Catkinization, remove support for arm_navigation

.gitignore

@@ -11,3 +11,7 @@
 *.lai
 *.la
 *.a
+
+octomap_server/docs
+octomap_server/cfg
+octomap_server/src/octomap_server

octomap_mapping/CMakeLists.txt

@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(octomap_mapping)
+find_package(catkin REQUIRED)
+catkin_metapackage()

octomap_mapping/package.xml

@@ -0,0 +1,21 @@
+<package>
+  <name>octomap_mapping</name>
+  <version>0.5.0</version>
+  <description>
+    Mapping tools to be used with the <a href="http://octomap.github.io/">OctoMap library</a>, implementing a 3D occupancy grid mapping.
+  </description>
+  <author>Armin Hornung</author>
+  <maintainer email="[email protected]">Armin Hornung</maintainer>
+  <license>BSD</license>  
+
+  <url>http://ros.org/wiki/octomap_mapping</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>octomap_server</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+
+
+</package>

octomap_server/CMakeLists.txt

@@ -1,65 +1,80 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8)
+project(octomap_server)
 
-# 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)
-#set(ROS_BUILD_TYPE Release)
 
-rosbuild_init()
+find_package(catkin REQUIRED COMPONENTS
+  dynamic_reconfigure
+  nodelet
+  octomap_ros
+  octomap_msgs
+  pcl_conversions
+)
+
+find_package(PCL REQUIRED QUIET COMPONENTS common)
 
 find_package(octomap REQUIRED)
-include_directories(${OCTOMAP_INCLUDE_DIRS})
-link_directories(${OCTOMAP_LIBRARY_DIRS})
 add_definitions(-DOCTOMAP_NODEBUGOUT)
 
-find_package(PCL REQUIRED)
-include_directories(${PCL_INCLUDE_DIRS})
-
-find_package(nodelet REQUIRED)
-include_directories(${nodelet_INCLUDE_DIRS})
-
-link_libraries(
-  ${PROJECT_NAME}
-  ${PCL_COMMON_LIBRARIES}
-  ${OCTOMAP_LIBRARIES}
-  ${nodelet_LIBRARIES}
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${PCL_COMMON_INCLUDE_DIRS}
+  ${OCTOMAP_INCLUDE_DIRS}
 )
 
-#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()
+generate_dynamic_reconfigure_options(cfg/OctomapServer.cfg)
 
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS dynamic_reconfigure nodelet octomap_ros octomap_msgs pcl_conversions 
+  DEPENDS octomap PCL
+)
 
-#common commands for building c++ executables and libraries
-rosbuild_add_library(${PROJECT_NAME} src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp)
+add_library(${PROJECT_NAME} src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp)
+target_link_libraries(${PROJECT_NAME} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
 
-rosbuild_add_executable(octomap_server_node src/octomap_server_node.cpp)
-target_link_libraries(octomap_server_node ${PROJECT_NAME} ${OCTOMAP_LIBRARIES})
+add_executable(octomap_server_node src/octomap_server_node.cpp)
+target_link_libraries(octomap_server_node ${PROJECT_NAME} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
 
-rosbuild_add_executable(octomap_server_static src/octomap_server_static.cpp)
-target_link_libraries(octomap_server_static ${PROJECT_NAME} ${OCTOMAP_LIBRARIES})
+add_executable(octomap_server_static src/octomap_server_static.cpp)
+target_link_libraries(octomap_server_static ${PROJECT_NAME} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
 
-rosbuild_add_executable(octomap_server_multilayer src/octomap_server_multilayer.cpp)
-target_link_libraries(octomap_server_multilayer ${PROJECT_NAME} ${OCTOMAP_LIBRARIES})
+add_executable(octomap_server_multilayer src/octomap_server_multilayer.cpp)
+target_link_libraries(octomap_server_multilayer ${PROJECT_NAME} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
 
-rosbuild_add_executable(octomap_saver src/octomap_saver.cpp)
-target_link_libraries(octomap_saver ${PROJECT_NAME} ${OCTOMAP_LIBRARIES})
+add_executable(octomap_saver src/octomap_saver.cpp)
+target_link_libraries(octomap_saver ${PROJECT_NAME} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
 
-rosbuild_add_executable(octomap_tracking_server_node src/octomap_tracking_server_node.cpp)
-target_link_libraries(octomap_tracking_server_node ${PROJECT_NAME} ${OCTOMAP_LIBRARIES})
+add_executable(octomap_tracking_server_node src/octomap_tracking_server_node.cpp)
+target_link_libraries(octomap_tracking_server_node ${PROJECT_NAME} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
 
 # Nodelet
-rosbuild_add_library(octomap_server_nodelet src/octomap_server_nodelet.cpp)
-target_link_libraries(octomap_server_nodelet ${PROJECT_NAME})
+add_library(octomap_server_nodelet src/octomap_server_nodelet.cpp)
+target_link_libraries(octomap_server_nodelet ${PROJECT_NAME} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
+
+# install targets:
+install(TARGETS ${PROJECT_NAME}
+  octomap_server_node
+  octomap_server_static
+  octomap_server_multilayer
+  octomap_saver
+  octomap_tracking_server_node
+  octomap_server_nodelet
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  PATTERN ".svn" EXCLUDE
+)

octomap_server/cfg/OctomapServer.cfg

@@ -1,8 +1,7 @@
 #!/usr/bin/env python
 PACKAGE = "octomap_server"
-import roslib;roslib.load_manifest(PACKAGE)
 
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 

octomap_server/include/octomap_server/OctomapServer.h

@@ -43,8 +43,6 @@
 #include <nav_msgs/OccupancyGrid.h>
 #include <std_msgs/ColorRGBA.h>
 
-#include <arm_navigation_msgs/CollisionObject.h>
-#include <arm_navigation_msgs/CollisionMap.h>
 // #include <moveit_msgs/CollisionObject.h>
 // #include <moveit_msgs/CollisionMap.h>
 #include <sensor_msgs/PointCloud2.h>
@@ -53,14 +51,15 @@
 #include <octomap_server/OctomapServerConfig.h>
 
 #include <pcl/point_types.h>
-#include <pcl/ros/conversions.h>
+#include <pcl/conversions.h>
 #include <pcl_ros/transforms.h>
 #include <pcl/sample_consensus/method_types.h>
 #include <pcl/sample_consensus/model_types.h>
 #include <pcl/segmentation/sac_segmentation.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/filters/extract_indices.h>
 #include <pcl/filters/passthrough.h>
+#include <pcl_conversions/pcl_conversions.h>
 
 
 #include <tf/transform_listener.h>

octomap_server/include/octomap_server/OctomapServerMultilayer.h

@@ -30,15 +30,13 @@
 #define OCTOMAP_SERVER_OCTOMAPSERVERMULTILAYER_H
 
 #include <octomap_server/OctomapServer.h>
-#include <arm_navigation_msgs/AttachedCollisionObject.h>
 
 namespace octomap_server {
 class OctomapServerMultilayer : public OctomapServer{
 
 public:
   OctomapServerMultilayer(ros::NodeHandle private_nh_ = ros::NodeHandle("~"));
   virtual ~OctomapServerMultilayer();
-  void attachedCallback(const arm_navigation_msgs::AttachedCollisionObjectConstPtr& msg);
 
 protected:
   struct ProjectedMap{
@@ -62,10 +60,6 @@ class OctomapServerMultilayer : public OctomapServer{
   std::vector<ros::Publisher*> m_multiMapPub;
   ros::Subscriber m_attachedObjectsSub;
 
-  std::string m_attachedFrame;
-  double m_attachedMaxOffset;
-  double m_attachedMinOffset;
-  bool m_haveAttachedObject;
   std::vector<std::string> m_armLinks;
   std::vector<double> m_armLinkOffsets;
 

octomap_server/package.xml

@@ -0,0 +1,50 @@
+<package>
+  <name>octomap_server</name>
+  <version>0.5.0</version>
+  <description>
+    octomap_server loads a 3D map (as Octree-based OctoMap) and distributes it to other nodes in a compact binary format.
+    It also allows to incrementally build 3D OctoMaps, and provides map saving in the node octomap_saver.
+    A visualization of the occupied cells is sent as MarkerArray.
+  </description>
+  <author>Armin Hornung</author>
+  <maintainer email="[email protected]">Armin Hornung</maintainer>
+  <license>BSD</license>
+  <url>http://www.ros.org/wiki/octomap_server</url>
+
+  <export>
+    <nodelet plugin="${prefix}/plugins/nodelet_plugins.xml" />
+  </export>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>pcl_conversions</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>octomap</build_depend>
+  <build_depend>octomap_msgs</build_depend>  
+  <build_depend>octomap_ros</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>nodelet</build_depend>
+
+ <run_depend>roscpp</run_depend>
+ <run_depend>visualization_msgs</run_depend>
+ <run_depend>sensor_msgs</run_depend>
+ <run_depend>pcl_ros</run_depend>
+ <run_depend>pcl_conversions</run_depend>
+ <run_depend>nav_msgs</run_depend>
+ <run_depend>std_msgs</run_depend>
+ <run_depend>std_srvs</run_depend>
+ <run_depend>octomap</run_depend>
+ <run_depend>octomap_msgs</run_depend>
+ <run_depend>octomap_ros</run_depend>
+ <run_depend>dynamic_reconfigure</run_depend>
+ <run_depend>nodelet</run_depend>
+
+</package>
+
+