Add ifm3d build (#140)

RoboStack · Jun 9, 2021 · 02c5a93 · 02c5a93
1 parent 801dadf
commit 02c5a93
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Showing 3 changed files with 19 additions and 1 deletion.
diff --git a/patch/ros-noetic-ifm3d.patch b/patch/ros-noetic-ifm3d.patch
@@ -0,0 +1,15 @@
+diff --git a/src/camera_nodelet.cpp b/src/camera_nodelet.cpp
+index 1c1a7d8..f650228 100644
+--- a/src/camera_nodelet.cpp
++++ b/src/camera_nodelet.cpp
+@@ -594,7 +594,9 @@ ifm3d_ros::CameraNodelet::Run()
+       if ((this->schema_mask_ & ifm3d::IMG_CART) == ifm3d::IMG_CART)
+         {
+           cloud->header = pcl_conversions::toPCL(head);
+-          this->cloud_pub_.publish(cloud);
++          sensor_msgs::PointCloud2 out_cloud;
++          pcl::toROSMsg(*cloud, out_cloud);
++          this->cloud_pub_.publish(out_cloud);
+
+           sensor_msgs::ImagePtr xyz_image_msg =
+             cv_bridge::CvImage(head,
diff --git a/robostack.yaml b/robostack.yaml
@@ -738,3 +738,5 @@ udev:
   robostack: [libusb]
 python-inject-pip:
   robostack: [inject]
+libxmlrpc-c++:
+  robostack: [xmlrpc-c]
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
@@ -39,7 +39,8 @@ packages_select_by_deps:
   ##
   #  TODO Linux
   ##
-  - rviz
+  - ifm3d
+  # - rviz
   # - ur_client_library
   # - realsense2_camera
   # - franka_example_controllers