Build libuvc stuff

RoboStack · Jun 17, 2021 · 4004a38 · 4004a38
1 parent 7f2e4c7
commit 4004a38
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Showing 4 changed files with 43 additions and 0 deletions.
diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
@@ -71,3 +71,5 @@ mesh_client:
   add_host: ["REQUIRE_OPENGL", "cgal-cpp"]
 map_organizer:
   add_host: ["REQUIRE_OPENGL"]
+libuvc_camera:
+  add_host: ["pkgconfig"]
diff --git a/patch/ros-noetic-libuvc-camera.patch b/patch/ros-noetic-libuvc-camera.patch
@@ -0,0 +1,38 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 91db504..dc81064 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -7,8 +7,12 @@ find_package(catkin REQUIRED COMPONENTS roscpp camera_info_manager dynamic_recon
+ generate_dynamic_reconfigure_options(cfg/UVCCamera.cfg)
+
+ find_package(libuvc REQUIRED)
++find_package(PkgConfig REQUIRED)
+ message(STATUS "libuvc ${libuvc_VERSION_MAJOR}.${libuvc_VERSION_MINOR}.${libuvc_VERSION_PATCH}")
+
++pkg_check_modules(libudev libudev)
++pkg_check_modules(libusb libusb-1.0)
++
+ catkin_package(
+   CATKIN_DEPENDS
+     roscpp
+@@ -23,15 +27,18 @@ catkin_package(
+ add_definitions(-Dlibuvc_VERSION_MAJOR=${libuvc_VERSION_MAJOR})
+ add_definitions(-Dlibuvc_VERSION_MINOR=${libuvc_VERSION_MINOR})
+ add_definitions(-Dlibuvc_VERSION_PATCH=${libuvc_VERSION_PATCH})
+-include_directories(include ${libuvc_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
++include_directories(include ${libuvc_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${libudev_INCLUDE_DIRS} ${libusb_INCLUDE_DIRS})
+ link_directories(${catkin_LINK_DIRS})
+
+ find_package(Boost REQUIRED COMPONENTS thread)
+ include_directories(${Boost_INCLUDE_DIRS})
+
+ add_executable(camera_node src/main.cpp src/camera_driver.cpp)
+-target_link_libraries(camera_node ${libuvc_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
++target_link_libraries(camera_node ${libuvc_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${libudev_LIBRARIES} ${libusb_LIBRARIES})
+ add_dependencies(camera_node ${PROJECT_NAME}_gencfg)
++IF(UNIX AND NOT APPLE)
++  TARGET_LINK_LIBRARIES(camera_node rt)
++ENDIF(UNIX AND NOT APPLE)
+
+ add_library(libuvc_camera_nodelet src/nodelet.cpp src/camera_driver.cpp)
+ add_dependencies(libuvc_camera_nodelet ${libuvc_camera_EXPORTED_TARGETS})
diff --git a/robostack.yaml b/robostack.yaml
@@ -740,3 +740,5 @@ python-inject-pip:
   robostack: [inject]
 libxmlrpc-c++:
   robostack: [xmlrpc-c]
+libuvc-dev:
+  robostack: [libuvc, libusb]
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
@@ -39,6 +39,7 @@ packages_select_by_deps:
   ##
   #  TODO Linux
   ##
+  - libuvc-ros
   - ackermann-msgs
   - actionlib-tools
   - agni-tf-tools