init commit

orbbec_camera/CMakeLists.txt

@@ -0,0 +1,136 @@
+cmake_minimum_required(VERSION 3.8)
+project(orbbec_camera)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+set(CMAKE_BUILD_TYPE "Debug")
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-variable -Wno-unused-parameter -Werror)
+endif ()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(glog REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(magic_enum REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(orbbec_camera_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(tf2_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_sensor_msgs REQUIRED)
+
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+find_package(ORBBEC_SDK REQUIRED)
+
+if (NOT ORBBEC_SDK_FOUND)
+  message("Could not find Orbbec SDK!")
+endif ()
+
+add_library(${PROJECT_NAME} SHARED
+  src/device_ctrl_service.cpp
+  src/ob_camera_node_factory.cpp
+  src/ob_camera_node.cpp
+  src/utils.cpp
+  )
+
+set(dependencies
+  ament_index_cpp
+  builtin_interfaces
+  cv_bridge
+  Eigen3
+  image_transport
+  orbbec_camera_msgs
+  ORBBEC_SDK
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  std_msgs
+  std_srvs
+  tf2
+  tf2_msgs
+  tf2_ros
+  tf2_sensor_msgs
+  )
+
+ament_target_dependencies(${PROJECT_NAME}
+  ${dependencies}
+  )
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "orbbec_camera::OBCameraNodeFactory"
+  EXECUTABLE orbbec_camera_node
+  )
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${ORBBEC_SDK_INCLUDE_DIR}
+  ${OpenCV_INCLUDED_DIRS}
+  )
+
+
+target_link_libraries(${PROJECT_NAME}
+  ${ORBBEC_SDK_LIBRARIES}
+  ${OpenCV_LIBS}
+  Eigen3::Eigen
+  glog::glog
+  magic_enum::magic_enum
+  )
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  )
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+  )
+
+install(DIRECTORY
+  config
+  DESTINATION share/${PROJECT_NAME}/
+  )
+
+
+install(DIRECTORY
+  params
+  DESTINATION share/${PROJECT_NAME}/
+  )
+
+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_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
+
+ament_package()