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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(astra_camera)
find_package(catkin REQUIRED camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_generation)
find_package(Boost REQUIRED COMPONENTS system thread)
#MACHINE = $(shell uname -m)
execute_process(COMMAND uname -m OUTPUT_VARIABLE MACHINES )
execute_process(COMMAND getconf LONG_BIT OUTPUT_VARIABLE MACHINES_BIT )
MESSAGE(STATUS "ORRBEC Machine : ${MACHINES}")
MESSAGE(STATUS "ORRBEC Machine Bits : ${MACHINES_BIT}")
IF ( (${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "64") )
set(HOST_PLATFORM "x64")
# for schroot enviroment
ELSEIF ( (${MACHINES} MATCHES "x86_64") AND (${MACHINES_BIT} MATCHES "32") )
set(HOST_PLATFORM "x86")
ELSEIF ( ${MACHINES} MATCHES "x86" )
ELSEIF ( ${MACHINES} MATCHES "x86" )
set(HOST_PLATFORM "x86")
ELSEIF ( ${MACHINES} MATCHES "i686" )
set(HOST_PLATFORM "x86")
ELSEIF ( ${MACHINES} MATCHES "i386" )
set(HOST_PLATFORM "x86")
ELSEIF ( ${MACHINES} MATCHES "arm" )
set(HOST_PLATFORM "arm")
ELSEIF ( (${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "64") )
set(HOST_PLATFORM "arm64")
ELSEIF ( (${MACHINES} MATCHES "aarch64") AND (${MACHINES_BIT} MATCHES "32") )
set(HOST_PLATFORM "arm")
ENDIF ()
MESSAGE(STATUS "ORRBEC : ${HOST_PLATFORM}")
generate_dynamic_reconfigure_options(cfg/Astra.cfg)
add_service_files(FILES
GetSerial.srv)
generate_messages()
catkin_package(
INCLUDE_DIRS include
LIBRARIES astra_wrapper
CATKIN_DEPENDS camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_runtime
DEPENDS libastra
)
set(ORRBEC_OPENNI2_REDIST "${CMAKE_CURRENT_SOURCE_DIR}/include/openni2_redist/${HOST_PLATFORM}")
link_directories(${ORRBEC_OPENNI2_REDIST})
#MESSAGE(STATUS "ORRBEC : ${ORRBEC_OPENNI2_REDIST}")
include_directories(include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/include/openni2
)
add_library(astra_wrapper
src/astra_convert.cpp
src/astra_device.cpp
src/astra_device_info.cpp
src/astra_timer_filter.cpp
src/astra_frame_listener.cpp
src/astra_device_manager.cpp
src/astra_exception.cpp
src/astra_video_mode.cpp
)
target_link_libraries(astra_wrapper ${catkin_LIBRARIES} -lOpenNI2 -L${ORRBEC_OPENNI2_REDIST}
${Boost_LIBRARIES} )
add_library(astra_driver_lib
src/astra_driver.cpp
)
target_link_libraries(astra_driver_lib astra_wrapper ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(astra_driver_lib ${PROJECT_NAME}_gencfg)
add_library(astra_camera_nodelet
ros/astra_camera_nodelet.cpp
)
target_link_libraries(astra_camera_nodelet astra_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(astra_camera_nodelet ${PROJECT_NAME}_gencfg)
add_executable(astra_camera_node
ros/astra_camera_node.cpp
)
target_link_libraries(astra_camera_node astra_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(astra_camera_node ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_executable(astra_list_devices
src/list_devices.cpp
)
target_link_libraries(astra_list_devices astra_wrapper)
add_executable(astra_test_wrapper test/test_wrapper.cpp )
target_link_libraries(astra_test_wrapper astra_wrapper ${Boost_LIBRARIES})
if (UNIX AND NOT APPLE)
add_executable(astra_usb_reset src/usb_reset.c)
set(ADDITIONAL_EXECUTABLES "astra_usb_reset")
endif()
install(TARGETS astra_wrapper astra_camera_nodelet astra_camera_node astra_list_devices astra_driver_lib ${ADDITIONAL_EXECUTABLES}
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}
)
# add xml file
install(FILES astra_nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#copy runtime file to bin, not support wildcard *.*
#execute_process(COMMAND cp -R ${CMAKE_CURRENT_SOURCE_DIR}/include/openni2_redist/OpenNI2 ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/
# COMMAND cp -R ${CMAKE_CURRENT_SOURCE_DIR}/include/openni2_redist/libOpenNI2.jni.so ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/
# COMMAND cp -R ${CMAKE_CURRENT_SOURCE_DIR}/include/openni2_redist/libOpenNI2.so ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/
# COMMAND cp -R ${CMAKE_CURRENT_SOURCE_DIR}/include/openni2_redist/OpenNI.ini ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/
# COMMAND cp -R ${CMAKE_CURRENT_SOURCE_DIR}/include/openni2_redist/org.openni.jar ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/
#)