|
||||
|
||||
ament_target_dependencies(${PROJECT_NAME} ${dependencies})
|
||||
target_include_directories(${PROJECT_NAME} PUBLIC ${COMMON_INCLUDE_DIRS})
|
||||
target_link_libraries(${PROJECT_NAME} ${COMMON_LIBRARIES})
|
||||
|
||||
|
||||
rclcpp_components_register_node(${PROJECT_NAME}
|
||||
PLUGIN "orbbec_camera::OBCameraNodeDriver"
|
||||
EXECUTABLE orbbec_camera_node
|
||||
rclcpp_components_register_node(
|
||||
${PROJECT_NAME} PLUGIN "orbbec_camera::OBCameraNodeDriver" EXECUTABLE orbbec_camera_node
|
||||
)
|
||||
# Add nodes using the macro
|
||||
add_orbbec_executable(list_devices_node tools/list_devices_node.cpp)
|
||||
@@ -222,41 +197,29 @@ target_include_directories(frame_latency PUBLIC ${COMMON_INCLUDE_DIRS})
|
||||
target_link_libraries(frame_latency ${COMMON_LIBRARIES})
|
||||
ament_target_dependencies(frame_latency ${dependencies})
|
||||
|
||||
rclcpp_components_register_node(frame_latency
|
||||
PLUGIN "orbbec_camera::FrameLatencyNode"
|
||||
EXECUTABLE frame_latency_node
|
||||
)
|
||||
rclcpp_components_register_node(frame_latency PLUGIN "orbbec_camera::FrameLatencyNode" EXECUTABLE frame_latency_node)
|
||||
|
||||
add_library(start_benchmark SHARED tools/start_benchmark.cpp)
|
||||
target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS})
|
||||
target_link_libraries(start_benchmark ${COMMON_LIBRARIES})
|
||||
ament_target_dependencies(start_benchmark ${dependencies})
|
||||
|
||||
rclcpp_components_register_node(start_benchmark
|
||||
PLUGIN "orbbec_camera::tools::StartBenchmark"
|
||||
EXECUTABLE start_benchmark_node
|
||||
rclcpp_components_register_node(
|
||||
start_benchmark PLUGIN "orbbec_camera::tools::StartBenchmark" EXECUTABLE start_benchmark_node
|
||||
)
|
||||
|
||||
add_library(multi_save_rgbir SHARED
|
||||
tools/multi_save_rgbir.cpp
|
||||
src/utils.cpp
|
||||
)
|
||||
target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS} )
|
||||
add_library(multi_save_rgbir SHARED tools/multi_save_rgbir.cpp src/utils.cpp)
|
||||
target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS})
|
||||
target_link_libraries(multi_save_rgbir ${COMMON_LIBRARIES})
|
||||
ament_target_dependencies(multi_save_rgbir ${dependencies})
|
||||
|
||||
rclcpp_components_register_node(multi_save_rgbir
|
||||
PLUGIN "orbbec_camera::tools::MultiCameraSubscriber"
|
||||
EXECUTABLE multi_save_rgbir_node
|
||||
rclcpp_components_register_node(
|
||||
multi_save_rgbir PLUGIN "orbbec_camera::tools::MultiCameraSubscriber" EXECUTABLE multi_save_rgbir_node
|
||||
)
|
||||
|
||||
# Install rules
|
||||
install(TARGETS ${PROJECT_NAME} frame_latency
|
||||
start_benchmark
|
||||
multi_save_rgbir
|
||||
ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib
|
||||
RUNTIME DESTINATION bin
|
||||
install(TARGETS ${PROJECT_NAME} frame_latency start_benchmark multi_save_rgbir ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib RUNTIME DESTINATION bin
|
||||
)
|
||||
|
||||
install(DIRECTORY include/ DESTINATION include)
|
||||
@@ -266,24 +229,19 @@ install(DIRECTORY examples DESTINATION share/${PROJECT_NAME}/)
|
||||
install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include)
|
||||
install(DIRECTORY ${ORBBEC_LIBS_DIR}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*")
|
||||
install(DIRECTORY ${ORBBEC_LIBS_DIR}/extensions DESTINATION lib/)
|
||||
if (DEFINED ENV{BUILDING_PACKAGE})
|
||||
# Install udev rules
|
||||
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules
|
||||
DESTINATION /etc/udev/rules.d
|
||||
)
|
||||
endif ()
|
||||
if(DEFINED ENV{BUILDING_PACKAGE})
|
||||
# Install udev rules
|
||||
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules DESTINATION /etc/udev/rules.d)
|
||||
endif()
|
||||
|
||||
install(TARGETS list_devices_node
|
||||
list_depth_work_mode_node
|
||||
list_camera_profile_mode_node
|
||||
topic_statistics_node
|
||||
ob_benchmark_node
|
||||
DESTINATION lib/${PROJECT_NAME}/)
|
||||
install(TARGETS list_devices_node list_depth_work_mode_node list_camera_profile_mode_node topic_statistics_node
|
||||
ob_benchmark_node DESTINATION lib/${PROJECT_NAME}/
|
||||
)
|
||||
|
||||
if (BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif ()
|
||||
if(BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif()
|
||||
|
||||
ament_export_include_directories(include ${ORBBEC_INCLUDE_DIR})
|
||||
ament_export_libraries(${PROJECT_NAME})
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(orbbec_camera_msgs)
|
||||
|
||||
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||
endif ()
|
||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||
endif()
|
||||
|
||||
# find dependencies
|
||||
find_package(ament_cmake REQUIRED)
|
||||
@@ -14,34 +14,36 @@ find_package(std_msgs REQUIRED)
|
||||
# further dependencies manually.
|
||||
# find_package(<dependency> REQUIRED)
|
||||
|
||||
rosidl_generate_interfaces(${PROJECT_NAME}
|
||||
"msg/DeviceInfo.msg"
|
||||
"msg/Extrinsics.msg"
|
||||
"msg/Metadata.msg"
|
||||
"msg/IMUInfo.msg"
|
||||
"msg/RGBD.msg"
|
||||
"srv/GetBool.srv"
|
||||
"srv/GetDeviceInfo.srv"
|
||||
"srv/GetCameraInfo.srv"
|
||||
"srv/GetInt32.srv"
|
||||
"srv/GetString.srv"
|
||||
"srv/SetFilter.srv"
|
||||
"srv/SetInt32.srv"
|
||||
"srv/SetString.srv"
|
||||
"srv/SetArrays.srv"
|
||||
DEPENDENCIES
|
||||
sensor_msgs
|
||||
std_msgs)
|
||||
rosidl_generate_interfaces(
|
||||
${PROJECT_NAME}
|
||||
"msg/DeviceInfo.msg"
|
||||
"msg/Extrinsics.msg"
|
||||
"msg/Metadata.msg"
|
||||
"msg/IMUInfo.msg"
|
||||
"msg/RGBD.msg"
|
||||
"srv/GetBool.srv"
|
||||
"srv/GetDeviceInfo.srv"
|
||||
"srv/GetCameraInfo.srv"
|
||||
"srv/GetInt32.srv"
|
||||
"srv/GetString.srv"
|
||||
"srv/SetFilter.srv"
|
||||
"srv/SetInt32.srv"
|
||||
"srv/SetString.srv"
|
||||
"srv/SetArrays.srv"
|
||||
DEPENDENCIES
|
||||
sensor_msgs
|
||||
std_msgs
|
||||
)
|
||||
|
||||
if (BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
# the following line skips the linter which checks for copyrights
|
||||
# uncomment the line when a copyright and license is not present in all source files
|
||||
#set(ament_cmake_copyright_FOUND TRUE)
|
||||
# the following line skips cpplint (only works in a git repo)
|
||||
# uncomment the line when this package is not in a git repo
|
||||
#set(ament_cmake_cpplint_FOUND TRUE)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif ()
|
||||
if(BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
# the following line skips the linter which checks for copyrights
|
||||
# uncomment the line when a copyright and license is not present in all source files
|
||||
#set(ament_cmake_copyright_FOUND TRUE)
|
||||
# the following line skips cpplint (only works in a git repo)
|
||||
# uncomment the line when this package is not in a git repo
|
||||
#set(ament_cmake_cpplint_FOUND TRUE)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif()
|
||||
|
||||
ament_package()
|
||||
|
||||
@@ -4,11 +4,6 @@ project(orbbec_description)
|
||||
find_package(ament_cmake REQUIRED)
|
||||
|
||||
# Install files
|
||||
install(DIRECTORY
|
||||
launch
|
||||
meshes
|
||||
urdf
|
||||
rviz
|
||||
DESTINATION share/${PROJECT_NAME})
|
||||
install(DIRECTORY launch meshes urdf rviz DESTINATION share/${PROJECT_NAME})
|
||||
|
||||
ament_package()
|
||||
|
||||
Reference in New Issue
Block a user