package.xml to version 2. Cleaning up CMakeLists. Fixing ROS_INFO calls.

CMakeLists.txt

@@ -1,9 +1,9 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(spinnaker_sdk_camera_driver)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+add_compile_options(-std=c++11)
 
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 ###
 # camera Acquisition specific 
@@ -15,19 +15,13 @@ set(SPINNAKER_LIB_DIR "/usr/lib" CACHE PATH "Spinnaker Libs Directory")
 # set(yaml-cpp_DIR "~/apps/yaml-cpp" CACHE PATH "yaml-cpp Directory")
 set(CUDA_USE_STATIC_CUDA_RUNTIME  OFF)
 
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
-  rospy
   std_msgs
   message_generation
   cv_bridge
   image_transport
   sensor_msgs
-#  tf
 )
 
 #find_package(PCL REQUIRED)
@@ -37,228 +31,64 @@ find_package(catkin REQUIRED COMPONENTS
 ###
 # Find Packages
 find_package(OpenCV REQUIRED)
+find_package(LibUnwind REQUIRED)
 
-find_package(Boost)
+find_package(Boost REQUIRED)
 if(Boost_FOUND)
   find_package ( Boost COMPONENTS filesystem system serialization REQUIRED )
   set(Boost_GENERAL ${Boost_LIBRARIES})
 elseif(NOT Boost_FOUND)
   message("Boost not found!")
 endif()
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
- add_message_files(
-   FILES
-   spinnaker_image_names.msg
- )
-
-## Generate added messages and services with any dependencies listed here
- generate_messages(
-   DEPENDENCIES
-   std_msgs
- )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
+add_message_files(
+  FILES
+  SpinnakerImageNames.msg
+)
 
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
 
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-   INCLUDE_DIRS include
-   #LIBRARIES datacollection_neu
-   CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
-#  DEPENDS system_lib
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS roscpp std_msgs message_runtime
+  DEPENDS OpenCV LibUnwind
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
 include_directories(
-# include
+  ${PROJECT_INCLUDE_DIR}
   ${catkin_INCLUDE_DIRS}
-#  ${PCL_INCLUDE_DIRS}
+  ${SPINNAKER_INCLUDE_DIR}
+  ${OpenCV_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIR}
+  ${LibUnwind_INCLUDE_DIRS}
 )
-include_directories( ${PROJECT_INCLUDE_DIR} )
-include_directories( ${SPINNAKER_INCLUDE_DIR} )
-include_directories( ${OpenCV_INCLUDE_DIRS} )
-include_directories( ${Boost_INCLUDE_DIR} )
-#include_directories( ${YAML_CPP_INCLUDE_DIR} )
-
-## Declare a C++ library
-add_library (acquilib SHARED
-  # ${PROJECT_SOURCE_DIR}/src/utils.cpp
-  src/capture.cpp
-  src/camera.cpp)
 
 link_directories( ${SPINNAKER_LIB_DIR} )
 
-# Settings libraries to link to
-# set (ROS_LIBS ${cv_bridge_LIBRARIES} ${image_transport_LIBRARIES})
-#set (LIBS glog gflags gomp unwind Spinnaker yaml-cpp ${OpenCV_LIBS} ${Boost_GENERAL}) # ${ROS_LIBS} profiler
-set (LIBS gomp unwind Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL}) # ${ROS_LIBS} profiler
-# Custom compiler flags
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w -std=c++11")
+set (LIBS ${LibUnwind_LIBRARIES} Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
 
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/datacollection_neu.cpp
-# )
+add_library (acquilib SHARED
+  src/capture.cpp
+  src/camera.cpp
+)
 
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(acquilib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(acquilib ${LIBS} ${catkin_LIBRARIES})
 
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-#add_executable(${PROJECT_NAME}_node src/datacollection_neu_node.cpp)
 add_executable (acquisition_node src/acquisition_node.cpp)
-
-
-#target_link_libraries (multiAcq_node acquilib ${LIBS} )
-#target_link_libraries (acquisition_mt_node acquilib ${LIBS} ${catkin_LIBRARIES})
-#target_link_libraries (conversion_node acquilib ${LIBS} )
+add_dependencies(acquisition_node acquilib ${catkin_EXPORTED_TARGETS})
 target_link_libraries (acquisition_node acquilib ${LIBS} ${catkin_LIBRARIES})
-add_dependencies(acquisition_node spinnaker_sdk_camera_driver_generate_messages_cpp)
-#add_dependencies(acquisition_mt_node datacollection_neu_generate_messages_cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-add_dependencies(acquisition_node ${catkin_EXPORTED_TARGETS})
-#add_dependencies(acquisition_mt_node ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
 
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_datacollection_neu.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+install(TARGETS acquilib acquisition_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+install(DIRECTORY include
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)

cmake/FindLibUnwind.cmake

@@ -0,0 +1,42 @@
+# Find the libunwind library
+#
+#  LibUnwind_FOUND        - True if libunwind was found.
+#  LibUnwind_LIBRARIES    - The libraries needed to use libunwind
+#  LibUnwind_INCLUDE_DIRS - Location of unwind.h and libunwind.h
+
+FIND_PATH(LibUnwind_INCLUDE_DIRS libunwind.h)
+if(NOT LibUnwind_INCLUDE_DIRS)
+  message(STATUS "failed to find libunwind.h")
+elseif(NOT EXISTS "${LibUnwind_INCLUDE_DIRS}/unwind.h")
+  message(STATUS "libunwind.h was found, but unwind.h was not found in that directory.")
+  SET(LibUnwind_INCLUDE_DIRS "")
+endif()
+
+FIND_LIBRARY(LibUnwind_GENERIC_LIBRARY "unwind")
+if(NOT LibUnwind_GENERIC_LIBRARY)
+    MESSAGE(STATUS "failed to find unwind generic library")
+endif()
+SET(LibUnwind_LIBRARIES ${LibUnwind_GENERIC_LIBRARY})
+
+# For some reason, we have to link to two libunwind shared object files:
+# one arch-specific and one not.
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "^arm")
+    SET(LibUnwind_ARCH "arm")
+elseif (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "amd64")
+    SET(LibUnwind_ARCH "x86_64")
+elseif (CMAKE_SYSTEM_PROCESSOR MATCHES "^i.86$")
+    SET(LibUnwind_ARCH "x86")
+endif()
+
+if(LibUnwind_ARCH)
+    FIND_LIBRARY(LibUnwind_SPECIFIC_LIBRARY "unwind-${LibUnwind_ARCH}")
+    if (NOT LibUnwind_SPECIFIC_LIBRARY)
+        MESSAGE(STATUS "failed to find unwind-${LibUnwind_ARCH}")
+    endif()
+    SET(LibUnwind_LIBRARIES ${LibUnwind_LIBRARIES} ${LibUnwind_SPECIFIC_LIBRARY})
+endif(LibUnwind_ARCH)
+
+MARK_AS_ADVANCED(LibUnwind_LIBRARIES LibUnwind_INCLUDE_DIRS)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(LibUnwind DEFAULT_MSG
+  LibUnwind_LIBRARIES LibUnwind_INCLUDE_DIRS)

include/capture.h → include/spinnaker_sdk_camera_driver/capture.h

@@ -9,7 +9,7 @@
 #include <boost/filesystem.hpp>
 
 #include "std_msgs/String.h"
-#include "spinnaker_sdk_camera_driver/spinnaker_image_names.h"
+#include "spinnaker_sdk_camera_driver/SpinnakerImageNames.h"
 
 #include <sstream>
 
@@ -84,7 +84,7 @@ namespace acquisition {
         double grab_time_, save_time_, toMat_time_, save_mat_time_, export_to_ROS_time_, achieved_time_;
 
         int nframes_;
-        int init_delay_;
+        float init_delay_;
         int skip_num_;
         float master_fps_;
         int binning_;
@@ -128,7 +128,7 @@ namespace acquisition {
 
         vector<sensor_msgs::ImagePtr> img_msgs;
         vector<sensor_msgs::CameraInfo> cam_info_msgs;
-        spinnaker_sdk_camera_driver::spinnaker_image_names mesg;
+        spinnaker_sdk_camera_driver::SpinnakerImageNames mesg;
         boost::mutex queue_mutex_;  
     };