Fuerte devel

CMakeLists.txt

@@ -1,108 +1,25 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(optris_drivers)
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-  std_srvs
-  sensor_msgs
-  image_transport
-  message_generation
-)
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
 
-## System dependencies are found with CMake's conventions
-find_package(Boost REQUIRED COMPONENTS thread)
+rosbuild_init()
 
-#######################################
-## Declare ROS messages and services ##
-#######################################
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-## Generate services in the 'srv' folder
-add_service_files(
-  DIRECTORY
-    srv
-  FILES
-    AutoFlag.srv
-    ForceFlag.srv
-)
+#rosbuild_genmsg()
+rosbuild_gensrv()
 
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-    std_srvs
-)
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
- INCLUDE_DIRS
-# LIBRARIES
- CATKIN_DEPENDS
-  roscpp
-  std_msgs
-  std_srvs
-  sensor_msgs
-  image_transport
-  message_runtime
- DEPENDS
-  libudev-dev
-  Boost
-)
-
-###########
-## Build ##
-###########
-
-## Declare a cpp executable
-add_executable(optris_imager_node src/optris_imager_node.cpp)
-add_executable(optris_colorconvert_node src/optris_colorconvert_node.cpp)
-
-## make sure msg/srvs are generated before building the targets
-## also, the libs must be copied before trying to build the other files
-add_dependencies(optris_imager_node irimager irimageprocessing)
-add_dependencies(optris_colorconvert_node irimager irimageprocessing)
-
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(optris_imager_node
-  ${catkin_LIBRARIES}
-  ${Boost_LIBRARIES}
-  irimager
-  irimageprocessing
-  udev
-  pthread
-)
-
-target_link_libraries(optris_colorconvert_node
-  ${catkin_LIBRARIES}
-  ${Boost_LIBRARIES}
-  irimager
-  irimageprocessing
-  udev
-)
-
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executables and/or libraries for installation
-install(TARGETS optris_colorconvert_node optris_imager_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+INCLUDE_DIRECTORIES(/usr/include/libirimager)
+LINK_DIRECTORIES(/usr/lib)
+LINK_LIBRARIES(irimager irimageprocessing udev)
 
+rosbuild_add_executable(optris_imager_node src/optris_imager_node.cpp)
+rosbuild_add_executable(optris_colorconvert_node src/optris_colorconvert_node.cpp)

config/14080045.xml

@@ -1,8 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <imager xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema">
 	<serial>14080045</serial>   <!-- Provide serial number, if you attach more than one camera -->
-	<videoformatindex>0</videoformatindex> <!-- index of the used video format (USB endpoint) -->
-	<calipath>/usr/share/libirimager/cali</calipath> <!-- optional: set path for calibration files, default: /usr/share/libirimager/cali -->
 	<fov>33</fov>
 	<temperature>
 		<min>-20</min>

manifest.xml

@@ -0,0 +1,17 @@
+<package>
+  <description brief="optris_drivers">
+
+     optris_drivers
+
+  </description>
+  <author>Stefan May</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/optris_drivers</url>
+  <depend package="roscpp"/>
+  <depend package="std_msgs"/>
+  <depend package="image_transport"/>
+
+</package>
+
+

optris_drivers.launch

@@ -2,7 +2,7 @@
 <group ns="optris">
   <node name="optris_imager_node" pkg="optris_drivers" type="optris_imager_node">
     <!-- Set configuration file of your camera here! -->
-    <param name="xmlConfig"      type="string" value="$(find optris_drivers)/config/11110043.xml"/>  
+    <param name="xmlConfig"      type="string" value="$(find optris_drivers)/config/14080045.xml"/>  
   </node>
   <node name="optris_colorconvert_node" pkg="optris_drivers" type="optris_colorconvert_node">
     <param name="palette"        type="int"    value="6"/>     <!-- see ImageBuilder.h for valid values -->

package.xml

@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package>
   <name>optris_drivers</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>
 
      ROS nodes wrapping the binary driver for Optris thermal imager devices.
 
   </description>
-  <maintainer email="not@given.yet">Stefan May(Nuremberg Institute of Technology Georg Simon Ohm - www.th-nuernberg.de)</maintainer>
+  <maintainer email="stefan.may@th-nuernberg.de">Stefan May(Nuremberg Institute of Technology Georg Simon Ohm - www.th-nuernberg.de)</maintainer>
 
   <!-- One license tag required, multiple allowed, one license per tag -->
   <license>BSD</license>
@@ -33,8 +33,8 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>message_generation</build_depend>
-
   <build_depend>libudev-dev</build_depend>
+  <build_depend>libirimager</build_depend>
 
   <!-- runtime dependencies -->
   <run_depend>roscpp</run_depend>
@@ -43,8 +43,6 @@
   <run_depend>sensor_msgs</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>message_runtime</run_depend>
-
-  <run_depend>libudev-dev</run_depend>
-
+
 </package>
 

src/optris_colorconvert_node.cpp

@@ -1,7 +1,7 @@
 /*********************************************************************
  * Software License Agreement (BSD License)
  *
- *  Copyright (c) 2012/2013
+ *  Copyright (c) 2012-2015
  *  Nuremberg Institute of Technology Georg Simon Ohm
  *  All rights reserved.
  *