diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86fa2b0..4bc809a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,183 +1,41 @@
cmake_minimum_required(VERSION 2.8.3)
project(hand_control)
-#set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
- ardrone_autonomy
pcl_ros
pcl_msgs
- pcl_conversions
roscpp
std_msgs
- freenect_camera
- freenect_launch
+ geometry_msgs
message_generation
)
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependencies might have been
-## pulled in transitively but can be declared for certainty nonetheless:
-## * add a build_depend tag for "message_generation"
-## * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
- add_message_files(
- FILES
- Plan.msg
- )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
- generate_messages(
- DEPENDENCIES
- std_msgs
- geometry_msgs
- )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES hand_control
- CATKIN_DEPENDS ardrone_autonomy freenect_stack pcl_ros perception_pcl roscpp std_msgs message_runtime
-# DEPENDS system_lib
+add_message_files(
+ FILES
+ Plan.msg
)
-###########
-## Build ##
-###########
+generate_messages(
+ DEPENDENCIES
+ std_msgs
+ geometry_msgs
+)
+
+catkin_package()
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
-## Declare a cpp library
-# add_library(hand_control
-# src/${PROJECT_NAME}/hand_control.cpp
-# )
-
-## Declare a cpp executable
add_executable(filtre src/filtre.cpp)
target_link_libraries(filtre ${catkin_LIBRARIES})
-add_dependencies(filtre ${catkin_EXPORTED_TARGETS})
add_executable(random_pcl_publisher src/random_pcl_publisher.cpp)
target_link_libraries(random_pcl_publisher ${catkin_LIBRARIES})
-add_dependencies(random_pcl_publisher ${catkin_EXPORTED_TARGETS})
add_executable(pcl_displayer src/pcl_displayer.cpp)
target_link_libraries(pcl_displayer ${catkin_LIBRARIES})
-add_dependencies(pcl_displayer ${catkin_EXPORTED_TARGETS})
add_executable(normal_estimator src/normal_estimator.cpp)
target_link_libraries(normal_estimator ${catkin_LIBRARIES})
-add_dependencies(normal_estimator ${catkin_EXPORTED_TARGETS})
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hand_control_node hand_control_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hand_control_node
-# ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS hand_control hand_control_node
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hand_control.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+add_dependencies(normal_estimator hand_control_generate_messages_cpp)
diff --git a/package.xml b/package.xml
index dd5511e..caa6113 100644
--- a/package.xml
+++ b/package.xml
@@ -17,34 +17,21 @@
Paul JANIN
catkin
- ardrone_autonomy
- freenect_camera
- freenect_launch
+
pcl_ros
- pcl_conversion
pcl_msgs
- pcl_conversions
roscpp
std_msgs
+ geometry_msgs
message_generation
- freenect_stack
- perception_pcl
- perception_pcl
- freenect_stack
- ardrone_autonomy
- freenect_camera
- freenect_launch
+
pcl_ros
- pcl_conversion
pcl_msgs
- pcl_conversions
roscpp
std_msgs
+ geometry_msgs
message_runtime
+ ardrone_autonomy
+ freenect_launch
-
-
-
-
-