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@ -1,206 +0,0 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(fiducial_transform)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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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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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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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 tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_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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add_message_files(
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FILES
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id_pos_angle.msg
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# Message1.msg
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# Message2.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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std_msgs
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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||||||
## * In this file (CMakeLists.txt):
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||||||
## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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||||||
## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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||||||
## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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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 your 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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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES fiducial_transform
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# CATKIN_DEPENDS roscpp rospy std_msgs
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# DEPENDS system_lib
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CATKIN_DEPENDS message_runtime
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)
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###########
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||||||
## Build ##
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||||||
###########
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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(
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# include
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${catkin_INCLUDE_DIRS}
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)
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||||||
## Declare a C++ library
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||||||
# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/fiducial_transform.cpp
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||||||
# )
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||||||
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|
||||||
## Add cmake target dependencies of the library
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|
||||||
## as an example, code may need to be generated before libraries
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|
||||||
## either from message generation or dynamic reconfigure
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|
||||||
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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||||||
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||||||
## Declare a C++ executable
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|
||||||
## With catkin_make all packages are built within a single CMake context
|
|
||||||
## The recommended prefix ensures that target names across packages don't collide
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|
||||||
# add_executable(${PROJECT_NAME}_node src/fiducial_transform_node.cpp)
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||||||
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||||||
## Rename C++ executable without prefix
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||||||
## The above recommended prefix causes long target names, the following renames the
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||||||
## 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"
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|
||||||
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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||||||
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|
||||||
## Add cmake target dependencies of the executable
|
|
||||||
## same as for the library above
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||||||
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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||||||
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|
||||||
## Specify libraries to link a library or executable target against
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|
||||||
# target_link_libraries(${PROJECT_NAME}_node
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||||||
# ${catkin_LIBRARIES}
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||||||
# )
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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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||||||
# 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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||||||
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||||||
## Mark executable scripts (Python etc.) for installation
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||||||
## in contrast to setup.py, you can choose the destination
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||||||
# install(PROGRAMS
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||||||
# scripts/my_python_script
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||||||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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||||||
# )
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||||||
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||||||
## Mark executables and/or libraries for installation
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||||||
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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||||||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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||||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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||||||
# )
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||||||
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||||||
## Mark cpp header files for installation
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||||||
# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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||||||
# FILES_MATCHING PATTERN "*.h"
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||||||
# PATTERN ".svn" EXCLUDE
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||||||
# )
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||||||
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||||||
## Mark other files for installation (e.g. launch and bag files, etc.)
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||||||
# install(FILES
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||||||
# # myfile1
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||||||
# # myfile2
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||||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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||||||
# )
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||||||
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||||||
catkin_install_python(PROGRAMS bin/fiducial_transform_script
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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||||||
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||||||
#############
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||||||
## Testing ##
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||||||
#############
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||||||
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||||||
## Add gtest based cpp test target and link libraries
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|
||||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_fiducial_transform.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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||||||
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||||||
## Add folders to be run by python nosetests
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|
||||||
# catkin_add_nosetests(test)
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@ -1,7 +0,0 @@
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#!/usr/bin/env python
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from fiducial_transform.fiducial_to_2d_pos_angle import main
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import sys
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if __name__ == '__main__':
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main(sys.argv)
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int32 id
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float32 x
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float32 y
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float32 angle
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<?xml version="1.0"?>
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<package format="2">
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<name>fiducial_transform</name>
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<version>0.0.0</version>
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||||||
<description>This package provides a script that transforms 3D position and orientation information from detected fiducial markers to 2D positions in the x-y-plane and orientation expressed as yaw angle (rotation around z axis). In addition, the id of the detected marker is published.</description>
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||||||
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||||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
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||||||
<!-- Example: -->
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|
||||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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||||||
<maintainer email="simon.pirkelmann@uni-bayreuth.de">spirkelmann</maintainer>
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||||||
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|
||||||
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|
||||||
<!-- One license tag required, multiple allowed, one license per tag -->
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|
||||||
<!-- Commonly used license strings: -->
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|
||||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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||||||
<license>MIT</license>
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||||||
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||||||
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|
||||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
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|
||||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
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||||||
<!-- Example: -->
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|
||||||
<!-- <url type="website">http://wiki.ros.org/marker_pos_angle</url> -->
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||||||
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||||||
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||||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
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|
||||||
<!-- Authors do not have to be maintainers, but could be -->
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||||||
<!-- Example: -->
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|
||||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
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|
||||||
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|
||||||
|
|
||||||
<!-- The *depend tags are used to specify dependencies -->
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|
||||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
|
||||||
<!-- Examples: -->
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|
||||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
|
||||||
<!-- <depend>roscpp</depend> -->
|
|
||||||
<!-- Note that this is equivalent to the following: -->
|
|
||||||
<!-- <build_depend>roscpp</build_depend> -->
|
|
||||||
<!-- <exec_depend>roscpp</exec_depend> -->
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|
||||||
<!-- Use build_depend for packages you need at compile time: -->
|
|
||||||
<!-- <build_depend>message_generation</build_depend> -->
|
|
||||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
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|
||||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
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|
||||||
<!-- Use buildtool_depend for build tool packages: -->
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|
||||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
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|
||||||
<!-- Use exec_depend for packages you need at runtime: -->
|
|
||||||
<!-- <exec_depend>message_runtime</exec_depend> -->
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|
||||||
<!-- Use test_depend for packages you need only for testing: -->
|
|
||||||
<!-- <test_depend>gtest</test_depend> -->
|
|
||||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
|
||||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
|
||||||
<buildtool_depend>catkin</buildtool_depend>
|
|
||||||
<build_depend>roscpp</build_depend>
|
|
||||||
<build_depend>rospy</build_depend>
|
|
||||||
<build_depend>std_msgs</build_depend>
|
|
||||||
<build_depend>message_generation</build_depend>
|
|
||||||
<build_export_depend>roscpp</build_export_depend>
|
|
||||||
<build_export_depend>rospy</build_export_depend>
|
|
||||||
<build_export_depend>std_msgs</build_export_depend>
|
|
||||||
<exec_depend>roscpp</exec_depend>
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|
||||||
<exec_depend>rospy</exec_depend>
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|
||||||
<exec_depend>std_msgs</exec_depend>
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|
||||||
<exec_depend>message_runtime</exec_depend>
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|
||||||
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|
||||||
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|
||||||
<!-- The export tag contains other, unspecified, tags -->
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|
||||||
<export>
|
|
||||||
<!-- Other tools can request additional information be placed here -->
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|
||||||
|
|
||||||
</export>
|
|
||||||
</package>
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|
||||||
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@ -1,12 +0,0 @@
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||||||
## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
|
|
||||||
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|
||||||
from distutils.core import setup
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|
||||||
from catkin_pkg.python_setup import generate_distutils_setup
|
|
||||||
|
|
||||||
# fetch values from package.xml
|
|
||||||
setup_args = generate_distutils_setup(
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|
||||||
packages=['fiducial_transform'],
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|
||||||
package_dir={'': 'src'},
|
|
||||||
)
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|
||||||
|
|
||||||
setup(**setup_args)
|
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||||||
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|
||||||
import sys
|
|
||||||
import rospy
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|
||||||
|
|
||||||
from marker_pos_angle.msg import id_pos_angle
|
|
||||||
from fiducial_msgs.msg import FiducialTransformArray
|
|
||||||
from tf.transformations import euler_from_quaternion
|
|
||||||
|
|
||||||
transform_topic = rospy.get_param("transform_topic", '/fiducial_transforms')
|
|
||||||
output = rospy.get_param("output", 'True')
|
|
||||||
|
|
||||||
pub = rospy.Publisher('marker_id_pos_angle', id_pos_angle, queue_size=10)
|
|
||||||
'''
|
|
||||||
This callback function listens to fiducial messages that describe the translation and rotation of markers w.r.t. to the camera and transforms them to a position in the 2d plane and the angle of the robot in the plane
|
|
||||||
'''
|
|
||||||
def callback(data):
|
|
||||||
for d in data.transforms:
|
|
||||||
id = d.fiducial_id
|
|
||||||
|
|
||||||
q = d.transform.rotation
|
|
||||||
t = d.transform.translation
|
|
||||||
|
|
||||||
euler = euler_from_quaternion([q.x, q.y, q.z, q.w])
|
|
||||||
|
|
||||||
m = id_pos_angle()
|
|
||||||
m.id = id
|
|
||||||
m.x = t.x
|
|
||||||
m.y = -t.y
|
|
||||||
m.angle = -euler[2]
|
|
||||||
|
|
||||||
if output == 'True':
|
|
||||||
print("(marker_id, pos_x, pos_y, angle) = ({}, {}, {}, {})".format(m.id, m.x, m.y, m.angle))
|
|
||||||
|
|
||||||
pub.publish(m)
|
|
||||||
|
|
||||||
def main(args):
|
|
||||||
rospy.init_node('fiducial_transform_node', anonymous=True)
|
|
||||||
|
|
||||||
print("Starting subscriber listening for {} topic".format(transform_topic))
|
|
||||||
quaternion_sub = rospy.Subscriber(transform_topic, FiducialTransformArray, callback)
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|
||||||
|
|
||||||
rospy.spin()
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|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
main(sys.argv)
|
|
||||||
Loading…
Reference in New Issue
Block a user