cleaned up the code.
This commit is contained in:
Kayman
parent
50378f052f
commit
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@ -1,9 +1,12 @@
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################################################################################
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# CMake
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################################################################################
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cmake_minimum_required(VERSION 2.8.3)
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project(ball_detector)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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################################################################################
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# Packages
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################################################################################
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find_package(catkin REQUIRED COMPONENTS
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cv_bridge
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geometry_msgs
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@ -15,121 +18,55 @@ find_package(catkin REQUIRED COMPONENTS
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message_generation
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependencies might have been
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## pulled in transitively but can be declared for certainty nonetheless:
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## * add a build_depend tag for "message_generation"
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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################################################################################
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# Declare ROS messages, services and actions
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################################################################################
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add_message_files(
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FILES
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circleSetStamped.msg
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)
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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geometry_msgs std_msgs
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)
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#dynamic reconfigure cfg file
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################################################################################
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# Declare ROS dynamic reconfigure parameters
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################################################################################
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generate_dynamic_reconfigure_options(cfg/detector_params.cfg)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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################################################################################
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# Catkin specific configuration
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################################################################################
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catkin_package(
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INCLUDE_DIRS include
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# LIBRARIES ball_detector
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CATKIN_DEPENDS cv_bridge geometry_msgs image_transport roscpp rospy std_msgs dynamic_reconfigure
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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################################################################################
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# Build
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################################################################################
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a cpp library
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#add_library(ball_detector
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# src/BallDetector.cpp
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# src/${PROJECT_NAME}/BallDetector.cpp
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#)
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## Declare a cpp executable
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add_executable(ball_detector_node
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src/ball_detector.cpp
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src/ball_detector_node.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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# add_dependencies(ball_detector_node ball_detector_generate_messages_cpp)
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add_dependencies(ball_detector_node ${PROJECT_NAME}_gencfg)
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## Specify libraries to link a library or executable target against
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target_link_libraries(ball_detector_node
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${catkin_LIBRARIES}
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yaml-cpp
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)
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#############
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## Install ##
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#############
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################################################################################
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# Install
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################################################################################
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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@ -162,15 +99,7 @@ target_link_libraries(ball_detector_node
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_ball_detector.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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################################################################################
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# Test
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################################################################################
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@ -7,17 +7,11 @@
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It requires and input image and publish, at frame rate, a marked image
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and a stamped array of circle centers and radius.
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</description>
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<maintainer email="kmjung@robotis.com">kayman</maintainer>
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<license>BSD</license>
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<!-- <url type="website">http://wiki.ros.org/ball_detector</url> -->
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<author email="kmjung@robotis.com">kayman</author>
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<maintainer email="pyo@robotis.com">Pyo</maintainer>
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<buildtool_depend>catkin</buildtool_depend>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>cv_bridge</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>image_transport</build_depend>
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@ -26,7 +20,6 @@
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<build_depend>std_msgs</build_depend>
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<build_depend>dynamic_reconfigure</build_depend>
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<build_depend>message_generation</build_depend>
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<run_depend>cv_bridge</run_depend>
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<run_depend>geometry_msgs</run_depend>
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<run_depend>image_transport</run_depend>
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@ -35,8 +28,4 @@
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<run_depend>std_msgs</run_depend>
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<run_depend>dynamic_reconfigure</run_depend>
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<run_depend>message_runtime</run_depend>
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<export>
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</export>
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</package>
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