catkinization, WIP

CMakeLists.txt

@@ -1,37 +1,28 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(snap_map_icp)
 
-# 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)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
+find_package(catkin REQUIRED std_msgs nav_msgs laser_geometry sensor_msgs geometry_msgs tf)
 
 find_package(Eigen REQUIRED)
 include_directories(${EIGEN_INCLUDE_DIRS})
 add_definitions(${EIGEN_DEFINITIONS})
 
-#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(${PROJECT_NAME} thread)
-rosbuild_add_executable(SnapMapICP src/SnapMapICP.cpp)
-rosbuild_add_executable(TFpub src/TFpub.cpp)
-rosbuild_add_executable(FreezeCloud2 src/FreezeCloud2.cpp)
+find_package(PCL REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+
+
+catkin_package(
+  CATKIN_DEPENDS std_msgs nav_msgs laser_geometry sensor_msgs geometry_msgs tf
+  )
+
+include_directories(${catkin_INCLUDE_DIRS}
+  )
+
+add_executable(SnapMapICP src/SnapMapICP.cpp)
+add_executable(TFpub src/TFpub.cpp)
+add_executable(FreezeCloud2 src/FreezeCloud2.cpp)
 
-#target_link_libraries(example ${PROJECT_NAME})
+target_link_libraries(SnapMapICP ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(TFpub ${catkin_LIBRARIES})
+target_link_libraries(FreezeCloud2 ${catkin_LIBRARIES})

package.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<package>
+  <name>snap_map_icp</name>
+  <version>0.0.0</version>
+  <description>The snap_map_icp package</description>
+
+  <maintainer email="[email protected]">Thomas Ruehr</maintainer>
+
+  <license>BSD</license>
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>laser_geometry</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>bullet</build_depend>
+  <build_depend version_gte="1.7.0">libpcl-all</build_depend>
+
+  <run_depend>std_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>laser_geometry</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>bullet</run_depend>
+  <run_depend version_gte="1.7.0">libpcl-all</run_depend>
+
+  <export>
+  </export>
+</package>
+
+

src/SnapMapICP.cpp

@@ -50,6 +50,7 @@
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 
 #include <boost/thread/mutex.hpp>
+//#include <bullet/LinearMath/btMatrix3x3.h>>
 
 boost::mutex scan_callback_mutex;
 
@@ -137,7 +138,7 @@ matrixAsTransfrom (const Eigen::Matrix4f &out_mat,  tf::Transform& bt)
     mv[6] = out_mat (2, 1);
     mv[10] = out_mat (2, 2);
 
-    btMatrix3x3 basis;
+    tf::Matrix3x3 basis;
     basis.setFromOpenGLSubMatrix(mv);
     tf::Vector3 origin(out_mat (0, 3),out_mat (1, 3),out_mat (2, 3));