Updated camera_aravis

CMakeLists.txt

@@ -1,44 +1,24 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/CMakeModules )
-FIND_PACKAGE(Aravis)
-
-include(FindPkgConfig)
-pkg_check_modules(GLIB glib-2.0)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-# add dynamic reconfigure api
-rosbuild_find_ros_package(dynamic_reconfigure)
-include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
-gencfg()
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-
-rosbuild_add_executable(camnode src/camnode.cpp)
-target_link_libraries(camnode ${ARAVIS_LIBRARY} ${GLIB_LIBRARIES})
-include_directories(${ARAVIS_INCLUDE_PATH} ${GLIB_INCLUDE_DIRS})
+# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
+cmake_minimum_required(VERSION 2.8.3)
+project(camera_aravis)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules)
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs image_transport camera_info_manager dynamic_reconfigure driver_base tf dynamic_reconfigure)
+find_package(Aravis REQUIRED)
+find_package(GLIB2 REQUIRED)
+
+generate_dynamic_reconfigure_options(cfg/CameraAravisConfig.cfg)
+catkin_package(
+    DEPENDS Aravis GLIB2
+    CATKIN_DEPENDS roscpp sensor_msgs image_transport camera_info_manager dynamic_reconfigure driver_base tf
+    INCLUDE_DIRS
+    LIBRARIES
+)
+
+include_directories(cfg/cpp ${catkin_INCLUDE_DIRS} ${ARAVIS_INCLUDE_PATH} ${GLIB2_INCLUDE_DIRS})
+
+message(${ARAVIS_LIBRARY})
+
+add_executable(camnode src/camnode.cpp)
+
+target_link_libraries(camnode ${catkin_LIBRARIES} ${ARAVIS_LIBRARY} glib-2.0 gmodule-2.0 gobject-2.0)
+add_dependencies(camnode ${PROJECT_NAME}_gencfg)

CMakeModules/FindAravis.cmake

@@ -2,14 +2,15 @@ INCLUDE(FindPackageHandleStandardArgs)
 
 FIND_PATH(ARAVIS_INCLUDE_PATH arv.h
   "$ENV{ARAVIS_INCLUDE_PATH}"
-  /usr/include/aravis-0.2
+  /usr/local/include/aravis-0.4
 )
 
-FIND_LIBRARY(ARAVIS_LIBRARY aravis-0.2
+FIND_LIBRARY(ARAVIS_LIBRARY aravis-0.4
   "$ENV{ARAVIS_LIBRARY}"
-  /usr/lib
+  /usr/local/lib
 )
 
 FIND_PACKAGE_HANDLE_STANDARD_ARGS(ARAVIS DEFAULT_MSG
   ARAVIS_INCLUDE_PATH
   ARAVIS_LIBRARY)
+

CMakeModules/FindGLIB2.cmake

@@ -0,0 +1,217 @@
+# - Try to find GLib2
+# Once done this will define
+#
+#  GLIB2_FOUND - system has GLib2
+#  GLIB2_INCLUDE_DIRS - the GLib2 include directory
+#  GLIB2_LIBRARIES - Link these to use GLib2
+#
+#  HAVE_GLIB_GREGEX_H  glib has gregex.h header and 
+#                      supports g_regex_match_simple
+#
+#  Copyright (c) 2006 Andreas Schneider <mail@cynapses.org>
+#  Copyright (c) 2006 Philippe Bernery <philippe.bernery@gmail.com>
+#  Copyright (c) 2007 Daniel Gollub <dgollub@suse.de>
+#  Copyright (c) 2007 Alban Browaeys <prahal@yahoo.com>
+#  Copyright (c) 2008 Michael Bell <michael.bell@web.de>
+#  Copyright (c) 2008 Bjoern Ricks <bjoern.ricks@googlemail.com>
+#
+#  Redistribution and use is allowed according to the terms of the New
+#  BSD license.
+#  For details see the accompanying COPYING-CMAKE-SCRIPTS file.
+#
+
+
+IF (GLIB2_LIBRARIES AND GLIB2_INCLUDE_DIRS )
+  # in cache already
+  SET(GLIB2_FOUND TRUE)
+ELSE (GLIB2_LIBRARIES AND GLIB2_INCLUDE_DIRS )
+
+  INCLUDE(FindPkgConfig)
+
+  ## Glib
+  IF ( GLIB2_FIND_REQUIRED )
+    SET( _pkgconfig_REQUIRED "REQUIRED" )
+  ELSE ( GLIB2_FIND_REQUIRED )
+    SET( _pkgconfig_REQUIRED "" )
+  ENDIF ( GLIB2_FIND_REQUIRED )
+
+  IF ( GLIB2_MIN_VERSION )
+    PKG_SEARCH_MODULE( GLIB2 ${_pkgconfig_REQUIRED} glib-2.0>=${GLIB2_MIN_VERSION} )
+  ELSE ( GLIB2_MIN_VERSION )
+    PKG_SEARCH_MODULE( GLIB2 ${_pkgconfig_REQUIRED} glib-2.0 )
+  ENDIF ( GLIB2_MIN_VERSION )
+  IF ( PKG_CONFIG_FOUND )
+    IF ( GLIB2_FOUND )
+      SET ( GLIB2_CORE_FOUND TRUE )
+    ELSE ( GLIB2_FOUND )
+      SET ( GLIB2_CORE_FOUND FALSE )
+    ENDIF ( GLIB2_FOUND )
+  ENDIF ( PKG_CONFIG_FOUND )
+
+  # Look for glib2 include dir and libraries w/o pkgconfig
+  IF ( NOT GLIB2_FOUND AND NOT PKG_CONFIG_FOUND )
+    FIND_PATH(
+      _glibconfig_include_DIR
+    NAMES
+      glibconfig.h
+    PATHS
+      /opt/gnome/lib64
+      /opt/gnome/lib
+      /opt/lib/
+      /opt/local/lib
+      /sw/lib/
+      /usr/lib64
+      /usr/lib
+      /usr/local/include
+      ${CMAKE_LIBRARY_PATH}
+    PATH_SUFFIXES
+      glib-2.0/include
+    )
+
+    FIND_PATH(
+      _glib2_include_DIR
+    NAMES
+      glib.h
+    PATHS
+      /opt/gnome/include
+      /opt/local/include
+      /sw/include
+      /usr/include
+      /usr/local/include
+    PATH_SUFFIXES
+      glib-2.0
+    )
+
+    #MESSAGE(STATUS "Glib headers: ${_glib2_include_DIR}")
+
+    FIND_LIBRARY(
+      _glib2_link_DIR
+    NAMES
+      glib-2.0
+      glib
+    PATHS
+      /opt/gnome/lib
+      /opt/local/lib
+      /sw/lib
+      /usr/lib
+      /usr/local/lib
+    )
+    IF ( _glib2_include_DIR AND _glib2_link_DIR )
+        SET ( _glib2_FOUND TRUE )
+    ENDIF ( _glib2_include_DIR AND _glib2_link_DIR )
+
+
+    IF ( _glib2_FOUND )
+        SET ( GLIB2_INCLUDE_DIRS ${_glib2_include_DIR} ${_glibconfig_include_DIR} )
+        SET ( GLIB2_LIBRARIES ${_glib2_link_DIR} )
+        SET ( GLIB2_CORE_FOUND TRUE )
+    ELSE ( _glib2_FOUND )
+        SET ( GLIB2_CORE_FOUND FALSE )
+    ENDIF ( _glib2_FOUND )
+
+    # Handle dependencies
+    # libintl
+    IF ( NOT LIBINTL_FOUND )
+      FIND_PATH(LIBINTL_INCLUDE_DIR
+      NAMES
+        libintl.h
+      PATHS
+        /opt/gnome/include
+        /opt/local/include
+        /sw/include
+        /usr/include
+        /usr/local/include
+      )
+
+      FIND_LIBRARY(LIBINTL_LIBRARY
+      NAMES
+        intl
+      PATHS
+        /opt/gnome/lib
+        /opt/local/lib
+        /sw/lib
+        /usr/local/lib
+        /usr/lib
+      )
+
+      IF (LIBINTL_LIBRARY AND LIBINTL_INCLUDE_DIR)
+        SET (LIBINTL_FOUND TRUE)
+      ENDIF (LIBINTL_LIBRARY AND LIBINTL_INCLUDE_DIR)
+    ENDIF ( NOT LIBINTL_FOUND )
+
+    # libiconv
+    IF ( NOT LIBICONV_FOUND )
+      FIND_PATH(LIBICONV_INCLUDE_DIR
+      NAMES
+        iconv.h
+      PATHS
+        /opt/gnome/include
+        /opt/local/include
+        /opt/local/include
+        /sw/include
+        /sw/include
+        /usr/local/include
+        /usr/include
+      PATH_SUFFIXES
+        glib-2.0
+      )
+
+      FIND_LIBRARY(LIBICONV_LIBRARY
+      NAMES
+        iconv
+      PATHS
+        /opt/gnome/lib
+        /opt/local/lib
+        /sw/lib
+        /usr/lib
+        /usr/local/lib
+      )
+
+      IF (LIBICONV_LIBRARY AND LIBICONV_INCLUDE_DIR)
+        SET (LIBICONV_FOUND TRUE)
+      ENDIF (LIBICONV_LIBRARY AND LIBICONV_INCLUDE_DIR)
+    ENDIF ( NOT LIBICONV_FOUND )
+
+    IF (LIBINTL_FOUND)
+      SET (GLIB2_LIBRARIES ${GLIB2_LIBRARIES} ${LIBINTL_LIBRARY})
+      SET (GLIB2_INCLUDE_DIRS ${GLIB2_INCLUDE_DIRS} ${LIBINTL_INCLUDE_DIR})
+    ENDIF (LIBINTL_FOUND)
+
+    IF (LIBICONV_FOUND)
+      SET (GLIB2_LIBRARIES ${GLIB2_LIBRARIES} ${LIBICONV_LIBRARY})
+      SET (GLIB2_INCLUDE_DIRS ${GLIB2_INCLUDE_DIRS} ${LIBICONV_INCLUDE_DIR})
+    ENDIF (LIBICONV_FOUND)
+
+  ENDIF ( NOT GLIB2_FOUND AND NOT PKG_CONFIG_FOUND )
+  ##
+
+  IF (GLIB2_CORE_FOUND AND GLIB2_INCLUDE_DIRS AND GLIB2_LIBRARIES)
+    SET (GLIB2_FOUND TRUE)
+  ENDIF (GLIB2_CORE_FOUND AND GLIB2_INCLUDE_DIRS AND GLIB2_LIBRARIES)
+
+  IF (GLIB2_FOUND)
+    IF (NOT GLIB2_FIND_QUIETLY)
+      MESSAGE (STATUS "Found GLib2: ${GLIB2_LIBRARIES} ${GLIB2_INCLUDE_DIRS}")
+    ENDIF (NOT GLIB2_FIND_QUIETLY)
+  ELSE (GLIB2_FOUND)
+    IF (GLIB2_FIND_REQUIRED)
+      MESSAGE (SEND_ERROR "Could not find GLib2")
+    ENDIF (GLIB2_FIND_REQUIRED)
+  ENDIF (GLIB2_FOUND)
+
+  # show the GLIB2_INCLUDE_DIRS and GLIB2_LIBRARIES variables only in the advanced view
+  MARK_AS_ADVANCED(GLIB2_INCLUDE_DIRS GLIB2_LIBRARIES)
+  MARK_AS_ADVANCED(LIBICONV_INCLUDE_DIR LIBICONV_LIBRARY)
+  MARK_AS_ADVANCED(LIBINTL_INCLUDE_DIR LIBINTL_LIBRARY)
+
+ENDIF (GLIB2_LIBRARIES AND GLIB2_INCLUDE_DIRS)
+
+IF ( GLIB2_FOUND )
+	# Check if system has a newer version of glib
+	# which supports g_regex_match_simple
+	INCLUDE( CheckIncludeFiles )
+	SET( CMAKE_REQUIRED_INCLUDES ${GLIB2_INCLUDE_DIRS} )
+	CHECK_INCLUDE_FILES ( glib/gregex.h HAVE_GLIB_GREGEX_H )
+	# Reset CMAKE_REQUIRED_INCLUDES
+	SET( CMAKE_REQUIRED_INCLUDES "" )
+ENDIF( GLIB2_FOUND )