fix dependencies and dynamic_reconfigure

MartinPeris · Oct 1, 2012 · 696e054 · 696e054
1 parent 0e58e1e
commit 696e054
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Showing 18 changed files with 78 additions and 67 deletions.
diff --git a/camera_calibration/CMakeLists.txt b/camera_calibration/CMakeLists.txt
@@ -11,14 +11,10 @@ catkin_add_nosetests(test/directed.py)
 catkin_add_nosetests(test/testapproxsync.py)
 
 # Tests simple calibration dataset
-if (FALSE)
-rosbuild_download_test_data(http://pr.willowgarage.com/data/camera_calibration/camera_calibration.tar.gz camera_calibration.tar.gz 6da43ea314640a4c15dd7a90cbc3aee0)
-endif()
+download_test_data(http://pr.willowgarage.com/data/camera_calibration/camera_calibration.tar.gz camera_calibration.tar.gz 6da43ea314640a4c15dd7a90cbc3aee0)
 
 # Tests multiple checkerboards
-if (FALSE)
-rosbuild_download_test_data(http://pr.willowgarage.com/data/camera_calibration/multi_board_calibration.tar.gz multi_board_calibration.tar.gz ddc0f69582d140e33f9d3bfb681956bb)
-endif()
+download_test_data(http://pr.willowgarage.com/data/camera_calibration/multi_board_calibration.tar.gz multi_board_calibration.tar.gz ddc0f69582d140e33f9d3bfb681956bb)
 catkin_add_nosetests(test/multiple_boards.py)
 
 

diff --git a/camera_calibration/package.xml b/camera_calibration/package.xml
@@ -11,10 +11,10 @@
   <author>Patrick Mihelich</author>
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>
 
-  <run_depend>image_geometry<_run_depend>
-  <run_depend>opencv2<_run_depend>
-  <run_depend>rospy<_run_depend>
-  <run_depend>sensor_msgs<_run_depend>
+  <run_depend>image_geometry</run_depend>
+  <run_depend>opencv2</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>sensor_msgs</run_depend>
 
   <license>BSD</license>
   <url>http://www.ros.org/wiki/camera_calibration</url>

diff --git a/camera_calibration/setup.py b/camera_calibration/setup.py
@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+from distutils.core import setup
+from catkin_pkg.package import parse_package_for_distutils
+
+d = parse_package_for_distutils()
+d['packages'] = ['camera_calibration']
+d['package_dir'] = {'':'src'}
+)
+
+setup(**d)
diff --git a/depth_image_proc/CMakeLists.txt b/depth_image_proc/CMakeLists.txt
@@ -5,11 +5,13 @@ find_package(catkin REQUIRED)
 catkin_package(LIBRARIES ${PROJECT_NAME})
 
 find_package(Boost REQUIRED)
+find_package(catkin REQUIRED cv_bridge image_geometry image_transport message_filters nodelet pcl_ros sensor_msgs stereo_msgs tf)
 find_package(Eigen REQUIRED)
-find_package(catkin REQUIRED cv_bridge image_geometry image_transport message_filters nodelet_core pcl pcl_ros sensor_msgs stereo_msgs tf)
+find_package(PCL)
 include_directories(SYSTEM ${BOOST_INCLUDE_DIRS}
                            ${catkin_INCLUDE_DIRS}
                            ${EIGEN_INCLUDE_DIRS}
+                           ${PCL_INCLUDE_DIRS}
 )
 add_library(${PROJECT_NAME} src/nodelets/convert_metric.cpp
                              src/nodelets/disparity.cpp

diff --git a/depth_image_proc/package.xml b/depth_image_proc/package.xml
@@ -24,7 +24,7 @@
   <build_depend>image_geometry</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>message_filters</build_depend>
-  <build_depend>nodelet_core</build_depend>
+  <build_depend>nodelet</build_depend>
   <build_depend>pcl</build_depend>
   <build_depend>pcl_ros</build_depend>
   <build_depend>sensor_msgs</build_depend>

diff --git a/image_proc/CMakeLists.txt b/image_proc/CMakeLists.txt
@@ -2,26 +2,33 @@ cmake_minimum_required(VERSION 2.8)
 project(image_proc)
 
 find_package(catkin REQUIRED)
-catkin_package()
 
-find_package(catkin REQUIRED image_geometry)
-include_directories(SYSTEM ${image_geometry_INCLUDE_DIRS})
+find_package(catkin REQUIRED cv_bridge dynamic_reconfigure image_geometry image_transport nodelet roscpp sensor_msgs)
+find_package(OpenCV REQUIRED)
+catkin_package(DEPENDS image_geometry OpenCV roscpp sensor_msgs
+               INCLUDE_DIRS include
+               LIBRARIES ${PROJECT_NAME}
+)
+
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
 include_directories(include)
 
 # Dynamic reconfigure support
-find_package(catkin REQUIRED dynamic_reconfigure)
-gencfg()
+generate_cfg(cfg/CropDecimate.cfg cfg/Debayer.cfg cfg/Rectify.cfg)
 
 # Nodelet library
-add_library(image_proc src/libimage_proc/processor.cpp
+add_library(${PROJECT_NAME} src/libimage_proc/processor.cpp
                                 src/nodelets/debayer.cpp
                                 src/nodelets/rectify.cpp
                                 src/nodelets/crop_decimate.cpp
                                 src/libimage_proc/advertisement_checker.cpp
                                 src/nodelets/edge_aware.cpp
 				src/nodelets/yuv422.cpp
 )
-install(TARGETS image_proc
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME}
         DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 install(DIRECTORY include/${PROJECT_NAME}/
@@ -30,7 +37,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 # Standalone node
 add_executable(image_proc_exe src/nodes/image_proc.cpp)
-target_link_libraries(image_proc_exe image_proc)
+target_link_libraries(image_proc_exe ${PROJECT_NAME})
 SET_TARGET_PROPERTIES(image_proc_exe PROPERTIES OUTPUT_NAME image_proc)
 install(TARGETS image_proc_exe
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

diff --git a/image_proc/cfg/CropDecimate.cfg b/image_proc/cfg/CropDecimate.cfg
@@ -1,9 +1,8 @@
 #! /usr/bin/env python
 
 PACKAGE='image_proc'
-import roslib; roslib.load_manifest(PACKAGE)
 
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 

diff --git a/image_proc/cfg/Debayer.cfg b/image_proc/cfg/Debayer.cfg
@@ -1,9 +1,8 @@
 #! /usr/bin/env python
 
 PACKAGE='image_proc'
-import roslib; roslib.load_manifest(PACKAGE)
 
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 

diff --git a/image_proc/cfg/Rectify.cfg b/image_proc/cfg/Rectify.cfg
@@ -1,9 +1,8 @@
 #! /usr/bin/env python
 
 PACKAGE='image_proc'
-import roslib; roslib.load_manifest(PACKAGE)
 
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 

diff --git a/image_proc/package.xml b/image_proc/package.xml
@@ -17,15 +17,17 @@
   <build_depend>cv_bridge</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>image_geometry</build_depend>
-  <build_depend>image_proc</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>opencv2</build_depend>
+  <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
+  <run_depend>cv_bridge</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>image_geometry</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>opencv2</run_depend>
+  <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
 </package>
diff --git a/image_rotate/CMakeLists.txt b/image_rotate/CMakeLists.txt
@@ -4,17 +4,22 @@ project(image_rotate)
 find_package(catkin REQUIRED)
 catkin_package()
 
-find_package(catkin REQUIRED dynamic_reconfigure tf)
-gencfg()
-
 find_package(OpenCV REQUIRED)
+find_package(catkin REQUIRED cv_bridge dynamic_reconfigure image_transport tf)
+
+# generate the dynamic_reconfigure config file
+generate_cfg(cfg/ImageRotate.cfg)
 
-include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS}
-                           ${tf_INCLUDE_DIRS}
+# add the executable
+include_directories(SYSTEM ${catkin_INCLUDE_DIRS}
+                           ${OpenCV_INCLUDE_DIRS}
 )
 
 add_executable(${PROJECT_NAME} src/node/image_rotate.cpp)
-target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}
+                                      ${OpenCV_LIBRARIES}
+)
 install(TARGETS ${PROJECT_NAME}
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
diff --git a/image_rotate/cfg/ImageRotate.cfg b/image_rotate/cfg/ImageRotate.cfg
@@ -33,9 +33,8 @@
 
 
 PACKAGE='image_rotate'
-import roslib; roslib.load_manifest(PACKAGE)
 
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 gen.add("target_frame_id", str_t, 0, "Frame in which the target vector is specified. Empty means the input frame.", "base_link")

diff --git a/image_rotate/package.xml b/image_rotate/package.xml
@@ -33,7 +33,9 @@
   <build_depend>opencv2</build_depend>
   <build_depend>tf</build_depend>
 
+  <run_depend>cv_bridge</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>tf</run_depend>
+  <run_depend>image_transport</run_depend>
   <run_depend>opencv2</run_depend>
+  <run_depend>tf</run_depend>
 </package>
diff --git a/image_view/CMakeLists.txt b/image_view/CMakeLists.txt
@@ -7,20 +7,19 @@ catkin_package()
 find_package(Boost COMPONENTS signals)
 find_package(GTK2)
 find_package(OpenCV)
-find_package(catkin REQUIRED camera_calibration_parsers cv_bridge image_transport message_filters rosconsole roscpp)
+find_package(catkin REQUIRED camera_calibration_parsers cv_bridge image_transport message_filters nodelet rosconsole roscpp)
 include_directories(SYSTEM ${Boost_INCLUDE_DIRS}
-                           ${camera_calibration_parsers_INCLUDE_DIRS}
-                           ${cv_bridge_INCLUDE_DIRS}
+                           ${catkin_INCLUDE_DIRS}
                            ${GTK2_INCLUDE_DIRS}
-                           ${image_transport_INCLUDE_DIRS}
                            ${OpenCV_INCLUDE_DIRS}
 )
 add_definitions(-DHAVE_GTK)
 
 
 # Nodelet library
-rosbuild_add_library(image_view src/nodelets/image_nodelet.cpp src/nodelets/disparity_nodelet.cpp src/nodelets/window_thread.cpp)
-target_link_libraries(image_view ${GTK_LIBRARIES}
+add_library(image_view src/nodelets/image_nodelet.cpp src/nodelets/disparity_nodelet.cpp src/nodelets/window_thread.cpp)
+target_link_libraries(image_view ${catkin_LIBRARIES}
+                                 ${GTK_LIBRARIES}
                                  ${OpenCV_LIBRARIES}
 )
 install(TARGETS image_view
@@ -30,43 +29,32 @@ install(TARGETS image_view
 # Image viewers
 add_executable(image_view_exe src/nodes/image_view.cpp)
 SET_TARGET_PROPERTIES(image_view_exe PROPERTIES OUTPUT_NAME image_view)
-target_link_libraries(image_view_exe
-                      ${OpenCV_LIBRARIES}
+target_link_libraries(image_view_exe ${catkin_LIBRARIES}
+                                     ${OpenCV_LIBRARIES}
 )
 
 add_executable(disparity_view src/nodes/disparity_view.cpp)
-target_link_libraries(disparity_view
-                      ${OpenCV_LIBRARIES}
+target_link_libraries(disparity_view ${catkin_LIBRARIES}
+                                     ${OpenCV_LIBRARIES}
 )
 
 add_executable(stereo_view src/nodes/stereo_view.cpp)
 target_link_libraries(stereo_view ${Boost_LIBRARIES}
-                                  ${cv_bridge_LIBRARIES}
+                                  ${catkin_LIBRARIES}
                                   ${GTK_LIBRARIES}
-                                  ${image_transport_LIBRARIES}
-                                  ${message_filters_LIBRARIES}
                                   ${OpenCV_LIBRARIES}
-                                  ${rosconsole_LIBRARIES}
-                                  ${roscpp_LIBRARIES}
 )
 
 
 # Extra tools
 add_executable(extract_images src/nodes/extract_images.cpp)
-target_link_libraries(extract_images ${cv_bridge_LIBRARIES}
-                                     ${image_transport_LIBRARIES}
+target_link_libraries(extract_images ${catkin_LIBRARIES}
                                      ${OpenCV_LIBRARIES}
-                                     ${rosconsole_LIBRARIES}
-                                     ${roscpp_LIBRARIES}
 )
 
 add_executable(image_saver src/nodes/image_saver.cpp)
-target_link_libraries(image_saver ${camera_calibration_parsers_LIBRARIES}
-                                  ${cv_bridge_LIBRARIES}
-                                  ${image_transport_LIBRARIES}
+target_link_libraries(image_saver ${catkin_LIBRARIES}
                                   ${OpenCV_LIBRARIES}
-                                  ${rosconsole_LIBRARIES}
-                                  ${roscpp_LIBRARIES}
 )
 
 install(TARGETS disparity_view extract_images image_saver image_view_exe stereo_view

diff --git a/image_view/package.xml b/image_view/package.xml
@@ -6,7 +6,7 @@
   for stereo + disparity images.
   </description>
   <author>Patrick Mihelich</author>
-  <maintainer email="[email protected]">Patrick Mihelich</maintainer>
+  <maintainer email="[email protected]">Vincent Rabaud</maintainer>
   <license>BSD</license>
   <url>http://www.ros.org/wiki/image_view</url>
 
@@ -18,6 +18,7 @@
   <build_depend>cv_bridge</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>message_filters</build_depend>
+  <build_depend>nodelet</build_depend>
   <build_depend>opencv2</build_depend>
   <build_depend>rosconsole</build_depend>
   <build_depend>roscpp</build_depend>
@@ -27,6 +28,7 @@
   <run_depend>cv_bridge</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>message_filters</run_depend>
+  <run_depend>nodelet</run_depend>
   <run_depend>opencv2</run_depend>
   <run_depend>rosconsole</run_depend>
   <run_depend>roscpp</run_depend>

diff --git a/stereo_image_proc/CMakeLists.txt b/stereo_image_proc/CMakeLists.txt
@@ -8,17 +8,20 @@ include_directories(include)
 
 # Dynamic reconfigure support
 find_package(catkin REQUIRED dynamic_reconfigure)
-gencfg()
+generate_cfg(cfg/Disparity.cfg)
 
-find_package(catkin REQUIRED dynamic_reconfigure image_geometry image_proc image_transport message_filters nodelet sensor_msgs stereo_image_proc stereo_msgs)
+find_package(catkin REQUIRED dynamic_reconfigure image_geometry image_proc image_transport message_filters nodelet sensor_msgs stereo_msgs)
 find_package(OpenCV REQUIRED)
 include_directories(SYSTEM ${catkin_INCLUDE_DIRS}
                            ${OpenCV_INCLUDE_DIRS}
 )
 
 # Nodelet library
 add_library(${PROJECT_NAME} src/libstereo_image_proc/processor.cpp src/nodelets/disparity.cpp src/nodelets/point_cloud2.cpp src/nodelets/point_cloud.cpp)
-target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}
+                                      ${OpenCV_LIBRARIES}
+)
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
 install(TARGETS ${PROJECT_NAME}
         DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )

diff --git a/stereo_image_proc/cfg/Disparity.cfg b/stereo_image_proc/cfg/Disparity.cfg
@@ -3,9 +3,8 @@
 # Declare parameters that control stereo processing
 
 PACKAGE='stereo_image_proc'
-import roslib; roslib.load_manifest(PACKAGE)
 
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 

diff --git a/stereo_image_proc/package.xml b/stereo_image_proc/package.xml
@@ -21,7 +21,6 @@
   <build_depend>nodelet</build_depend>
   <build_depend>opencv2</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>stereo_image_proc</build_depend>
   <build_depend>stereo_msgs</build_depend>
 
   <run_depend>dynamic_reconfigure</run_depend>