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use openeb_vendor for ROS2 #45

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merged 3 commits into from
Jul 5, 2024
Merged

use openeb_vendor for ROS2 #45

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bb9d4c0
use openeb_vendor for ROS2
berndpfrommer Jun 5, 2024
0df3ce0
depend on openeb_vendor
berndpfrommer Jun 5, 2024
6d5893a
build only on recent ros2 distros
berndpfrommer Jun 15, 2024
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2 changes: 1 addition & 1 deletion .github/workflows/ci.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ jobs:
repo: ${{ github.event.repository.name }}
vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/master/${{ github.event.repository.name }}.repos
build_ros2:
uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ros2_ci.yml@master
uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ros2_recent_ci.yml@master
with:
repo: ${{ github.event.repository.name }}
vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/master/${{ github.event.repository.name }}.repos
35 changes: 0 additions & 35 deletions CMakeLists.txt
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Expand Up @@ -16,41 +16,6 @@
cmake_minimum_required(VERSION 3.16)
project(metavision_driver)

include(FetchContent)

find_package(MetavisionSDK COMPONENTS driver QUIET)

# if metavision sdk is not present, download it into the build directory
set(MUST_INSTALL_METAVISION FALSE)

if(NOT MetavisionSDK_FOUND)
message(STATUS "metavision SDK is not installed, must build it")
# must set various variables for OpenEB *before* fetching openEB.
# CMAKE_ARGS seems to not work for FetchContent_Declare()
# set(COMPILE_3DVIEW OFF CACHE INTERNAL "Build 3d viewer")
set(COMPILE_PLAYER OFF CACHE INTERNAL "Build player")
set(COMPILE_PYTHON3_BINDINGS OFF CACHE INTERNAL "build python3 bindings")
set(UDEV_RULES_SYSTEM_INSTALL OFF CACHE INTERNAL "install udev rules")

# The following line must have zero indent. It disables the cmake linter
# lint_cmake: -readability/wonkycase
FetchContent_Declare(
metavision
GIT_REPOSITORY https://github.com/ros-event-camera/openeb.git
GIT_TAG 4.2.0-ros)

FetchContent_MakeAvailable(metavision)
message(STATUS "metavision SDK fetched and made available")
# do this to avoid the "install" target being run on the metavision sdk
if(IS_DIRECTORY "${metavision_SOURCE_DIR}")
set_property(DIRECTORY ${metavision_SOURCE_DIR} PROPERTY EXCLUDE_FROM_ALL YES)
endif()

set(MUST_INSTALL_METAVISION TRUE)
else()
message(STATUS "metavision SDK is installed, not building it")
endif()

#
# figure out ROS1 vs ROS2
#
Expand Down
36 changes: 36 additions & 0 deletions cmake/ROS1.cmake
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Expand Up @@ -13,6 +13,42 @@
# See the License for the specific language governing permissions and
# limitations under the License.

include(FetchContent)

find_package(MetavisionSDK COMPONENTS driver QUIET)

# if metavision sdk is not present, download it into the build directory
set(MUST_INSTALL_METAVISION FALSE)

if(NOT MetavisionSDK_FOUND)
message(STATUS "metavision SDK is not installed, must build it")
# must set various variables for OpenEB *before* fetching openEB.
# CMAKE_ARGS seems to not work for FetchContent_Declare()
# set(COMPILE_3DVIEW OFF CACHE INTERNAL "Build 3d viewer")
set(COMPILE_PLAYER OFF CACHE INTERNAL "Build player")
set(COMPILE_PYTHON3_BINDINGS OFF CACHE INTERNAL "build python3 bindings")
set(UDEV_RULES_SYSTEM_INSTALL OFF CACHE INTERNAL "install udev rules")

# The following line must have zero indent. It disables the cmake linter
# lint_cmake: -readability/wonkycase
FetchContent_Declare(
metavision
GIT_REPOSITORY https://github.com/ros-event-camera/openeb.git
GIT_TAG 4.2.0-ros)

FetchContent_MakeAvailable(metavision)
message(STATUS "metavision SDK fetched and made available")
# do this to avoid the "install" target being run on the metavision sdk
if(IS_DIRECTORY "${metavision_SOURCE_DIR}")
set_property(DIRECTORY ${metavision_SOURCE_DIR} PROPERTY EXCLUDE_FROM_ALL YES)
endif()

set(MUST_INSTALL_METAVISION TRUE)
else()
message(STATUS "metavision SDK is installed, not building it")
endif()


#add_compile_options(-Wall -Wextra -pedantic -Werror)
add_compile_options(-Wall -Wextra -Wpedantic)
#add_compile_definitions(USING_ROS_1)
Expand Down
11 changes: 1 addition & 10 deletions cmake/ROS2.cmake
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Expand Up @@ -28,10 +28,7 @@ if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE RelWithDebInfo)
endif()

# find dependencies

# MetavisionSDK is now found otherwise
# find_package(MetavisionSDK COMPONENTS driver REQUIRED)
find_package(MetavisionSDK COMPONENTS driver REQUIRED)

if(MetavisionSDK_VERSION_MAJOR LESS 4)
add_definitions(-DUSING_METAVISION_3)
Expand Down Expand Up @@ -97,12 +94,6 @@ install(DIRECTORY
config
DESTINATION share/${PROJECT_NAME}/)

if(MUST_INSTALL_METAVISION)
add_dependencies(driver_ros2 hal_plugins)
install(DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/_deps/metavision-build/lib"
DESTINATION ${CMAKE_INSTALL_PREFIX})
endif()

if(BUILD_TESTING)
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_copyright REQUIRED)
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31 changes: 16 additions & 15 deletions package.xml
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Expand Up @@ -39,21 +39,22 @@
<depend>std_srvs</depend>

<!-- openeb dependencies -->
<buildtool_depend>wget</buildtool_depend>
<buildtool_depend>unzip</buildtool_depend>
<buildtool_depend>curl</buildtool_depend>
<buildtool_depend>git</buildtool_depend>
<buildtool_depend>cmake</buildtool_depend>
<buildtool_depend>hdf5-tools</buildtool_depend>
<depend>boost</depend>
<depend>libusb-1.0-dev</depend>
<depend>libhdf5-dev</depend>
<depend>libglew-dev</depend>
<depend>libglfw3-dev</depend>
<depend>ffmpeg</depend>
<depend>libopencv-dev</depend>
<depend>libopenscenegraph</depend>
<test_depend>gtest</test_depend>
<buildtool_depend condition="$ROS_VERSION == 1">wget</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 1">unzip</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 1">curl</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 1">git</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 1">cmake</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 1">hdf5-tools</buildtool_depend>
<depend condition="$ROS_VERSION == 2">openeb_vendor</depend>
<depend condition="$ROS_VERSION == 1">boost</depend>
<depend condition="$ROS_VERSION == 1">libusb-1.0-dev</depend>
<depend condition="$ROS_VERSION == 1">libhdf5-dev</depend>
<depend condition="$ROS_VERSION == 1">libglew-dev</depend>
<depend condition="$ROS_VERSION == 1">libglfw3-dev</depend>
<depend condition="$ROS_VERSION == 1">ffmpeg</depend>
<depend condition="$ROS_VERSION == 1">libopencv-dev</depend>
<depend condition="$ROS_VERSION == 1">libopenscenegraph</depend>
<test_depend condition="$ROS_VERSION == 1">gtest</test_depend>

<export>
<nodelet plugin="${prefix}/nodelet_plugins.xml"/>
Expand Down
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