Merge pull request #457 from rojkov/drop-librealsense
librealsense: drop the recipe
This commit is contained in:
Lukas Bulwahn
GitHub
commit
f637ca8597
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@ -86,6 +86,12 @@ resolved in the past.
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branch: master
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revision: HEAD
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**meta-intel-realsense** (since 4a5ba0f20094dd3d07c0a0c1dede2ba40e9d6abf)
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URI: https://github.com/IntelRealSense/meta-intel-realsense
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branch: master
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revision: HEAD
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This layer is required only if you need to build realsense-camera driver.
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**bitbake** > 1.20
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@ -1,14 +0,0 @@
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DESCRIPTION = "Cross-platform camera capture for Intel® RealSense™ F200, SR300 and R200"
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LICENSE = "Apache-2.0"
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LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
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SRC_URI = "https://github.com/IntelRealSense/librealsense/archive/v${PV}.tar.gz"
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SRC_URI[md5sum] = "27ce627c02731623c23894baeb73b2b1"
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EXTRA_OECMAKE_prepend = "\
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-DROS_BUILD_TYPE=TRUE \
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"
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DEPENDS = "libusb1"
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inherit catkin
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@ -0,0 +1,96 @@
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From abaadefbb17d7ecebd5c4081122621f524a92b07 Mon Sep 17 00:00:00 2001
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From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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Date: Wed, 15 Feb 2017 10:44:55 +0200
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Subject: [PATCH 1/2] Add option to link against non-catkin librealsense
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In OpenEmbedded setups where both meta-ros and
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meta-intel-realsense layers are used it's problematic
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to avoid two copies of librealsense installed onto
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an embedded target: one catkit-based installed under
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/opt/ros and one other installed to a standard system
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location.
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This patch adds an option making realsense_camera link
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against librealsense provided by the host system.
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By default the currently existing behavior is preserved.
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Upstream-Status: Submitted [https://github.com/intel-ros/realsense/pull/204]
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Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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---
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CMakeLists.txt | 37 ++++++++++++++++++++++++++++++-------
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1 file changed, 30 insertions(+), 7 deletions(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 796da59..ae10f84 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -14,8 +14,9 @@ set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now")
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# Flags shared libraries
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set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now ${CMAKE_SHARED_LINKER_FLAGS}")
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-find_package(catkin REQUIRED COMPONENTS
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- librealsense
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+option(USE_SYSTEM_LIBREALSENSE "Build realsense_camera against system librealsense, not the one built with catkin" OFF)
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+
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+set(REALSENSE_CATKIN_BASED_DEPS
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dynamic_reconfigure
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roscpp
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nodelet
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@@ -30,6 +31,16 @@ find_package(catkin REQUIRED COMPONENTS
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roslint
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)
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+if(USE_SYSTEM_LIBREALSENSE)
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+ find_package(realsense REQUIRED)
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+else()
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+ list(APPEND REALSENSE_CATKIN_BASED_DEPS librealsense)
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+endif()
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+
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+find_package(catkin REQUIRED COMPONENTS
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+ ${REALSENSE_CATKIN_BASED_DEPS}
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+)
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+
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add_message_files(
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FILES
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IMUInfo.msg
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@@ -71,11 +82,20 @@ roslint_add_test()
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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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- CATKIN_DEPENDS librealsense std_msgs message_runtime sensor_msgs
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- LIBRARIES ${PROJECT_NAME}_nodelet
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-)
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+if(USE_SYSTEM_LIBREALSENSE)
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+ catkin_package(
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+ INCLUDE_DIRS include
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+ CATKIN_DEPENDS std_msgs message_runtime sensor_msgs
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+ DEPENDS realsense
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+ LIBRARIES ${PROJECT_NAME}_nodelet
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+ )
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+else()
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+ catkin_package(
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+ INCLUDE_DIRS include
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+ CATKIN_DEPENDS std_msgs message_runtime sensor_msgs librealsense
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+ LIBRARIES ${PROJECT_NAME}_nodelet
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+ )
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+endif()
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# Specify additional locations of header files
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include_directories(
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@@ -93,6 +113,9 @@ add_dependencies(${PROJECT_NAME}_nodelet ${catkin_EXPORTED_TARGETS})
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add_executable(get_debug_info src/get_debug_info.cpp)
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target_link_libraries(get_debug_info ${catkin_LIBRARIES})
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+if(USE_SYSTEM_LIBREALSENSE)
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+ target_link_libraries(get_debug_info PRIVATE realsense::realsense)
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+endif()
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if (CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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--
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2.7.4
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@ -1,37 +0,0 @@
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From 6eac973eb36a6f10dd7278b6bc3798a216e52e16 Mon Sep 17 00:00:00 2001
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From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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Date: Mon, 12 Dec 2016 11:11:58 +0200
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Subject: [PATCH] realsense-camera: don't ignore linker flags set by user
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Yocto's bitbake sets global LDFLAGS that include the option
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--hash-style=gnu. If this option is ignored then bitbake's
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QA checks report that
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QA Issue: No GNU_HASH in the elf binary: '/[...]/opt/ros/indigo/lib/librealsense_camera_nodelet.so' [ldflags]
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The patch includes user defined linker flags to
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CMAKE_SHARED_LINKER_FLAGS defined in the project's CMakeList.txt.
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Upstream-Status: Submitted [https://github.com/intel-ros/realsense/pull/162]
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Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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---
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realsense_camera/CMakeLists.txt | 2 +-
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1 file changed, 1 insertion(+), 1 deletion(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index c5cfffe..307fd97 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -12,7 +12,7 @@ set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -O2 -D_FORTIFY_SOURCE=2 -fstack-prot
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# Flags executables
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set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now")
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# Flags shared libraries
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-set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now")
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+set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now ${CMAKE_SHARED_LINKER_FLAGS}")
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find_package(catkin REQUIRED COMPONENTS
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librealsense
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--
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2.7.4
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@ -0,0 +1,68 @@
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From 787ebb1f9b598e4444ab820a9d6c36142935f793 Mon Sep 17 00:00:00 2001
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From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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Date: Fri, 17 Mar 2017 10:40:26 +0200
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Subject: [PATCH 2/2] Enable roslint when CATKIN_ENABLE_TESTING is True
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roslint depends on catkin_run_tests_target() which is defined only
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when CATKIN_ENABLE_TESTING is True.
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Thus run roslint functions in CMakeLists.txt only when testing
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is enabled.
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Upstream-Status: Submitted [https://github.com/intel-ros/realsense/pull/204]
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Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
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---
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CMakeLists.txt | 15 +++++++++------
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1 file changed, 9 insertions(+), 6 deletions(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index ae10f84..a1ec2f6 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -28,7 +28,6 @@ set(REALSENSE_CATKIN_BASED_DEPS
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std_msgs
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sensor_msgs
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pcl_ros
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- roslint
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)
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if(USE_SYSTEM_LIBREALSENSE)
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@@ -37,6 +36,10 @@ else()
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list(APPEND REALSENSE_CATKIN_BASED_DEPS librealsense)
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endif()
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+if(CATKIN_ENABLE_TESTING)
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+ list(APPEND REALSENSE_CATKIN_BASED_DEPS roslint)
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+endif()
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+
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find_package(catkin REQUIRED COMPONENTS
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${REALSENSE_CATKIN_BASED_DEPS}
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)
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@@ -68,11 +71,6 @@ generate_dynamic_reconfigure_options(
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cfg/zr300_params.cfg
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)
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-# ROS Lint the code
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-roslint_cpp()
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-roslint_python()
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-roslint_add_test()
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-
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#################################
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# catkin specific configuration #
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#################################
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@@ -120,6 +118,11 @@ endif()
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if (CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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+ # ROS Lint the code
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+ roslint_cpp()
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+ roslint_python()
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+ roslint_add_test()
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+
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add_executable(tests_camera_core test/camera_core.cpp)
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target_link_libraries(tests_camera_core
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${catkin_LIBRARIES}
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--
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2.7.4
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@ -1,14 +0,0 @@
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DESCRIPTION = "ROS driver for RealSense camera"
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LICENSE = "BSD"
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LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=4bcd5f0e140091c68f8c0bcfdd6181e0"
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DEPENDS = "librealsense cv-bridge camera-info-manager pcl-ros roscpp"
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SRC_URI = "https://github.com/intel-ros/realsense/archive/${PV}.tar.gz \
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file://0001-realsense-camera-don-t-ignore-linker-flags-set-by-us.patch \
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"
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SRC_URI[md5sum] = "4adab9a45a0b7a84cd28f1de538d0de8"
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S = "${WORKDIR}/realsense-${PV}/realsense_camera"
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inherit catkin
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@ -0,0 +1,18 @@
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DESCRIPTION = "ROS driver for RealSense camera"
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LICENSE = "BSD"
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LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=4bcd5f0e140091c68f8c0bcfdd6181e0"
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DEPENDS = "librealsense cv-bridge camera-info-manager pcl-ros roscpp"
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SRC_URI = "https://github.com/intel-ros/realsense/archive/${PV}.tar.gz \
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file://0001-Add-option-to-link-against-non-catkin-librealsense.patch \
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file://0002-Enable-roslint-when-CATKIN_ENABLE_TESTING-is-True.patch \
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"
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SRC_URI[md5sum] = "aaa0d0ddaaee210e2a2529767ba45a4b"
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SRC_URI[sha256sum] = "65c6c4a0b6bd0214dffa8528033f03c0fbc4be00e52e058cfbd96b4f7d733b10"
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S = "${WORKDIR}/realsense-${PV}/realsense_camera"
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inherit catkin
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EXTRA_OECMAKE = "-DUSE_SYSTEM_LIBREALSENSE:BOOL=ON"
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