Added rover catkin packages

2025-11-08 18:21:15 +00:00 · 2017-12-03 13:46:55 -08:00
parent 9cbec88ebe
commit 08a7add471
55 changed files with 51834 additions and 0 deletions
--- a/rover/gscam/CMakeLists.txt
+++ b/rover/gscam/CMakeLists.txt
@@ -0,0 +1,118 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(gscam)
+
+# System Dependencies
+find_package(PkgConfig)
+pkg_check_modules(GSTREAMER REQUIRED gstreamer-0.10)
+pkg_check_modules(GST_APP REQUIRED gstreamer-app-0.10)
+
+if(USE_ROSBUILD)
+  # Use rosbuild
+  include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+  rosbuild_init()
+
+  set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+  set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+  include_directories(${GLIB_INCLUDE_DIRS} ${GST_APP_INCLUDE_DIRS})
+
+  rosbuild_add_library(gscam src/gscam.cpp)
+  target_link_libraries(gscam
+    ${GSTREAMER_LIBRARIES}
+    ${GST_APP_LIBRARIES})
+
+  rosbuild_add_executable(gscam_node src/gscam_node.cpp)
+  target_link_libraries(gscam_node gscam
+    ${GSTREAMER_LIBRARIES}
+    ${GST_APP_LIBRARIES})
+  set_target_properties(gscam_node PROPERTIES OUTPUT_NAME gscam)
+
+  rosbuild_add_library(GSCamNodelet src/gscam_nodelet.cpp)
+  target_link_libraries(GSCamNodelet gscam
+    ${GSTREAMER_LIBRARIES}
+    ${GST_APP_LIBRARIES})
+
+else()
+  # Use Catkin
+  find_package(catkin REQUIRED 
+    COMPONENTS roscpp image_transport sensor_msgs nodelet
+    camera_calibration_parsers camera_info_manager
+    )
+
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES gscam
+    CATKIN_DEPENDS roscpp nodelet image_transport sensor_msgs
+    camera_calibration_parsers camera_info_manager
+    DEPENDS GSTREAMER GST_APP
+    )
+
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+    ${GLIB_INCLUDE_DIRS}
+    ${GST_APP_INCLUDE_DIRS})
+
+  add_library(gscam src/gscam.cpp)
+  target_link_libraries(gscam
+    ${catkin_LIBRARIES}
+    ${GSTREAMER_LIBRARIES}
+    ${GST_APP_LIBRARIES})
+
+  add_executable(gscam_node src/gscam_node.cpp)
+  target_link_libraries(gscam_node gscam
+    ${catkin_LIBRARIES}
+    ${GSTREAMER_LIBRARIES}
+    ${GST_APP_LIBRARIES})
+  set_target_properties(gscam_node PROPERTIES OUTPUT_NAME gscam)
+
+  add_library(GSCamNodelet src/gscam_nodelet.cpp)
+  target_link_libraries(GSCamNodelet gscam
+    ${catkin_LIBRARIES}
+    ${GSTREAMER_LIBRARIES}
+    ${GST_APP_LIBRARIES})
+
+  # Install directives
+
+  install(TARGETS gscam gscam_node GSCamNodelet
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    )
+
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    PATTERN ".svn" EXCLUDE)
+
+  install(FILES nodelet_plugins.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    )
+
+  install(FILES
+    examples/v4l.launch
+    examples/gscam_nodelet.launch
+    examples/nodelet_pipeline.launch
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    )
+
+  install(FILES examples/uncalibrated_parameters.ini
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples
+    )
+
+  # Interim compatibility
+  # Remove this in the next release
+  install(FILES ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  set(EXECUTABLE_OUTPUT_PATH ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME})
+endif()
+
+# Interim compatibility
+# Remove this in the next distribution release
+configure_file(scripts/gscam_node.in ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node)
+file(COPY ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node 
+  DESTINATION ${EXECUTABLE_OUTPUT_PATH}
+  FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
+
+