From 3e559b5b4333c11a3cfc1e9021a1c11e431860d9 Mon Sep 17 00:00:00 2001 From: Murilo Belluzzo Date: Mon, 10 Apr 2017 14:31:48 -0700 Subject: [PATCH] realsense_camera: bump to version 1.8.0 This version includes important fixes for those working with point cloud. The remaining patch was already merged upstream on intel-ros/realsense and will probably make through v1.8.1. So it will be possible to drop it soon. Signed-off-by: Murilo Belluzzo --- ...link-against-non-catkin-librealsense.patch | 96 ------------------- ...link-when-the-system-library-is-use.patch} | 0 ...t-when-CATKIN_ENABLE_TESTING-is-True.patch | 68 ------------- ...era_1.7.2.bb => realsense-camera_1.8.0.bb} | 8 +- 4 files changed, 3 insertions(+), 169 deletions(-) delete mode 100644 recipes-extended/realsense-camera/realsense-camera/0001-Add-option-to-link-against-non-catkin-librealsense.patch rename recipes-extended/realsense-camera/realsense-camera/{0003-librealsense-Fix-link-when-the-system-library-is-use.patch => 0001-librealsense-Fix-link-when-the-system-library-is-use.patch} (100%) delete mode 100644 recipes-extended/realsense-camera/realsense-camera/0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch rename recipes-extended/realsense-camera/{realsense-camera_1.7.2.bb => realsense-camera_1.8.0.bb} (57%) diff --git a/recipes-extended/realsense-camera/realsense-camera/0001-Add-option-to-link-against-non-catkin-librealsense.patch b/recipes-extended/realsense-camera/realsense-camera/0001-Add-option-to-link-against-non-catkin-librealsense.patch deleted file mode 100644 index 20d649a..0000000 --- a/recipes-extended/realsense-camera/realsense-camera/0001-Add-option-to-link-against-non-catkin-librealsense.patch +++ /dev/null @@ -1,96 +0,0 @@ -From abaadefbb17d7ecebd5c4081122621f524a92b07 Mon Sep 17 00:00:00 2001 -From: Dmitry Rozhkov -Date: Wed, 15 Feb 2017 10:44:55 +0200 -Subject: [PATCH 1/2] Add option to link against non-catkin librealsense - -In OpenEmbedded setups where both meta-ros and -meta-intel-realsense layers are used it's problematic -to avoid two copies of librealsense installed onto -an embedded target: one catkit-based installed under -/opt/ros and one other installed to a standard system -location. - -This patch adds an option making realsense_camera link -against librealsense provided by the host system. - -By default the currently existing behavior is preserved. - -Upstream-Status: Submitted [https://github.com/intel-ros/realsense/pull/204] - -Signed-off-by: Dmitry Rozhkov ---- - CMakeLists.txt | 37 ++++++++++++++++++++++++++++++------- - 1 file changed, 30 insertions(+), 7 deletions(-) - -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 796da59..ae10f84 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -14,8 +14,9 @@ set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now") - # Flags shared libraries - set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now ${CMAKE_SHARED_LINKER_FLAGS}") - --find_package(catkin REQUIRED COMPONENTS -- librealsense -+option(USE_SYSTEM_LIBREALSENSE "Build realsense_camera against system librealsense, not the one built with catkin" OFF) -+ -+set(REALSENSE_CATKIN_BASED_DEPS - dynamic_reconfigure - roscpp - nodelet -@@ -30,6 +31,16 @@ find_package(catkin REQUIRED COMPONENTS - roslint - ) - -+if(USE_SYSTEM_LIBREALSENSE) -+ find_package(realsense REQUIRED) -+else() -+ list(APPEND REALSENSE_CATKIN_BASED_DEPS librealsense) -+endif() -+ -+find_package(catkin REQUIRED COMPONENTS -+ ${REALSENSE_CATKIN_BASED_DEPS} -+) -+ - add_message_files( - FILES - IMUInfo.msg -@@ -71,11 +82,20 @@ roslint_add_test() - # 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 -- CATKIN_DEPENDS librealsense std_msgs message_runtime sensor_msgs -- LIBRARIES ${PROJECT_NAME}_nodelet --) -+if(USE_SYSTEM_LIBREALSENSE) -+ catkin_package( -+ INCLUDE_DIRS include -+ CATKIN_DEPENDS std_msgs message_runtime sensor_msgs -+ DEPENDS realsense -+ LIBRARIES ${PROJECT_NAME}_nodelet -+ ) -+else() -+ catkin_package( -+ INCLUDE_DIRS include -+ CATKIN_DEPENDS std_msgs message_runtime sensor_msgs librealsense -+ LIBRARIES ${PROJECT_NAME}_nodelet -+ ) -+endif() - - # Specify additional locations of header files - include_directories( -@@ -93,6 +113,9 @@ add_dependencies(${PROJECT_NAME}_nodelet ${catkin_EXPORTED_TARGETS}) - - add_executable(get_debug_info src/get_debug_info.cpp) - target_link_libraries(get_debug_info ${catkin_LIBRARIES}) -+if(USE_SYSTEM_LIBREALSENSE) -+ target_link_libraries(get_debug_info PRIVATE realsense::realsense) -+endif() - - if (CATKIN_ENABLE_TESTING) - find_package(rostest REQUIRED) --- -2.7.4 - diff --git a/recipes-extended/realsense-camera/realsense-camera/0003-librealsense-Fix-link-when-the-system-library-is-use.patch b/recipes-extended/realsense-camera/realsense-camera/0001-librealsense-Fix-link-when-the-system-library-is-use.patch similarity index 100% rename from recipes-extended/realsense-camera/realsense-camera/0003-librealsense-Fix-link-when-the-system-library-is-use.patch rename to recipes-extended/realsense-camera/realsense-camera/0001-librealsense-Fix-link-when-the-system-library-is-use.patch diff --git a/recipes-extended/realsense-camera/realsense-camera/0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch b/recipes-extended/realsense-camera/realsense-camera/0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch deleted file mode 100644 index 597031a..0000000 --- a/recipes-extended/realsense-camera/realsense-camera/0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch +++ /dev/null @@ -1,68 +0,0 @@ -From 787ebb1f9b598e4444ab820a9d6c36142935f793 Mon Sep 17 00:00:00 2001 -From: Dmitry Rozhkov -Date: Fri, 17 Mar 2017 10:40:26 +0200 -Subject: [PATCH 2/2] Enable roslint when CATKIN_ENABLE_TESTING is True - -roslint depends on catkin_run_tests_target() which is defined only -when CATKIN_ENABLE_TESTING is True. - -Thus run roslint functions in CMakeLists.txt only when testing -is enabled. - -Upstream-Status: Submitted [https://github.com/intel-ros/realsense/pull/204] - -Signed-off-by: Dmitry Rozhkov ---- - CMakeLists.txt | 15 +++++++++------ - 1 file changed, 9 insertions(+), 6 deletions(-) - -diff --git a/CMakeLists.txt b/CMakeLists.txt -index ae10f84..a1ec2f6 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -28,7 +28,6 @@ set(REALSENSE_CATKIN_BASED_DEPS - std_msgs - sensor_msgs - pcl_ros -- roslint - ) - - if(USE_SYSTEM_LIBREALSENSE) -@@ -37,6 +36,10 @@ else() - list(APPEND REALSENSE_CATKIN_BASED_DEPS librealsense) - endif() - -+if(CATKIN_ENABLE_TESTING) -+ list(APPEND REALSENSE_CATKIN_BASED_DEPS roslint) -+endif() -+ - find_package(catkin REQUIRED COMPONENTS - ${REALSENSE_CATKIN_BASED_DEPS} - ) -@@ -68,11 +71,6 @@ generate_dynamic_reconfigure_options( - cfg/zr300_params.cfg - ) - --# ROS Lint the code --roslint_cpp() --roslint_python() --roslint_add_test() -- - ################################# - # catkin specific configuration # - ################################# -@@ -120,6 +118,11 @@ endif() - if (CATKIN_ENABLE_TESTING) - find_package(rostest REQUIRED) - -+ # ROS Lint the code -+ roslint_cpp() -+ roslint_python() -+ roslint_add_test() -+ - add_executable(tests_camera_core test/camera_core.cpp) - target_link_libraries(tests_camera_core - ${catkin_LIBRARIES} --- -2.7.4 - diff --git a/recipes-extended/realsense-camera/realsense-camera_1.7.2.bb b/recipes-extended/realsense-camera/realsense-camera_1.8.0.bb similarity index 57% rename from recipes-extended/realsense-camera/realsense-camera_1.7.2.bb rename to recipes-extended/realsense-camera/realsense-camera_1.8.0.bb index 49ea27c..0d98e14 100644 --- a/recipes-extended/realsense-camera/realsense-camera_1.7.2.bb +++ b/recipes-extended/realsense-camera/realsense-camera_1.8.0.bb @@ -6,12 +6,10 @@ DEPENDS = "librealsense cv-bridge camera-info-manager pcl-ros roscpp" RDEPENDS_${PN} = "rgbd-launch" SRC_URI = "https://github.com/intel-ros/realsense/archive/${PV}.tar.gz \ - file://0001-Add-option-to-link-against-non-catkin-librealsense.patch \ - file://0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch \ - file://0003-librealsense-Fix-link-when-the-system-library-is-use.patch \ + file://0001-librealsense-Fix-link-when-the-system-library-is-use.patch \ " -SRC_URI[md5sum] = "aaa0d0ddaaee210e2a2529767ba45a4b" -SRC_URI[sha256sum] = "65c6c4a0b6bd0214dffa8528033f03c0fbc4be00e52e058cfbd96b4f7d733b10" +SRC_URI[md5sum] = "d2b6b4ef563e82acca28597e542b5049" +SRC_URI[sha256sum] = "18e2d3e847b3b1158c124b6167ea2751236a2749aca03532ca7d9f5b7b59e975" S = "${WORKDIR}/realsense-${PV}/realsense_camera"