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use rclcpp componet

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This commit is contained in:
Joe Dong
2023-08-22 21:11:59 +08:00
parent 4c83927cdd
commit 76742927b5
3 changed files with 35 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/CMakeLists.txt
+32 -55
View File
@@ -67,13 +67,14 @@ add_library(${PROJECT_NAME} SHARED
src/ros_service.cpp
src/synced_imu_publisher.cpp
src/utils.cpp
)
)
set(dependencies
ament_index_cpp
builtin_interfaces
cv_bridge
camera_info_manager
rclcpp_components
Eigen3
image_transport
image_publisher
@@ -87,11 +88,11 @@ set(dependencies
tf2_msgs
tf2_ros
tf2_sensor_msgs
)
)
ament_target_dependencies(${PROJECT_NAME}
${dependencies}
)
)
target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
@@ -100,7 +101,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
)
target_link_libraries(${PROJECT_NAME}
@@ -110,38 +111,16 @@ target_link_libraries(${PROJECT_NAME}
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
)
)
add_executable(${PROJECT_NAME}_node
src/main.cpp
)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "orbbec_camera::OBCameraNodeDriver"
EXECUTABLE orbbec_camera_node
)
target_include_directories(${PROJECT_NAME}_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
target_link_libraries(${PROJECT_NAME}_node
${ORBBEC_SDK_LIBRARIES}
${OpenCV_LIBS}
Eigen3::Eigen
${GLOG_LIBRARIES}
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
ament_target_dependencies(${PROJECT_NAME}_node
${dependencies}
)
add_executable(list_devices_node
src/list_devices_node.cpp
)
)
target_include_directories(list_devices_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
@@ -150,7 +129,7 @@ target_include_directories(list_devices_node PUBLIC
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
)
target_link_libraries(list_devices_node
@@ -161,15 +140,15 @@ target_link_libraries(list_devices_node
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
)
ament_target_dependencies(list_devices_node
${dependencies}
)
)
add_executable(ob_cleanup_shm_node
src/ob_cleanup_shm.cpp
)
)
target_include_directories(ob_cleanup_shm_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
@@ -178,7 +157,7 @@ target_include_directories(ob_cleanup_shm_node PUBLIC
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
)
target_link_libraries(ob_cleanup_shm_node
@@ -189,15 +168,15 @@ target_link_libraries(ob_cleanup_shm_node
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
)
ament_target_dependencies(ob_cleanup_shm_node
${dependencies}
)
)
add_executable(list_depth_work_mode_node
src/list_depth_work_mode.cpp
)
)
target_include_directories(list_depth_work_mode_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
@@ -206,7 +185,7 @@ target_include_directories(list_depth_work_mode_node PUBLIC
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
)
target_link_libraries(list_depth_work_mode_node
${ORBBEC_SDK_LIBRARIES}
@@ -216,15 +195,15 @@ target_link_libraries(list_depth_work_mode_node
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
)
ament_target_dependencies(list_depth_work_mode_node
${dependencies}
)
)
add_executable(list_camera_profile_mode_node
src/list_camera_profile.cpp
)
)
target_include_directories(list_camera_profile_mode_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
@@ -233,7 +212,7 @@ target_include_directories(list_camera_profile_mode_node PUBLIC
${ORBBEC_INCLUDE_DIR}
${OpenCV_INCLUDED_DIRS}
${GLOG_INCLUDED_DIRS}
)
)
target_link_libraries(list_camera_profile_mode_node
${ORBBEC_SDK_LIBRARIES}
@@ -243,16 +222,16 @@ target_link_libraries(list_camera_profile_mode_node
-lOrbbecSDK
-L${ORBBEC_LIBS}
${PROJECT_NAME}
)
)
ament_target_dependencies(list_depth_work_mode_node
${dependencies}
)
)
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
)
install(
DIRECTORY include/
@@ -262,33 +241,31 @@ install(
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}/
)
)
install(DIRECTORY
config
DESTINATION share/${PROJECT_NAME}/
)
)
install(DIRECTORY
${ORBBEC_INCLUDE_DIR}
DESTINATION include
)
)
install(DIRECTORY
${ORBBEC_LIBS}/
DESTINATION lib/
FILES_MATCHING PATTERN "*.so"
PATTERN "*.so.*"
)
)
install(TARGETS list_devices_node
ob_cleanup_shm_node
list_depth_work_mode_node
list_camera_profile_mode_node
${PROJECT_NAME}_node
DESTINATION lib/${PROJECT_NAME}/
)
)
if (BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
orbbec_camera/src/main.cpp
-13
View File
@@ -1,13 +0,0 @@
#include <rclcpp/rclcpp.hpp>
#include <orbbec_camera/ob_camera_node_driver.h>
int main(int argc, char** argv) {
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
using namespace orbbec_camera;
auto node = std::make_shared<OBCameraNodeDriver>(options);
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}
orbbec_camera/src/ob_camera_node_driver.cpp
+3
View File
@@ -15,6 +15,7 @@
#include <semaphore.h>
#include <sys/shm.h>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <rclcpp_components/register_node_macro.hpp>
namespace orbbec_camera {
OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
@@ -406,3 +407,5 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
initializeDevice(device);
}
} // namespace orbbec_camera
RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::OBCameraNodeDriver)