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[Ros/Src] Refactor tensor_ros_src for ROS1/RosCpp #55

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merged 2 commits into from
Nov 6, 2020
Merged

[Ros/Src] Refactor tensor_ros_src for ROS1/RosCpp #55

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d84144b
[Ros/Src] Refactor tensor_ros_src for ROS1/RosCpp
wooksong Nov 2, 2020
6f0f7a9
[Tests/Src] Revise test cases according to the changes in tensor_ros_src
wooksong Nov 3, 2020
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27 changes: 17 additions & 10 deletions gst/tensor_ros_src/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,32 +1,39 @@
SET(ROSSRC_PKG_MODULES
gstreamer-base-1.0
roscpp
std_msgs
)

PKG_CHECK_MODULES(PKGS REQUIRED ${ROSSRC_PKG_MODULES})

LINK_DIRECTORIES(${PKGS_LIBRARY_DIRS})
IF(WITH_ROS1)
SET(NNS_ROS_BRIDGE nns_ros_bridge)
SET(NNS_ROS_SRC tensor_ros_src)
ELSEIF(WITH_ROS2)
SET(NNS_ROS_BRIDGE nns_ros_bridge2)
SET(NNS_ROS_SRC tensor_ros2_src)
ENDIF(WITH_ROS1)

ADD_LIBRARY(tensor_ros_src tensor_ros_src.cc)
ADD_DEPENDENCIES(tensor_ros_src nns_ros_bridge)
TARGET_INCLUDE_DIRECTORIES(tensor_ros_src PRIVATE

#LINK_DIRECTORIES(${PKGS_LIBRARY_DIRS})

ADD_LIBRARY(${NNS_ROS_SRC} SHARED tensor_ros_src.c)
ADD_DEPENDENCIES(${NNS_ROS_SRC} ${NNS_ROS_BRIDGE})
TARGET_INCLUDE_DIRECTORIES(${NNS_ROS_SRC} PRIVATE
${PKGS_INCLUDE_DIRS}
)

TARGET_LINK_LIBRARIES(tensor_ros_src
nns_ros_bridge
TARGET_LINK_LIBRARIES(${NNS_ROS_SRC}
${NNS_ROS_BRIDGE}
${PKGS_COMMON_LIBRARIES}
${PKGS_LIBRARIES}
)

IF(CATKIN_DEVEL_PREFIX)
SET_TARGET_PROPERTIES(tensor_ros_src
SET_TARGET_PROPERTIES(${NNS_ROS_SRC}
PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${NNS_INSTALL_GSTDIR}
)
ENDIF(CATKIN_DEVEL_PREFIX)

INSTALL(TARGETS tensor_ros_src
INSTALL(TARGETS ${NNS_ROS_SRC}
RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/${NNS_INSTALL_GSTDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}
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92 changes: 0 additions & 92 deletions gst/tensor_ros_src/tensor_ros_listener.hpp
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