diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..b25c15b --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +*~ diff --git a/CMakeLists.txt b/CMakeLists.txt index cc0e617..c7ab587 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,18 +1,23 @@ -cmake_minimum_required(VERSION 2.4.6) +cmake_minimum_required(VERSION 2.8.3) +project(laser_geometry) +find_package(catkin REQUIRED sensor_msgs roscpp tf angles) +catkin_package( + LIBRARIES laser_geometry + INCLUDE_DIRS include +) + list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake) -include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) -set(ROS_BUILD_TYPE Debug) -rosbuild_init() - -rosbuild_add_boost_directories() +find_package(Boost 1.40.0 COMPONENTS thread numeric) +include_directories(${Boost_INCLUDE_DIRS}) find_package(Eigen REQUIRED) include_directories(${EIGEN_INCLUDE_DIRS}) -rosbuild_add_library(laser_geometry src/laser_geometry.cpp ) -rosbuild_link_boost(laser_geometry thread) +include_directories(include) -rosbuild_add_gtest(test/projection_test test/projection_test.cpp) -target_link_libraries (test/projection_test laser_geometry) +add_library(laser_geometry src/laser_geometry.cpp ) +target_link_libraries(laser_geometry ${Boost_LIBRARIES} ${tf_LIBRARIES}) +catkin_add_gtest(projection_test test/projection_test.cpp) +target_link_libraries(projection_test laser_geometry) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..c7b3c64 --- /dev/null +++ b/package.xml @@ -0,0 +1,28 @@ + + laser_geometry + 1.5.3 + + This package contains a class for converting from a 2D laser scan as defined by + sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud + or sensor_msgs/PointCloud2. In particular, it contains functionality to account + for the skew resulting from moving robots or tilting laser scanners. + + Dave Hershberger + BSD + + Tully Foote + Radu Bogdan Rusu + + http://ros.org/wiki/laser_geometry + + sensor_msgs + roscpp + tf + angles + eigen + boost + + roscpp + tf + angles +