mac_commit

src/CMakeLists.txt

@@ -0,0 +1,69 @@
+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 3.0.2)
+
+project(Project)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()

src/laser_filters/CMakeLists.txt

@@ -0,0 +1,76 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(laser_filters)
+
+##############################################################################
+# Find dependencies
+##############################################################################
+
+set(THIS_PACKAGE_ROS_DEPS sensor_msgs roscpp tf filters message_filters
+  laser_geometry pluginlib angles)
+
+find_package(catkin REQUIRED COMPONENTS ${THIS_PACKAGE_ROS_DEPS})
+find_package(Boost REQUIRED COMPONENTS system)
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+
+##############################################################################
+# Define package
+##############################################################################
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES pointcloud_filters laser_scan_filters
+  CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS}
+  DEPENDS
+  )
+
+##############################################################################
+# Build
+##############################################################################
+
+add_library(pointcloud_filters src/pointcloud_filters.cpp)
+target_link_libraries(pointcloud_filters ${catkin_LIBRARIES})
+
+add_library(laser_scan_filters src/laser_scan_filters.cpp src/median_filter.cpp src/array_filter.cpp src/box_filter.cpp)
+target_link_libraries(laser_scan_filters ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+add_executable(scan_to_cloud_filter_chain src/scan_to_cloud_filter_chain.cpp)
+target_link_libraries(scan_to_cloud_filter_chain ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+add_executable(scan_to_scan_filter_chain src/scan_to_scan_filter_chain.cpp)
+target_link_libraries(scan_to_scan_filter_chain ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+add_executable(generic_laser_filter_node src/generic_laser_filter_node.cpp)
+target_link_libraries(generic_laser_filter_node ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(rostest)
+  add_executable(test_scan_filter_chain test/test_scan_filter_chain.cpp)
+  target_link_libraries(test_scan_filter_chain laser_scan_filters ${rostest_LIBRARIES} ${GTEST_LIBRARIES})
+  add_dependencies(test_scan_filter_chain gtest)
+
+  add_rostest(test/test_scan_filter_chain.launch)
+
+  catkin_add_gtest(test_shadow_detector test/test_shadow_detector.cpp)
+  target_link_libraries(test_shadow_detector ${catkin_LIBRARIES} ${rostest_LIBRARIES})
+endif()
+
+##############################################################################
+# Install
+##############################################################################
+
+install(TARGETS pointcloud_filters laser_scan_filters 
+  scan_to_cloud_filter_chain
+  scan_to_scan_filter_chain
+  generic_laser_filter_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Install headers
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(FILES laser_filters_plugins.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)