Merge pull request #1 from garaemon/robot-self-filter

Porting robot_self_filter from pr2_navigation_self_filter

CHANGELOG.rst

@@ -0,0 +1,55 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package pr2_navigation_self_filter
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.26 (2015-02-10)
+-------------------
+* Updated maintanership
+* Contributors: TheDash
+
+0.1.25 (2015-02-06)
+-------------------
+
+0.1.24 (2014-10-15)
+-------------------
+* Remove mainpage.dox
+* Contributors: TheDash
+
+0.1.23 (2014-10-15)
+-------------------
+* Updated maintainership
+* Contributors: TheDash
+
+0.1.22 (2014-09-08)
+-------------------
+
+0.1.21 (2014-09-06)
+-------------------
+
+0.1.20 (2014-09-06)
+-------------------
+* 0.1.19
+* Added changelogs
+* 0.1.18
+* Generating changelogs; preparing for release
+* Contributors: TheDash
+
+0.1.19 (2014-09-06)
+-------------------
+* 0.1.18
+* Generating changelogs; preparing for release
+* Contributors: TheDash
+
+0.1.18 (2014-09-06)
+-------------------
+* catkinize packages
+* Add ignores.
+* use less bullet and more tf
+* Navigation is just going to use XYZ points from now on
+* Porting pr2_navigation_self filter from PointCloud to PointCloud2. Still need to test.
+* Fixing linking issue on oneiric
+* Fixes for fuerte
+* Remove deprecated API usage
+* Adding descriptions of each package to manifest files
+* Copying pr2_navigation from staging area to stacks section of the repoistory
+* Contributors: Austin Hendrix, Brian Gerkey, Eitan Marder-Eppstein, Kei Okada, Vincent Rabaud, eitan

CMakeLists.txt

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+# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
+cmake_minimum_required(VERSION 2.8.3)
+project(robot_self_filter)
+
+find_package(PkgConfig REQUIRED)
+
+find_package(Boost REQUIRED COMPONENTS signals)
+
+set(bullet_FOUND 0)
+pkg_check_modules(bullet REQUIRED bullet)
+
+find_package( PCL REQUIRED )
+add_definitions(${PCL_DEFINITIONS})
+
+find_package(ASSIMP QUIET)
+if (NOT ASSIMP_FOUND)
+  pkg_check_modules(ASSIMP assimp)
+endif()
+if (ASSIMP_FOUND)
+  if( NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150" )
+    add_definitions(-DASSIMP_UNIFIED_HEADER_NAMES)
+    message(STATUS "Assimp version has unified headers")
+  else()
+    message(STATUS "Assimp version does not have unified headers")
+  endif()
+  include_directories(${ASSIMP_INCLUDE_DIRS})
+  link_directories(${ASSIMP_LIBRARY_DIRS})
+else()
+  message(STATUS "could not find assimp (perhaps available thorugh ROS package?), so assimping assimp v2")
+  set(ASSIMP_LIBRARIES assimp)
+  set(ASSIMP_LIBRARY_DIRS)
+  set(ASSIMP_CXX_FLAGS)
+  set(ASSIMP_CFLAGS_OTHER)
+  set(ASSIMP_LINK_FLAGS)
+  set(ASSIMP_INCLUDE_DIRS)
+endif()
+
+
+find_package(catkin REQUIRED COMPONENTS roscpp tf filters sensor_msgs urdf roscpp resource_retriever visualization_msgs pcl_ros)
+
+catkin_package(
+    DEPENDS bullet
+    CATKIN-DEPENDS roscpp tf filters sensor_msgs urdf resource_retriever visualization_msgs pcl_ros
+    INCLUDE_DIRS include
+    LIBRARIES robot_geometric_shapes ${PROJECT_NAME}
+)
+
+#common commands for building c++ executables and libraries
+add_library(robot_geometric_shapes src/load_mesh.cpp src/shapes.cpp src/bodies.cpp)
+
+add_library(${PROJECT_NAME} src/self_mask.cpp)
+target_link_libraries(${PROJECT_NAME} robot_geometric_shapes assimp)
+
+
+add_executable(test_filter src/test_filter.cpp)
+target_link_libraries(test_filter ${PROJECT_NAME})
+target_link_libraries(test_filter robot_geometric_shapes  assimp)
+
+add_executable(self_filter src/self_filter.cpp)
+target_link_libraries(self_filter ${PROJECT_NAME})
+target_link_libraries(self_filter robot_geometric_shapes  assimp)
+
+include_directories(include ${bullet_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+target_link_libraries(robot_geometric_shapes ${bullet_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LIBRARIES} ${catkin_LIBRARIES}  assimp)
+
+
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(TARGETS ${PROJECT_NAME} test_filter self_filter robot_geometric_shapes
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})