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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(astra_camera)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra)
add_compile_options(-Wno-deprecated)
endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
option(FILTER "OB Filter library" ON)
if( ${FILTER} STREQUAL "ON" )
set(obfilter "On")
else()
set(obfilter "Off")
endif()
include(ExternalProject)
if(WIN32)
set(patch_exe patch.exe)
else()
set(patch_exe patch)
endif()
ExternalProject_Add(astra_openni2
PREFIX astra_openni2
# SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/astra_openni2/OpenNI2
GIT_REPOSITORY https://github.com/orbbec/OpenNI2.git
GIT_TAG orbbec_ros
GIT_CONFIG [email protected] user.name=YourName
CONFIGURE_COMMAND echo "no need to configure"
#${CMAKE_CURRENT_SOURCE_DIR}/libantlr/configure --prefix=<INSTALL_DIR>
BUILD_IN_SOURCE 1
BUILD_COMMAND make release FILTER=${obfilter}
INSTALL_DIR openni2
INSTALL_COMMAND tar -xjf <SOURCE_DIR>/Packaging/Final/OpenNI-Linux-2.3.tar.bz2 -C <INSTALL_DIR> --strip 1 && mkdir -p <INSTALL_DIR>/include && ln -fs <INSTALL_DIR>/Include <INSTALL_DIR>/include/openni2
PATCH_COMMAND
${patch_exe} -p1 -N < ${CMAKE_CURRENT_SOURCE_DIR}/astra_openni2-patch.diff
)
link_directories(${CMAKE_CURRENT_BINARY_DIR}/openni2/Redist)
include_directories(include
${Boost_INCLUDE_DIRS}
${CMAKE_CURRENT_BINARY_DIR}/openni2/include
)
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
)
ament_target_dependencies(astra_wrapper
"builtin_interfaces"
"rclcpp"
"sensor_msgs"
)
target_link_libraries(astra_wrapper -lOpenNI2Orbbec ${Boost_LIBRARIES})
add_dependencies(astra_wrapper astra_openni2)
add_library(astra_driver_lib src/astra_driver.cpp)
ament_target_dependencies(astra_driver_lib
"builtin_interfaces"
"rclcpp"
"sensor_msgs"
)
target_link_libraries(astra_driver_lib astra_wrapper ${Boost_LIBRARIES})
add_dependencies(astra_driver_lib astra_openni2)
add_executable(astra_camera_node
ros/astra_camera_node.cpp
)
target_link_libraries(astra_camera_node astra_driver_lib)
add_dependencies(astra_camera_node astra_openni2)
install(TARGETS astra_camera_node
DESTINATION lib/${PROJECT_NAME}
)
install(TARGETS astra_wrapper astra_driver_lib
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(FILES ${CMAKE_BINARY_DIR}/openni2/Redist/libOpenNI2Orbbec.so
DESTINATION lib
)
install(DIRECTORY ${CMAKE_BINARY_DIR}/openni2/Redist/OpenNI2
DESTINATION lib
)
install(DIRECTORY include/${PROJECT_NAME}
DESTINATION include
)
install(FILES 56-orbbec-usb.rules
DESTINATION share/${PROJECT_NAME}
)
install(PROGRAMS scripts/create_udev_rules
DESTINATION lib/${PROJECT_NAME}
)
ament_export_include_directories(include)
ament_export_libraries(astra_driver_lib astra_wrapper)
ament_package()