Build a c++ native library "grap_pose_detection" #58
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In this patch, ROS nodes are updated to pass "Parameters" structuer to the constructors of classes under "src/gpd". The affected ROS nodes/codes are: src/nodes/classify_candidates.cpp src/nodes/create_training_data.cpp src/nodes/grasp_detection_node.cpp::GraspDetectionNode The ROS nodes now use "ROSParameters" as helping class to get parameters from the NodeHandle, then pass the parameters to the constructors. Signed-off-by: Sharron LIU <sharron.liu@intel.com>
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December 31, 2018 16:06
This patch removed the ROS dependency from the classes under "src/gpd" It affects the constructors of the below classes: src/gpd/grasp_detector.cpp::GraspDetector src/gpd/sequential_importance_sampling.cpp::SequentialImportanceSampling src/gpd/data_generator.cpp::DataGenerator Now these classes no more take parameters from "ROS::NodeHandle". Instead, they get the parameters passed from their constructors. The ROS prints are replaced with std::cout also. Signed-off-by: Sharron LIU <sharron.liu@intel.com>
In order to separate "src/gpd" from ROS, a new class ROSParameters is created. This class help to get parameters passed from ROS NodeHandle. Under "src/gpd", there were three classes taking parameters from ROS: src/gpd/grasp_detector.cpp::GraspDetector src/gpd/sequential_importance_sampling.cpp::SequentialImportanceSampling src/gpd/data_generator.cpp::DataGenerator ROS parameters passed to these classes were redefined and encapsulated as a specific "Parameter" structure passed to the constructor of each class. Signed-off-by: Sharron LIU <sharron.liu@intel.com>
"CV_RGB2BGR" is replaced with a more generic interface used in OpenCV version 3 and 4 Signed-off-by: Sharron LIU <sharron.liu@intel.com>
This patch added a new cmake file "src/gpd/CMakeLists.txt" to build library "libgrasp_pose_detection (GPD_LIB)" independent on ROS. The cmake file is designed for being invoked in two scenarios: 1. Invoked from parent cmake file via "add_subdirectory(src/gpd)". In this way, build options inherit from parent cmake file 2. Invoked from command line via "cmake <build options> path" $ cd src/gpd $ mkdir build && cd build $ cmake -DUSE_CAFFE=OFF -DUSE_OPENVINO=ON .. The cmake file performs: 1. Set the shared library name "GPD_LIB", visible to parent cmake file 2. Find dependent packages required by "GPD_LIB" 3. Identify source files per build options like OPENVINO or CAFFE 4. Install the built library and headers The top-level cmake file (CMakeLists.txt) is updated accordingly: 1. While build with ROS catkin, trigger "GPD_LIB" via add_subdirectory() 2. Not necessary to build library for each single souce under "src/gpd" 3. Add "GPD_LIB" as a dependency for the executable targets. This will garantee "GPD_LIB" built prior to the executable targets. Signed-off-by: Sharron LIU <sharron.liu@intel.com>
Added launch option "plane_remove" (default 'false') to remove planes (e.g. tabletop) from PCL inputs. Signed-off-by: Sharron LIU <sharron.liu@intel.com>
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PR atenpas#50 atenpas#50 Signed-off-by: Sharron LIU <sharron.liu@intel.com>
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GPD is now a C++14 library. |
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This PR intents to build a c++ native library "grasp_pose_detection" that is independent on ROS. This serves as a common library in either ROS or ROS2.
Fix issue #52
Key changes include:
How to build the library:
An automatic way is to build the "gpd" package from catkin workspace:
$ catkin_make -DCMAKE_BUILD_TYPE=Release --pkg gpd
# or "catkin_make -DCMAKE_BUILD_TYPE=Release -DUSE_OPENVINO=ON --pkg gpd"
Alternatively, manually kick off the build is supported:
$ cd src/gpd
$ mkdir build && cd build
$ cmake -DUSE_CAFFE=ON ..
# or "cmake -DUSE_OPENVINO=ON .."
$ sudo make install
By default "libgrasp_pose_detection.so" shall be installed to "/usr/local/install".
There are NO changes on build options or launch options :)
This PR is tested working with "USE_CAFFE=ON (default)" or "USE_OPENVINO=ON".
This PR is also tested with "Ubuntu 16.04 + ROS Kinetic" or "Ubuntu 18.04 + ROS Melodic".