From fb40ecb96fc14047c744caac8661d0e407020be9 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Wed, 4 Dec 2019 18:28:12 -0800 Subject: [PATCH 01/17] Correct package name --- realsense_examples/package.xml | 2 +- realsense_ros/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/realsense_examples/package.xml b/realsense_examples/package.xml index b9e1ceb..d99f051 100644 --- a/realsense_examples/package.xml +++ b/realsense_examples/package.xml @@ -14,7 +14,7 @@ realsense_ros realsense_node - realsense2 + librealsense2 realsense_msgs launch_ros diff --git a/realsense_ros/package.xml b/realsense_ros/package.xml index a85f0b7..d6e143b 100644 --- a/realsense_ros/package.xml +++ b/realsense_ros/package.xml @@ -17,7 +17,7 @@ tf2 tf2_ros pcl_conversions - realsense2 + librealsense2 realsense_msgs image_transport From 466c26dcc190c0970f62bd026151c39565b7dd56 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Wed, 4 Dec 2019 18:28:58 -0800 Subject: [PATCH 02/17] Fix cmake include dir --- realsense_ros/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense_ros/CMakeLists.txt b/realsense_ros/CMakeLists.txt index 1b2b885..50de8d2 100644 --- a/realsense_ros/CMakeLists.txt +++ b/realsense_ros/CMakeLists.txt @@ -82,7 +82,7 @@ endif() include_directories( ${CMAKE_CURRENT_SOURCE_DIR}/include - ${realsense2_INCLUDE_DIRS} + ${realsense2_INCLUDE_DIR} ) set(node_plugins "") From a71843790103ac1ea4403c89cd60d787fb7841d6 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Wed, 4 Dec 2019 18:32:38 -0800 Subject: [PATCH 03/17] Add Dockerfile --- Dockerfile | 57 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 57 insertions(+) create mode 100644 Dockerfile diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..c9264d3 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,57 @@ +ARG FROM_IMAGE=ruffsl/librealsense:development + +# multi-stage for caching +FROM $FROM_IMAGE AS cache + +# copy overlay source +ENV REALSENSE_WS /opt/realsense_ws +RUN mkdir -p $REALSENSE_WS/src +WORKDIR $REALSENSE_WS +COPY ./ src/ros2_intel_realsense + +# copy manifests for caching +WORKDIR /opt +RUN find ./ -name "package.xml" | \ + xargs cp --parents -t /tmp + # && find ./ -name "COLCON_IGNORE" | \ + # xargs cp --parents -t /tmp + +# multi-stage for building +FROM $FROM_IMAGE AS build + +# install CI dependencies +RUN apt-get update && apt-get install -q -y \ + ccache \ + lcov \ + && rm -rf /var/lib/apt/lists/* + +# copy overlay manifests +ENV REALSENSE_WS /opt/realsense_ws +COPY --from=cache /tmp/realsense_ws $REALSENSE_WS +WORKDIR $REALSENSE_WS + +# install overlay dependencies +RUN . $OVERLAY_WS/install/setup.sh && \ + apt-get update && rosdep install -q -y \ + --from-paths \ + src \ + $OVERLAY_WS/src \ + --ignore-src \ + && rm -rf /var/lib/apt/lists/* + +# copy overlay source +COPY --from=cache $REALSENSE_WS ./ + +# build overlay source +ARG REALSENSE_MIXINS="release ccache" +RUN . $OVERLAY_WS/install/setup.sh && \ + colcon build \ + --symlink-install \ + --mixin \ + $REALSENSE_MIXINS \ + --event-handlers console_direct+ + +# source overlay from entrypoint +RUN sed --in-place \ + 's|^source .*|source "$REALSENSE_WS/install/setup.bash"|' \ + /ros_entrypoint.sh From 9744e3e987519be726792925842beacdddf6db1d Mon Sep 17 00:00:00 2001 From: ruffsl Date: Wed, 4 Dec 2019 19:47:34 -0800 Subject: [PATCH 04/17] Build underlay in Dockerfile --- Dockerfile | 65 ++++++++++++++++++++++++++++++++------------ tools/overlay.repos | 5 ++++ tools/underlay.repos | 5 ++++ 3 files changed, 58 insertions(+), 17 deletions(-) create mode 100644 tools/overlay.repos create mode 100644 tools/underlay.repos diff --git a/Dockerfile b/Dockerfile index c9264d3..a6b9062 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,13 +1,22 @@ -ARG FROM_IMAGE=ruffsl/librealsense:development +ARG FROM_IMAGE=ros:eloquent # multi-stage for caching FROM $FROM_IMAGE AS cache +# clone underlay source +ENV UNDERLAY_WS /opt/underlay_ws +RUN mkdir -p $UNDERLAY_WS/src +WORKDIR $UNDERLAY_WS +COPY ./tools/underlay.repos ./ +RUN vcs import src < underlay.repos + # copy overlay source -ENV REALSENSE_WS /opt/realsense_ws -RUN mkdir -p $REALSENSE_WS/src -WORKDIR $REALSENSE_WS -COPY ./ src/ros2_intel_realsense +ENV OVERLAY_WS /opt/overlay_ws +RUN mkdir -p $OVERLAY_WS/src +WORKDIR $OVERLAY_WS +# COPY ./ src/navigation2 +COPY ./tools/overlay.repos ./ +RUN vcs import src < overlay.repos # copy manifests for caching WORKDIR /opt @@ -25,33 +34,55 @@ RUN apt-get update && apt-get install -q -y \ lcov \ && rm -rf /var/lib/apt/lists/* +# copy underlay manifests +ENV UNDERLAY_WS /opt/underlay_ws +COPY --from=cache /tmp/underlay_ws $UNDERLAY_WS +WORKDIR $UNDERLAY_WS + +# install underlay dependencies +RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ + apt-get update && rosdep install -q -y \ + --from-paths src \ + --ignore-src \ + && rm -rf /var/lib/apt/lists/* + +# copy underlay source +COPY --from=cache $UNDERLAY_WS ./ + +# build underlay source +ARG UNDERLAY_MIXINS="release ccache" +RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ + colcon build \ + --symlink-install \ + --mixin \ + $UNDERLAY_MIXINS + # copy overlay manifests -ENV REALSENSE_WS /opt/realsense_ws -COPY --from=cache /tmp/realsense_ws $REALSENSE_WS -WORKDIR $REALSENSE_WS +ENV OVERLAY_WS /opt/overlay_ws +COPY --from=cache /tmp/overlay_ws $OVERLAY_WS +WORKDIR $OVERLAY_WS # install overlay dependencies -RUN . $OVERLAY_WS/install/setup.sh && \ +RUN . $UNDERLAY_WS/install/setup.sh && \ apt-get update && rosdep install -q -y \ --from-paths \ src \ - $OVERLAY_WS/src \ + $UNDERLAY_WS/src \ --ignore-src \ && rm -rf /var/lib/apt/lists/* # copy overlay source -COPY --from=cache $REALSENSE_WS ./ +COPY --from=cache $OVERLAY_WS ./ # build overlay source -ARG REALSENSE_MIXINS="release ccache" -RUN . $OVERLAY_WS/install/setup.sh && \ +ARG OVERLAY_MIXINS="release ccache" +RUN . $UNDERLAY_WS/install/setup.sh && \ colcon build \ --symlink-install \ --mixin \ - $REALSENSE_MIXINS \ - --event-handlers console_direct+ + $OVERLAY_MIXINS # source overlay from entrypoint RUN sed --in-place \ - 's|^source .*|source "$REALSENSE_WS/install/setup.bash"|' \ - /ros_entrypoint.sh + 's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \ + /ros_entrypoint.sh \ No newline at end of file diff --git a/tools/overlay.repos b/tools/overlay.repos new file mode 100644 index 0000000..7ae4338 --- /dev/null +++ b/tools/overlay.repos @@ -0,0 +1,5 @@ +repositories: + ros2_intel_realsense: + type: git + url: https://github.com/intel/ros2_intel_realsense.git + version: master diff --git a/tools/underlay.repos b/tools/underlay.repos new file mode 100644 index 0000000..e9101d5 --- /dev/null +++ b/tools/underlay.repos @@ -0,0 +1,5 @@ +repositories: + librealsense: + type: git + url: https://github.com/ruffsl/librealsense.git + version: package-fix From 2457d5fc8e13953136182a55c075632018f4ea9c Mon Sep 17 00:00:00 2001 From: ruffsl Date: Wed, 4 Dec 2019 20:32:14 -0800 Subject: [PATCH 05/17] Target custom fork --- tools/overlay.repos | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/overlay.repos b/tools/overlay.repos index 7ae4338..f089b5b 100644 --- a/tools/overlay.repos +++ b/tools/overlay.repos @@ -1,5 +1,5 @@ repositories: ros2_intel_realsense: type: git - url: https://github.com/intel/ros2_intel_realsense.git - version: master + url: https://github.com/ruffsl/ros2_intel_realsense.git + version: docker From bdb630d0d0c94ccd603b82cd9b1fa20ea228562f Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 5 Dec 2019 09:11:38 -0800 Subject: [PATCH 06/17] Update cmake linking --- realsense_ros/CMakeLists.txt | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/realsense_ros/CMakeLists.txt b/realsense_ros/CMakeLists.txt index 50de8d2..141bdd7 100644 --- a/realsense_ros/CMakeLists.txt +++ b/realsense_ros/CMakeLists.txt @@ -96,7 +96,7 @@ add_library(${PROJECT_NAME} SHARED ) target_link_libraries(${PROJECT_NAME} - realsense2 + ${realsense2_LIBRARY} ) ament_target_dependencies(${PROJECT_NAME} @@ -108,7 +108,7 @@ ament_target_dependencies(${PROJECT_NAME} tf2 tf2_ros pcl_conversions - realsense2 + librealsense2 realsense_msgs ) @@ -159,7 +159,7 @@ if(BUILD_TESTING) ${${PROJECT_NAME}_INCLUDE_DIRS} ) target_link_libraries(${target} - realsense2 + ${realsense2_LIBRARY} ${PROJECT_NAME}) ament_target_dependencies(${target} "rclcpp" From 7e8d41c0acdf498bc963661531b8239a28e41e56 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 5 Dec 2019 09:55:00 -0800 Subject: [PATCH 07/17] Fix include headers in cmake --- Dockerfile | 6 +++--- realsense_node/CMakeLists.txt | 5 +++++ realsense_ros/CMakeLists.txt | 2 +- 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/Dockerfile b/Dockerfile index a6b9062..5c1dbe6 100644 --- a/Dockerfile +++ b/Dockerfile @@ -14,9 +14,9 @@ RUN vcs import src < underlay.repos ENV OVERLAY_WS /opt/overlay_ws RUN mkdir -p $OVERLAY_WS/src WORKDIR $OVERLAY_WS -# COPY ./ src/navigation2 -COPY ./tools/overlay.repos ./ -RUN vcs import src < overlay.repos +COPY ./ src/navigation2 +# COPY ./tools/overlay.repos ./ +# RUN vcs import src < overlay.repos # copy manifests for caching WORKDIR /opt diff --git a/realsense_node/CMakeLists.txt b/realsense_node/CMakeLists.txt index 3935952..a242862 100644 --- a/realsense_node/CMakeLists.txt +++ b/realsense_node/CMakeLists.txt @@ -73,6 +73,11 @@ find_package(tf2 REQUIRED) find_package(tf2_ros REQUIRED) find_package(realsense_ros REQUIRED) find_package(realsense_msgs REQUIRED) +find_package(realsense2 REQUIRED) + +include_directories( + ${realsense2_INCLUDE_DIR} +) add_executable(realsense_node src/realsense_node.cpp diff --git a/realsense_ros/CMakeLists.txt b/realsense_ros/CMakeLists.txt index 141bdd7..65e65b1 100644 --- a/realsense_ros/CMakeLists.txt +++ b/realsense_ros/CMakeLists.txt @@ -108,7 +108,7 @@ ament_target_dependencies(${PROJECT_NAME} tf2 tf2_ros pcl_conversions - librealsense2 + realsense2 realsense_msgs ) From 145eb091e3b5aac99d4476ed7941cc565de2e5b2 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 10 Jan 2020 15:23:58 -0800 Subject: [PATCH 08/17] Add dockerignore file --- .dockerignore | 8 ++++++++ 1 file changed, 8 insertions(+) create mode 100644 .dockerignore diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 0000000..dca6942 --- /dev/null +++ b/.dockerignore @@ -0,0 +1,8 @@ +################################################################################ +# Repo + +.git/* +.dockerignore +.gitignore +**Dockerfile +**.Dockerfile From 51da36719f64f2d4f5196cfeeb4828e80014c1fc Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 10 Jan 2020 15:24:32 -0800 Subject: [PATCH 09/17] Update branch for underlay --- tools/underlay.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/underlay.repos b/tools/underlay.repos index e9101d5..d6c7b1f 100644 --- a/tools/underlay.repos +++ b/tools/underlay.repos @@ -2,4 +2,4 @@ repositories: librealsense: type: git url: https://github.com/ruffsl/librealsense.git - version: package-fix + version: docker From f13417da6639a1307f1abf52332f866e2d67c781 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 10 Jan 2020 15:24:51 -0800 Subject: [PATCH 10/17] Clean Dockerfile --- Dockerfile | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/Dockerfile b/Dockerfile index 5c1dbe6..16bdcc7 100644 --- a/Dockerfile +++ b/Dockerfile @@ -54,8 +54,7 @@ ARG UNDERLAY_MIXINS="release ccache" RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ colcon build \ --symlink-install \ - --mixin \ - $UNDERLAY_MIXINS + --mixin $UNDERLAY_MIXINS # copy overlay manifests ENV OVERLAY_WS /opt/overlay_ws @@ -79,8 +78,7 @@ ARG OVERLAY_MIXINS="release ccache" RUN . $UNDERLAY_WS/install/setup.sh && \ colcon build \ --symlink-install \ - --mixin \ - $OVERLAY_MIXINS + --mixin $OVERLAY_MIXINS # source overlay from entrypoint RUN sed --in-place \ From 83a04abde4f80bd7c36568dae159ba54870fb3f1 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 23 Jan 2020 23:17:24 -0800 Subject: [PATCH 11/17] Publish messages using frame timestamp --- realsense_ros/CMakeLists.txt | 4 ++++ realsense_ros/include/realsense/rs_base.hpp | 2 ++ realsense_ros/package.xml | 1 + realsense_ros/src/rs_base.cpp | 4 ++++ realsense_ros/src/rs_d435.cpp | 2 +- realsense_ros/src/rs_d435i.cpp | 2 +- realsense_ros/src/rs_t265.cpp | 2 +- 7 files changed, 14 insertions(+), 3 deletions(-) diff --git a/realsense_ros/CMakeLists.txt b/realsense_ros/CMakeLists.txt index 65e65b1..d47b6ab 100644 --- a/realsense_ros/CMakeLists.txt +++ b/realsense_ros/CMakeLists.txt @@ -65,6 +65,7 @@ set(CMAKE_CXX_FLAGS "-fPIE -fPIC -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat # find dependencies find_package(ament_cmake REQUIRED) +find_package(rcl REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_components REQUIRED) find_package(nav_msgs REQUIRED) @@ -100,6 +101,7 @@ target_link_libraries(${PROJECT_NAME} ) ament_target_dependencies(${PROJECT_NAME} + rcl rclcpp rclcpp_components nav_msgs @@ -133,6 +135,7 @@ install( if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) + find_package(rcl REQUIRED) find_package(rclcpp REQUIRED) find_package(nav_msgs REQUIRED) find_package(sensor_msgs REQUIRED) @@ -162,6 +165,7 @@ if(BUILD_TESTING) ${realsense2_LIBRARY} ${PROJECT_NAME}) ament_target_dependencies(${target} + "rcl" "rclcpp" "nav_msgs" "sensor_msgs" diff --git a/realsense_ros/include/realsense/rs_base.hpp b/realsense_ros/include/realsense/rs_base.hpp index ecd5381..e9467e6 100644 --- a/realsense_ros/include/realsense/rs_base.hpp +++ b/realsense_ros/include/realsense/rs_base.hpp @@ -15,6 +15,7 @@ #ifndef REALSENSE__RS_BASE_HPP_ #define REALSENSE__RS_BASE_HPP_ +#include "rcl/time.h" #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/image.hpp" #include "sensor_msgs/msg/camera_info.hpp" @@ -80,6 +81,7 @@ class RealSenseBase Result toggleStream(const stream_index_pair & stream, const rclcpp::Parameter & param); Result changeResolution(const stream_index_pair & stream, const rclcpp::Parameter & param); Result changeFPS(const stream_index_pair & stream, const rclcpp::Parameter & param); + rclcpp::Time frameToTime(const rs2::frame & frame); typedef struct VideoStreamInfo { diff --git a/realsense_ros/package.xml b/realsense_ros/package.xml index d6e143b..8e9ff1f 100644 --- a/realsense_ros/package.xml +++ b/realsense_ros/package.xml @@ -9,6 +9,7 @@ ament_cmake + rcl rclcpp rclcpp_components nav_msgs diff --git a/realsense_ros/src/rs_base.cpp b/realsense_ros/src/rs_base.cpp index 355f978..f094fe2 100644 --- a/realsense_ros/src/rs_base.cpp +++ b/realsense_ros/src/rs_base.cpp @@ -457,4 +457,8 @@ Result RealSenseBase::changeFPS(const stream_index_pair & stream, const rclcpp:: } return result; } + +rclcpp::Time RealSenseBase::frameToTime(const rs2::frame & frame) { + return rclcpp::Time(RCL_MS_TO_NS(frame.get_timestamp())); +} } // namespace realsense diff --git a/realsense_ros/src/rs_d435.cpp b/realsense_ros/src/rs_d435.cpp index bcd8786..0d2a202 100644 --- a/realsense_ros/src/rs_d435.cpp +++ b/realsense_ros/src/rs_d435.cpp @@ -60,7 +60,7 @@ RealSenseD435::RealSenseD435(rs2::context ctx, rs2::device dev, rclcpp::Node & n void RealSenseD435::publishTopicsCallback(const rs2::frame & frame) { rs2::frameset frameset = frame.as(); - rclcpp::Time t = node_.now(); + rclcpp::Time t = frameToTime(frame); if (enable_[COLOR] && (image_pub_[COLOR]->get_subscription_count() > 0 || camera_info_pub_[COLOR]->get_subscription_count() > 0)){ auto frame = frameset.get_color_frame(); publishImageTopic(frame, t); diff --git a/realsense_ros/src/rs_d435i.cpp b/realsense_ros/src/rs_d435i.cpp index b452de2..a2b1662 100644 --- a/realsense_ros/src/rs_d435i.cpp +++ b/realsense_ros/src/rs_d435i.cpp @@ -35,7 +35,7 @@ RealSenseD435I::RealSenseD435I(rs2::context ctx, rs2::device dev, rclcpp::Node & void RealSenseD435I::publishTopicsCallback(const rs2::frame & frame) { - rclcpp::Time t = node_.now(); + rclcpp::Time t = frameToTime(frame); if (frame.is()) { RealSenseD435::publishTopicsCallback(frame); } else if (frame.is()) { diff --git a/realsense_ros/src/rs_t265.cpp b/realsense_ros/src/rs_t265.cpp index a44b30f..bde3b1a 100644 --- a/realsense_ros/src/rs_t265.cpp +++ b/realsense_ros/src/rs_t265.cpp @@ -42,7 +42,7 @@ RealSenseT265::RealSenseT265(rs2::context ctx, rs2::device dev, rclcpp::Node & n void RealSenseT265::publishTopicsCallback(const rs2::frame & frame) { - rclcpp::Time t = node_.now(); + rclcpp::Time t = frameToTime(frame); if (frame.is()) { auto frameset = frame.as(); From 0bc3b5cd1cd07478198ee1dcfc0887fb41e4384a Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 24 Jan 2020 10:32:05 -0800 Subject: [PATCH 12/17] Declare rcl as build_depend --- realsense_ros/package.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/realsense_ros/package.xml b/realsense_ros/package.xml index 8e9ff1f..d44a3b8 100644 --- a/realsense_ros/package.xml +++ b/realsense_ros/package.xml @@ -9,7 +9,6 @@ ament_cmake - rcl rclcpp rclcpp_components nav_msgs @@ -22,6 +21,8 @@ realsense_msgs image_transport + rcl + launch_ros ament_lint_auto From 1aef1c3dcf79a7be262ff588f200960cb824725f Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 24 Jan 2020 10:33:03 -0800 Subject: [PATCH 13/17] Make rcl header private --- realsense_ros/include/realsense/rs_base.hpp | 1 - realsense_ros/src/rs_base.cpp | 1 + 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense_ros/include/realsense/rs_base.hpp b/realsense_ros/include/realsense/rs_base.hpp index e9467e6..1d05b12 100644 --- a/realsense_ros/include/realsense/rs_base.hpp +++ b/realsense_ros/include/realsense/rs_base.hpp @@ -15,7 +15,6 @@ #ifndef REALSENSE__RS_BASE_HPP_ #define REALSENSE__RS_BASE_HPP_ -#include "rcl/time.h" #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/image.hpp" #include "sensor_msgs/msg/camera_info.hpp" diff --git a/realsense_ros/src/rs_base.cpp b/realsense_ros/src/rs_base.cpp index f094fe2..b47bf90 100644 --- a/realsense_ros/src/rs_base.cpp +++ b/realsense_ros/src/rs_base.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include "rcl/time.h" #include "realsense/rs_base.hpp" namespace realsense From e67559a1e040ccee181cd2db2f23dd0a1154d773 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 24 Jan 2020 10:35:59 -0800 Subject: [PATCH 14/17] Target include private rcl headers --- realsense_ros/CMakeLists.txt | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/realsense_ros/CMakeLists.txt b/realsense_ros/CMakeLists.txt index d47b6ab..d9b9e22 100644 --- a/realsense_ros/CMakeLists.txt +++ b/realsense_ros/CMakeLists.txt @@ -100,8 +100,11 @@ target_link_libraries(${PROJECT_NAME} ${realsense2_LIBRARY} ) +target_include_directories(${PROJECT_NAME} PRIVATE + ${rcl_INCLUDE_DIRS} +) + ament_target_dependencies(${PROJECT_NAME} - rcl rclcpp rclcpp_components nav_msgs @@ -164,8 +167,9 @@ if(BUILD_TESTING) target_link_libraries(${target} ${realsense2_LIBRARY} ${PROJECT_NAME}) + target_include_directories(${PROJECT_NAME} PRIVATE + ${rcl_INCLUDE_DIRS}) ament_target_dependencies(${target} - "rcl" "rclcpp" "nav_msgs" "sensor_msgs" From 35d9ac67fc44988c4e30c4a5d4c27d1a5ae1750f Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 24 Jan 2020 10:38:42 -0800 Subject: [PATCH 15/17] Revert "Target include private rcl headers" This reverts commit e67559a1e040ccee181cd2db2f23dd0a1154d773. --- realsense_ros/CMakeLists.txt | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/realsense_ros/CMakeLists.txt b/realsense_ros/CMakeLists.txt index d9b9e22..d47b6ab 100644 --- a/realsense_ros/CMakeLists.txt +++ b/realsense_ros/CMakeLists.txt @@ -100,11 +100,8 @@ target_link_libraries(${PROJECT_NAME} ${realsense2_LIBRARY} ) -target_include_directories(${PROJECT_NAME} PRIVATE - ${rcl_INCLUDE_DIRS} -) - ament_target_dependencies(${PROJECT_NAME} + rcl rclcpp rclcpp_components nav_msgs @@ -167,9 +164,8 @@ if(BUILD_TESTING) target_link_libraries(${target} ${realsense2_LIBRARY} ${PROJECT_NAME}) - target_include_directories(${PROJECT_NAME} PRIVATE - ${rcl_INCLUDE_DIRS}) ament_target_dependencies(${target} + "rcl" "rclcpp" "nav_msgs" "sensor_msgs" From 1800d9c48b620c7998b253d2926cd3ae1413fe92 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Fri, 24 Jan 2020 14:06:21 -0800 Subject: [PATCH 16/17] Update underlay.repos --- tools/underlay.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/underlay.repos b/tools/underlay.repos index d6c7b1f..1c1baaa 100644 --- a/tools/underlay.repos +++ b/tools/underlay.repos @@ -1,5 +1,5 @@ repositories: - librealsense: + intel/librealsense: type: git url: https://github.com/ruffsl/librealsense.git version: docker From 52874f739cfab8b40c8123fd8e79f959b0a66d30 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Fri, 24 Jan 2020 14:08:36 -0800 Subject: [PATCH 17/17] Update overlay.repos --- tools/overlay.repos | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/overlay.repos b/tools/overlay.repos index f089b5b..374b2a6 100644 --- a/tools/overlay.repos +++ b/tools/overlay.repos @@ -1,5 +1,5 @@ repositories: - ros2_intel_realsense: + intel/ros2_intel_realsense: type: git url: https://github.com/ruffsl/ros2_intel_realsense.git version: docker