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Add .camke-format.py and format CMakeLists.txt

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This commit is contained in:
jj
2025-06-25 17:17:50 +08:00
parent 9e1ba961d3
commit 0b09209c29
4 changed files with 287 additions and 228 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.cmake-format.py
+104
View File
@@ -0,0 +1,104 @@
# -----------------------------
# Options affecting formatting.
# -----------------------------
with section("format"):
# Disable formatting entirely, making cmake-format a no-op
disable = False
# How wide to allow formatted cmake files
line_width = 120
# How many spaces to tab for indent
tab_size = 4
# If true, lines are indented using tab characters (utf-8 0x09) instead of
# <tab_size> space characters (utf-8 0x20). In cases where the layout would
# require a fractional tab character, the behavior of the fractional
# indentation is governed by <fractional_tab_policy>
use_tabchars = False
# If <use_tabchars> is True, then the value of this variable indicates how
# fractional indentions are handled during whitespace replacement. If set to
# 'use-space', fractional indentation is left as spaces (utf-8 0x20). If set
# to `round-up` fractional indentation is replaced with a single tab character
# (utf-8 0x09) effectively shifting the column to the next tabstop
fractional_tab_policy = 'use-space'
# If an argument group contains more than this many sub-groups (parg or kwarg
# groups) then force it to a vertical layout.
max_subgroups_hwrap = 4
# If a positional argument group contains more than this many arguments, then
# force it to a vertical layout.
max_pargs_hwrap = 6
# If a cmdline positional group consumes more than this many lines without
# nesting, then invalidate the layout (and nest)
max_rows_cmdline = 2
# If true, separate flow control names from their parentheses with a space
separate_ctrl_name_with_space = False
# If true, separate function names from parentheses with a space
separate_fn_name_with_space = False
# If a statement is wrapped to more than one line, than dangle the closing
# parenthesis on its own line.
dangle_parens = True
# If the trailing parenthesis must be 'dangled' on its on line, then align it
# to this reference: `prefix`: the start of the statement, `prefix-indent`:
# the start of the statement, plus one indentation level, `child`: align to
# the column of the arguments
dangle_align = 'prefix'
# If the statement spelling length (including space and parenthesis) is
# smaller than this amount, then force reject nested layouts.
min_prefix_chars = 4
# If the statement spelling length (including space and parenthesis) is larger
# than the tab width by more than this amount, then force reject un-nested
# layouts.
max_prefix_chars = 10
# If a candidate layout is wrapped horizontally but it exceeds this many
# lines, then reject the layout.
max_lines_hwrap = 2
# What style line endings to use in the output.
line_ending = 'unix'
# Format command names consistently as 'lower' or 'upper' case
command_case = 'canonical'
# Format keywords consistently as 'lower' or 'upper' case
keyword_case = 'unchanged'
# A list of command names which should always be wrapped
always_wrap = []
# If true, the argument lists which are known to be sortable will be sorted
# lexicographicall
enable_sort = True
# If true, the parsers may infer whether or not an argument list is sortable
# (without annotation).
autosort = False
# By default, if cmake-format cannot successfully fit everything into the
# desired linewidth it will apply the last, most agressive attempt that it
# made. If this flag is True, however, cmake-format will print error, exit
# with non-zero status code, and write-out nothing
require_valid_layout = False
# A dictionary mapping layout nodes to a list of wrap decisions. See the
# documentation for more information.
layout_passes = {}
# -----------------------------
# Options affecting comment formatting (indirectly).
# -----------------------------
with section("markup"):
# Disabling markup avoids merging consecutive comment lines
enable_markup = False
orbbec_camera/CMakeLists.txt
+149 -191
View File
@@ -11,204 +11,179 @@ set(CMAKE_BUILD_TYPE "Release")
option(USE_RK_HW_DECODER "Use Rockchip hardware decoder" OFF) option(USE_RK_HW_DECODER "Use Rockchip hardware decoder" OFF)
option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF) option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds) add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
endif () endif()
# Check if ROS Jazzy or iron is installed # Check if ROS Jazzy or iron is installed
if ("$ENV{ROS_DISTRO}" STREQUAL "jazzy") if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
add_compile_definitions(ROS_JAZZY) add_compile_definitions(ROS_JAZZY)
elseif ("$ENV{ROS_DISTRO}" STREQUAL "iron") elseif("$ENV{ROS_DISTRO}" STREQUAL "iron")
add_compile_definitions(ROS_IRON) add_compile_definitions(ROS_IRON)
endif () endif()
# find dependencies # find dependencies
set(dependencies set(dependencies
ament_cmake ament_cmake
ament_index_cpp ament_index_cpp
Eigen3 Eigen3
builtin_interfaces builtin_interfaces
cv_bridge cv_bridge
backward_ros backward_ros
camera_info_manager camera_info_manager
image_transport image_transport
image_publisher image_publisher
OpenCV OpenCV
orbbec_camera_msgs orbbec_camera_msgs
rclcpp rclcpp
rclcpp_components rclcpp_components
sensor_msgs sensor_msgs
std_msgs std_msgs
std_srvs std_srvs
tf2 tf2
tf2_eigen tf2_eigen
tf2_msgs tf2_msgs
tf2_ros tf2_ros
tf2_sensor_msgs tf2_sensor_msgs
Threads Threads
diagnostic_updater diagnostic_updater
diagnostic_msgs diagnostic_msgs
statistics_msgs statistics_msgs
) )
foreach (dep IN LISTS dependencies) foreach(dep IN LISTS dependencies)
find_package(${dep} REQUIRED) find_package(${dep} REQUIRED)
endforeach () endforeach()
find_package(PkgConfig REQUIRED) find_package(PkgConfig REQUIRED)
if(USE_RK_HW_DECODER)
if (USE_RK_HW_DECODER) pkg_search_module(RK_MPP REQUIRED rockchip_mpp)
pkg_search_module(RK_MPP REQUIRED rockchip_mpp) if(NOT RK_MPP_FOUND)
if (NOT RK_MPP_FOUND) message(FATAL_ERROR "rockchip_mpp is not found")
message(FATAL_ERROR "rockchip_mpp is not found") endif()
endif () pkg_search_module(RGA librga)
pkg_search_module(RGA librga) if(NOT RGA_FOUND)
if (NOT RGA_FOUND) add_definitions(-DUSE_LIBYUV)
add_definitions(-DUSE_LIBYUV) message("librga is not found, use libyuv instead")
message("librga is not found, use libyuv instead") endif()
endif () endif()
endif ()
execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES) execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES)
execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT) execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT)
message(STATUS "ORRBEC Machine : ${MACHINES}") message(STATUS "ORRBEC Machine : ${MACHINES}")
message(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}") message(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}")
if ((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64")) if((${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64"))
set(HOST_PLATFORM "x64") set(HOST_PLATFORM "x64")
elseif (${MACHINES} MATCHES "arm" OR (${MACHINES} MATCHES "aarch64" AND ${MACHINES_BIT} MATCHES "32")) elseif(${MACHINES} MATCHES "arm" OR (${MACHINES} MATCHES "aarch64" AND ${MACHINES_BIT} MATCHES "32"))
message(FATAL_ERROR "ORBBEC SDK does not support arm32") message(FATAL_ERROR "ORBBEC SDK does not support arm32")
set(HOST_PLATFORM "arm32") set(HOST_PLATFORM "arm32")
elseif ((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64")) elseif((${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64"))
set(HOST_PLATFORM "arm64") set(HOST_PLATFORM "arm64")
endif () endif()
set(ORBBEC_LIBS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/lib/${HOST_PLATFORM}) set(ORBBEC_LIBS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/lib/${HOST_PLATFORM})
set(ORBBEC_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/include/) set(ORBBEC_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/SDK/include/)
set(CMAKE_BUILD_RPATH "${CMAKE_BUILD_RPATH}:${ORBBEC_LIBS_DIR}") set(CMAKE_BUILD_RPATH "${CMAKE_BUILD_RPATH}:${ORBBEC_LIBS_DIR}")
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_RPATH}:${ORBBEC_LIBS_DIR}") set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_RPATH}:${ORBBEC_LIBS_DIR}")
if (USE_NV_HW_DECODER) if(USE_NV_HW_DECODER)
set(JETSON_MULTI_MEDIA_API_DIR /usr/src/jetson_multimedia_api) set(JETSON_MULTI_MEDIA_API_DIR /usr/src/jetson_multimedia_api)
set(JETSON_MULTI_MEDIA_API_CLASS_DIR ${JETSON_MULTI_MEDIA_API_DIR}/samples/common/classes) set(JETSON_MULTI_MEDIA_API_CLASS_DIR ${JETSON_MULTI_MEDIA_API_DIR}/samples/common/classes)
set(JETSON_MULTI_MEDIA_API_INCLUDE_DIR ${JETSON_MULTI_MEDIA_API_DIR}/include/) set(JETSON_MULTI_MEDIA_API_INCLUDE_DIR ${JETSON_MULTI_MEDIA_API_DIR}/include/)
set(LIBJPEG8B_INCLUDE_DIR ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR}/libjpeg-8b) set(LIBJPEG8B_INCLUDE_DIR ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR}/libjpeg-8b)
set(TEGRA_ARMABI /usr/lib/aarch64-linux-gnu/) set(TEGRA_ARMABI /usr/lib/aarch64-linux-gnu/)
add_definitions(-DUSE_NV_HW_DECODER) add_definitions(-DUSE_NV_HW_DECODER)
add_compile_options(-Wno-missing-field-initializers -Wno-unused-parameter) add_compile_options(-Wno-missing-field-initializers -Wno-unused-parameter)
set(NV_LIBRARIES set(NV_LIBRARIES -lnvjpeg -lnvbufsurface -lnvbufsurftransform -lyuv -lv4l2)
-lnvjpeg -lnvbufsurface -lnvbufsurftransform -lyuv -lv4l2 list(APPEND NV_LIBRARIES -L${TEGRA_ARMABI} -L${TEGRA_ARMABI}/tegra)
) endif()
list(APPEND NV_LIBRARIES
-L${TEGRA_ARMABI} -L${TEGRA_ARMABI}/tegra)
endif ()
set(COMMON_INCLUDE_DIRS set(COMMON_INCLUDE_DIRS
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include> $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include> ${ORBBEC_INCLUDE_DIR} ${OpenCV_INCLUDED_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/tools
$<INSTALL_INTERFACE:include>
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/tools
) )
set(COMMON_LIBRARIES set(COMMON_LIBRARIES
${ORBBEC_SDK_LIBRARIES} ${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS} ${OpenCV_LIBS}
Eigen3::Eigen Eigen3::Eigen
-lOrbbecSDK -lOrbbecSDK
-L${ORBBEC_LIBS_DIR} -L${ORBBEC_LIBS_DIR}
Threads::Threads Threads::Threads
-lrt -lrt
-ldw -ldw
) )
if (USE_RK_HW_DECODER) if(USE_RK_HW_DECODER)
list(APPEND COMMON_LIBRARIES list(APPEND COMMON_LIBRARIES ${RK_MPP_LIBRARIES} ${RGA_LIBRARIES})
${RK_MPP_LIBRARIES}
${RGA_LIBRARIES}
)
endif () endif()
if (USE_NV_HW_DECODER)
list(APPEND COMMON_LIBRARIES
${NV_LIBRARIES})
endif ()
if(USE_NV_HW_DECODER)
list(APPEND COMMON_LIBRARIES ${NV_LIBRARIES})
endif()
set(SOURCE_FILES set(SOURCE_FILES
src/d2c_viewer.cpp src/d2c_viewer.cpp
src/dynamic_params.cpp src/dynamic_params.cpp
src/image_publisher.cpp src/image_publisher.cpp
src/ob_camera_node_driver.cpp src/ob_camera_node_driver.cpp
src/ob_camera_node.cpp src/ob_camera_node.cpp
src/ros_param_backend.cpp src/ros_param_backend.cpp
src/ros_service.cpp src/ros_service.cpp
src/synced_imu_publisher.cpp src/synced_imu_publisher.cpp
src/utils.cpp src/utils.cpp
src/jpeg_decoder.cpp src/jpeg_decoder.cpp
) )
if (USE_RK_HW_DECODER) if(USE_RK_HW_DECODER)
add_definitions(-DUSE_RK_HW_DECODER) add_definitions(-DUSE_RK_HW_DECODER)
list(APPEND SOURCE_FILES src/rk_mpp_decoder.cpp) list(APPEND SOURCE_FILES src/rk_mpp_decoder.cpp)
list(APPEND COMMON_INCLUDE_DIRS list(APPEND COMMON_INCLUDE_DIRS ${RK_MPP_INCLUDE_DIRS} ${RGA_INCLUDE_DIRS})
${RK_MPP_INCLUDE_DIRS} list(APPEND COMMON_LIBRARIES ${RGA_LIBRARIES} ${RK_MPP_LIBRARIES})
${RGA_INCLUDE_DIRS} if(NOT RGA_FOUND)
) list(APPEND COMMON_LIBRARIES -lyuv)
list(APPEND COMMON_LIBRARIES endif()
${RGA_LIBRARIES} endif()
${RK_MPP_LIBRARIES}
)
if (NOT RGA_FOUND)
list(APPEND COMMON_LIBRARIES
-lyuv
)
endif ()
endif ()
if (USE_NV_HW_DECODER) if(USE_NV_HW_DECODER)
list(APPEND SOURCE_FILES src/jetson_nv_decoder.cpp) list(APPEND SOURCE_FILES src/jetson_nv_decoder.cpp)
list(APPEND COMMON_INCLUDE_DIRS ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR} list(APPEND COMMON_INCLUDE_DIRS ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR} ${LIBJPEG8B_INCLUDE_DIR})
${LIBJPEG8B_INCLUDE_DIR}) # append jetson_multimedia_api source files
# append jetson_multimedia_api source files list(
list(APPEND SOURCE_FILES APPEND
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBuffer.cpp SOURCE_FILES
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElement.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBuffer.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElementProfiler.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElement.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegDecoder.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElementProfiler.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegEncoder.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegDecoder.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvLogging.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegEncoder.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvUtils.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvLogging.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2Element.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvUtils.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2ElementPlane.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2Element.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoDecoder.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2ElementPlane.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoEncoder.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoDecoder.cpp
${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBufSurface.cpp ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoEncoder.cpp
) ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBufSurface.cpp
endif () )
endif()
macro(add_orbbec_executable TARGET SOURCE) macro(add_orbbec_executable TARGET SOURCE)
add_executable(${TARGET} ${SOURCE}) add_executable(${TARGET} ${SOURCE})
target_include_directories(${TARGET} PUBLIC ${COMMON_INCLUDE_DIRS}) target_include_directories(${TARGET} PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_libraries(${TARGET} ${COMMON_LIBRARIES} ${PROJECT_NAME}) target_link_libraries(${TARGET} ${COMMON_LIBRARIES} ${PROJECT_NAME})
ament_target_dependencies(${TARGET} ${dependencies}) ament_target_dependencies(${TARGET} ${dependencies})
endmacro() endmacro()
# Define library and nodes # Define library and nodes
add_library(${PROJECT_NAME} SHARED add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES})
${SOURCE_FILES}
)
ament_target_dependencies(${PROJECT_NAME} ${dependencies}) ament_target_dependencies(${PROJECT_NAME} ${dependencies})
target_include_directories(${PROJECT_NAME} PUBLIC ${COMMON_INCLUDE_DIRS}) target_include_directories(${PROJECT_NAME} PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} ${COMMON_LIBRARIES}) target_link_libraries(${PROJECT_NAME} ${COMMON_LIBRARIES})
rclcpp_components_register_node(
rclcpp_components_register_node(${PROJECT_NAME} ${PROJECT_NAME} PLUGIN "orbbec_camera::OBCameraNodeDriver" EXECUTABLE orbbec_camera_node
PLUGIN "orbbec_camera::OBCameraNodeDriver"
EXECUTABLE orbbec_camera_node
) )
# Add nodes using the macro # Add nodes using the macro
add_orbbec_executable(list_devices_node tools/list_devices_node.cpp) 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}) target_link_libraries(frame_latency ${COMMON_LIBRARIES})
ament_target_dependencies(frame_latency ${dependencies}) ament_target_dependencies(frame_latency ${dependencies})
rclcpp_components_register_node(frame_latency rclcpp_components_register_node(frame_latency PLUGIN "orbbec_camera::FrameLatencyNode" EXECUTABLE frame_latency_node)
PLUGIN "orbbec_camera::FrameLatencyNode"
EXECUTABLE frame_latency_node
)
add_library(start_benchmark SHARED tools/start_benchmark.cpp) add_library(start_benchmark SHARED tools/start_benchmark.cpp)
target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS}) target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_libraries(start_benchmark ${COMMON_LIBRARIES}) target_link_libraries(start_benchmark ${COMMON_LIBRARIES})
ament_target_dependencies(start_benchmark ${dependencies}) ament_target_dependencies(start_benchmark ${dependencies})
rclcpp_components_register_node(start_benchmark rclcpp_components_register_node(
PLUGIN "orbbec_camera::tools::StartBenchmark" start_benchmark PLUGIN "orbbec_camera::tools::StartBenchmark" EXECUTABLE start_benchmark_node
EXECUTABLE start_benchmark_node
) )
add_library(multi_save_rgbir SHARED add_library(multi_save_rgbir SHARED tools/multi_save_rgbir.cpp src/utils.cpp)
tools/multi_save_rgbir.cpp target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS})
src/utils.cpp
)
target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS} )
target_link_libraries(multi_save_rgbir ${COMMON_LIBRARIES}) target_link_libraries(multi_save_rgbir ${COMMON_LIBRARIES})
ament_target_dependencies(multi_save_rgbir ${dependencies}) ament_target_dependencies(multi_save_rgbir ${dependencies})
rclcpp_components_register_node(multi_save_rgbir rclcpp_components_register_node(
PLUGIN "orbbec_camera::tools::MultiCameraSubscriber" multi_save_rgbir PLUGIN "orbbec_camera::tools::MultiCameraSubscriber" EXECUTABLE multi_save_rgbir_node
EXECUTABLE multi_save_rgbir_node
) )
# Install rules # Install rules
install(TARGETS ${PROJECT_NAME} frame_latency install(TARGETS ${PROJECT_NAME} frame_latency start_benchmark multi_save_rgbir ARCHIVE DESTINATION lib
start_benchmark LIBRARY DESTINATION lib RUNTIME DESTINATION bin
multi_save_rgbir
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
) )
install(DIRECTORY include/ DESTINATION include) install(DIRECTORY include/ DESTINATION include)
@@ -266,24 +229,19 @@ install(DIRECTORY examples DESTINATION share/${PROJECT_NAME}/)
install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include) install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include)
install(DIRECTORY ${ORBBEC_LIBS_DIR}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*") install(DIRECTORY ${ORBBEC_LIBS_DIR}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*")
install(DIRECTORY ${ORBBEC_LIBS_DIR}/extensions DESTINATION lib/) install(DIRECTORY ${ORBBEC_LIBS_DIR}/extensions DESTINATION lib/)
if (DEFINED ENV{BUILDING_PACKAGE}) if(DEFINED ENV{BUILDING_PACKAGE})
# Install udev rules # Install udev rules
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules DESTINATION /etc/udev/rules.d)
DESTINATION /etc/udev/rules.d endif()
)
endif ()
install(TARGETS list_devices_node install(TARGETS list_devices_node list_depth_work_mode_node list_camera_profile_mode_node topic_statistics_node
list_depth_work_mode_node ob_benchmark_node DESTINATION lib/${PROJECT_NAME}/
list_camera_profile_mode_node )
topic_statistics_node
ob_benchmark_node
DESTINATION lib/${PROJECT_NAME}/)
if (BUILD_TESTING) if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED) find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies() ament_lint_auto_find_test_dependencies()
endif () endif()
ament_export_include_directories(include ${ORBBEC_INCLUDE_DIR}) ament_export_include_directories(include ${ORBBEC_INCLUDE_DIR})
ament_export_libraries(${PROJECT_NAME}) ament_export_libraries(${PROJECT_NAME})
orbbec_camera_msgs/CMakeLists.txt
+33 -31
View File
@@ -1,9 +1,9 @@
cmake_minimum_required(VERSION 3.8) cmake_minimum_required(VERSION 3.8)
project(orbbec_camera_msgs) project(orbbec_camera_msgs)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic) add_compile_options(-Wall -Wextra -Wpedantic)
endif () endif()
# find dependencies # find dependencies
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
@@ -14,34 +14,36 @@ find_package(std_msgs REQUIRED)
# further dependencies manually. # further dependencies manually.
# find_package(<dependency> REQUIRED) # find_package(<dependency> REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME} rosidl_generate_interfaces(
"msg/DeviceInfo.msg" ${PROJECT_NAME}
"msg/Extrinsics.msg" "msg/DeviceInfo.msg"
"msg/Metadata.msg" "msg/Extrinsics.msg"
"msg/IMUInfo.msg" "msg/Metadata.msg"
"msg/RGBD.msg" "msg/IMUInfo.msg"
"srv/GetBool.srv" "msg/RGBD.msg"
"srv/GetDeviceInfo.srv" "srv/GetBool.srv"
"srv/GetCameraInfo.srv" "srv/GetDeviceInfo.srv"
"srv/GetInt32.srv" "srv/GetCameraInfo.srv"
"srv/GetString.srv" "srv/GetInt32.srv"
"srv/SetFilter.srv" "srv/GetString.srv"
"srv/SetInt32.srv" "srv/SetFilter.srv"
"srv/SetString.srv" "srv/SetInt32.srv"
"srv/SetArrays.srv" "srv/SetString.srv"
DEPENDENCIES "srv/SetArrays.srv"
sensor_msgs DEPENDENCIES
std_msgs) sensor_msgs
std_msgs
)
if (BUILD_TESTING) if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED) find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights # the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files # uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE) #set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo) # the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo # uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE) #set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies() ament_lint_auto_find_test_dependencies()
endif () endif()
ament_package() ament_package()
orbbec_description/CMakeLists.txt
+1 -6
View File
@@ -4,11 +4,6 @@ project(orbbec_description)
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
# Install files # Install files
install(DIRECTORY install(DIRECTORY launch meshes urdf rviz DESTINATION share/${PROJECT_NAME})
launch
meshes
urdf
rviz
DESTINATION share/${PROJECT_NAME})
ament_package() ament_package()