simplifies CMake et package.xml files

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
+  geometry_msgs
-  freenect_launch
   message_generation
 )
 
-## System dependencies are found with CMake's conventions
+add_message_files(
-# find_package(Boost REQUIRED COMPONENTS system)
+  FILES
-
+  Plan.msg
-
-## 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
 )
 
-###########
+generate_messages(
-## Build ##
+  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_dependencies(normal_estimator hand_control_generate_messages_cpp)
-## 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)

package.xml

@@ -17,34 +17,21 @@
   <author email="paul.janin@supelec.fr">Paul JANIN</author>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>ardrone_autonomy</build_depend>
+
-  <build_depend>freenect_camera</build_depend>
-  <build_depend>freenect_launch</build_depend>
   <build_depend>pcl_ros</build_depend>
-  <build_depend>pcl_conversion</build_depend>
   <build_depend>pcl_msgs</build_depend>
-  <build_depend>pcl_conversions</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>freenect_stack</build_depend>
+
-  <build_depend>perception_pcl</build_depend>
-  <run_depend>perception_pcl</run_depend>
-  <run_depend>freenect_stack</run_depend>
-  <run_depend>ardrone_autonomy</run_depend>
-  <run_depend>freenect_camera</run_depend>
-  <run_depend>freenect_launch</run_depend>
   <run_depend>pcl_ros</run_depend>
-  <run_depend>pcl_conversion</run_depend>
   <run_depend>pcl_msgs</run_depend>
-  <run_depend>pcl_conversions</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
   <run_depend>message_runtime</run_depend>
+  <run_depend>ardrone_autonomy</run_depend>
+  <run_depend>freenect_launch</run_depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
 </package>