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| <!-- | ||
| Pull requests should go to the development branch: | ||
| https://github.com/IntelRealSense/librealsense/tree/development/ | ||
| If this is still a work-in-progress, please open it as DRAFT. | ||
| For further details, please see our contribution guidelines: | ||
| https://github.com/IntelRealSense/librealsense/blob/master/CONTRIBUTING.md | ||
| --> |
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| pull_request: | ||
| branches: ['**'] | ||
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| permissions: read-all | ||
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| jobs: | ||
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| build_lrs_ros2_package: | ||
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| # License: Apache 2.0. See LICENSE file in root directory. | ||
| # Copyright(c) 2023 Intel Corporation. All Rights Reserved. | ||
| cmake_minimum_required( VERSION 3.15 ) | ||
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| # | ||
| # This tests whether we can link with realsense2-all and not have any missing external symbols. | ||
| # Without realsense2-all, we'd need to link with: | ||
| # realsense2 realsense-file rsutils | ||
| # Or, if DDS was enabled: | ||
| # realsense2 realsense-file rsutils fastcdr fastrtps foonathan_memory realdds | ||
| # And the list gets longer if we add libraries. | ||
| # | ||
| # On Windows, no additional special libraries are needed. | ||
| # On Linux, we have other dependencies: | ||
| # libusb udev | ||
| # These are not part of realsense2-all, even though we depend on them! | ||
| # | ||
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| project( rs-all-client ) | ||
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| option( BUILD_SHARED_LIBS "Build using shared libraries" OFF ) | ||
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| if( WIN32 ) | ||
| # Take away the other configurations because they'd require we picked another link | ||
| # directory and target... keep it simple... | ||
| set( CMAKE_CONFIGURATION_TYPES "Release" ) | ||
| endif() | ||
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| add_executable( ${PROJECT_NAME} main.cpp ) | ||
| set_target_properties( ${PROJECT_NAME} PROPERTIES | ||
| CXX_STANDARD 14 | ||
| MSVC_RUNTIME_LIBRARY MultiThreaded$<$<CONFIG:Debug>:Debug> # New in version 3.15; ignored in Linux | ||
| ) | ||
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| target_include_directories( ${PROJECT_NAME} PRIVATE | ||
| ../../../include | ||
| ../../../third-party/rsutils/include | ||
| ) | ||
| target_link_directories( ${PROJECT_NAME} PRIVATE ${CMAKE_BINARY_DIR}/../Release ) | ||
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| target_link_libraries( ${PROJECT_NAME} PRIVATE realsense2-all ) | ||
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| if( NOT WIN32 ) | ||
| find_library( LIBUSB NAMES usb-1.0 ) | ||
| target_link_libraries( ${PROJECT_NAME} PRIVATE pthread ${LIBUSB} ) | ||
| if( NOT FORCE_RSUSB_BACKEND ) | ||
| target_link_libraries( ${PROJECT_NAME} PRIVATE udev ) | ||
| endif() | ||
| if( BUILD_WITH_DDS ) | ||
| target_link_libraries( ${PROJECT_NAME} PRIVATE ssl crypto rt ) | ||
| endif() | ||
| endif() | ||
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| // License: Apache 2.0. See LICENSE file in root directory. | ||
| // Copyright(c) 2023 Intel Corporation. All Rights Reserved. | ||
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| #include <librealsense2/rs.hpp> // Include RealSense Cross Platform API | ||
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| #include <rsutils/time/timer.h> | ||
| #include <iostream> // for cout | ||
| #include <chrono> | ||
| #include <thread> | ||
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| int main(int argc, char * argv[]) try | ||
| { | ||
| rs2::log_to_console( RS2_LOG_SEVERITY_DEBUG ); | ||
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| rs2::context context; | ||
| auto devices = context.query_devices(); | ||
| if( devices.size() ) | ||
| { | ||
| // This can run under GHA, too -- so we don't always have devices | ||
| // Run for just a little bit, count the frames | ||
| size_t n_frames = 0; | ||
| { | ||
| rs2::pipeline p( context ); | ||
| auto profile = p.start(); | ||
| auto device = profile.get_device(); | ||
| std::cout << "Streaming on " << device.get_info( RS2_CAMERA_INFO_NAME ) << std::endl; | ||
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| rsutils::time::timer timer( std::chrono::seconds( 3 ) ); | ||
| while( ! timer.has_expired() ) | ||
| { | ||
| // Block program until frames arrive | ||
| rs2::frameset frames = p.wait_for_frames(); | ||
| ++n_frames; | ||
| } | ||
| } | ||
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| std::cout << "Got " << n_frames << " frames" << std::endl; | ||
| } | ||
| else | ||
| { | ||
| // Allow enough time for DDS enumeration | ||
| std::this_thread::sleep_for( std::chrono::seconds( 3 ) ); | ||
| } | ||
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| return EXIT_SUCCESS; | ||
| } | ||
| catch (const rs2::error & e) | ||
| { | ||
| std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl; | ||
| return EXIT_FAILURE; | ||
| } | ||
| catch (const std::exception& e) | ||
| { | ||
| std::cerr << e.what() << std::endl; | ||
| return EXIT_FAILURE; | ||
| } |
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