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Porting robot_self_filter from pr2_navigation_self_filter #1

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Jun 24, 2015
Merged

Porting robot_self_filter from pr2_navigation_self_filter #1

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55 changes: 55 additions & 0 deletions CHANGELOG.rst
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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
73 changes: 73 additions & 0 deletions 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})
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