Merge remote-tracking branch 'origin/master' into modular

Author: Myzhar

README.md

@@ -13,7 +13,6 @@ This package lets you use the ZED stereo camera with ROS. It outputs the camera
 - Ubuntu 16.04
 - [ZED SDK **≥ 2.3**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
 - [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu)
-- [Point Cloud Library (PCL)](https://github.com/PointCloudLibrary/pcl)
 
 ### Build the program
 

zed_display_rviz/launch/display.launch

@@ -24,6 +24,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   </include>
 
   <!-- Launch rivz display -->
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_wrapper)/rviz/zed.rviz" output="screen" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_display_rviz)/rviz/zed.rviz" output="screen" />
 
 </launch>

zed_display_rviz/launch/display_zedm.launch

@@ -26,6 +26,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     </include>
 
     <!-- Launch rivz display -->
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_wrapper)/rviz/zedm.rviz" output="screen" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zed_display_rviz)/rviz/zedm.rviz" output="screen" />
 
 </launch>

zed_wrapper/CMakeLists.txt

@@ -35,9 +35,6 @@ checkPackage("OPENCV_IMGPROC" "OpenCV imgproc not found, install it from the tut
 find_package(CUDA)
 checkPackage("CUDA" "CUDA not found, install it from:\n https://developer.nvidia.com/cuda-downloads")
 
-find_package(PCL)
-checkPackage("PCL" "PCL not found, try to install it with:\n sudo apt-get install libpcl1 ros-$(rosversion -d)-pcl-ros")
-
 find_package(OpenMP)
 checkPackage("OpenMP" "OpenMP not found, please install it to improve performances: 'sudo apt install libomp-dev'")
 if (OPENMP_FOUND)
@@ -54,7 +51,6 @@ find_package(catkin COMPONENTS
   stereo_msgs
   dynamic_reconfigure
   tf2_ros
-  pcl_conversions
   nodelet
   tf2_geometry_msgs
   message_generation
@@ -67,7 +63,6 @@ checkPackage("sensor_msgs" "")
 checkPackage("stereo_msgs" "")
 checkPackage("dynamic_reconfigure" "")
 checkPackage("tf2_ros" "")
-checkPackage("pcl_conversions" "")
 checkPackage("nodelet" "")
 checkPackage("tf2_geometry_msgs" "")
 checkPackage("message_generation" "")
@@ -95,14 +90,14 @@ catkin_package(
     dynamic_reconfigure
     tf2_ros
     tf2_geometry_msgs
-    pcl_conversions    
     message_runtime
 )
 
 ###############################################################################
 # SOURCES
 
-set(TOOLS_SRC ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/src/sl_tools.cpp)
+set(TOOLS_SRC
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/src/sl_tools.cpp )
 set(NODE_SRC ${CMAKE_CURRENT_SOURCE_DIR}/src/zed_wrapper_node.cpp)
 set(NODELET_SRC ${CMAKE_CURRENT_SOURCE_DIR}/src/nodelet/src/zed_wrapper_nodelet.cpp)
 
@@ -117,15 +112,13 @@ include_directories(
         ${CUDA_INCLUDE_DIRS}
         ${ZED_INCLUDE_DIRS}
         ${OpenCV_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
         ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/include
         ${CMAKE_CURRENT_SOURCE_DIR}/src/nodelet/include
 )
 
 link_directories(${ZED_LIBRARY_DIR})
 link_directories(${CUDA_LIBRARY_DIRS})
 link_directories(${OpenCV_LIBRARY_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
 
 ###############################################################################
 
@@ -139,13 +132,12 @@ endif()
 
 
 add_definitions(-std=c++11)
-list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4") ## if using from pcl package (pcl/vtk bug)
 set(LINK_LIBRARIES
   ${catkin_LIBRARIES}
   ${ZED_LIBRARIES}
   ${CUDA_LIBRARIES} ${CUDA_NPP_LIBRARIES_ZED}
   ${OpenCV_LIBS}
-  ${PCL_LIBRARIES})
+  )
 
 add_library(ZEDWrapper ${TOOLS_SRC} ${NODELET_SRC})
 target_link_libraries(ZEDWrapper ${LINK_LIBRARIES})

zed_wrapper/CMakeLists.txt.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.7.0, 2018-08-06T16:36:00. -->
+<!-- Written by QtCreator 4.7.0, 2018-08-06T17:04:02. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -70,6 +70,7 @@
      <value type="QString">CMAKE_BUILD_TYPE:STRING=Debug</value>
      <value type="QString">CMAKE_CXX_COMPILER:STRING=%{Compiler:Executable:Cxx}</value>
      <value type="QString">CMAKE_C_COMPILER:STRING=%{Compiler:Executable:C}</value>
+     <value type="QString">unset CMAKE_INSTALL_PREFIX</value>
      <value type="QString">unset CMAKE_PREFIX_PATH</value>
      <value type="QString">QT_QMAKE_EXECUTABLE:STRING=%{Qt:qmakeExecutable}</value>
     </valuelist>
@@ -226,7 +227,7 @@
     </valuelist>
     <value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.Arguments"></value>
     <value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.UserWorkingDirectory"></value>
-    <value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.UserWorkingDirectory.default">/tmp/QtCreator-KingXA/qtc-cmake-qdMavHPK/devel/lib/zed_wrapper</value>
+    <value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.UserWorkingDirectory.default">/tmp/QtCreator-CrHzpj/qtc-cmake-igewRSFt/devel/lib/zed_wrapper</value>
     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">zed_wrapper_node</value>

zed_wrapper/README.md

@@ -13,7 +13,6 @@ This package lets you use the ZED stereo camera with ROS. It outputs the camera
 - Ubuntu 16.04
 - [ZED SDK **≥ 2.3**](https://www.stereolabs.com/developers/) and its dependency [CUDA](https://developer.nvidia.com/cuda-downloads)
 - [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu)
-- [Point Cloud Library (PCL)](https://github.com/PointCloudLibrary/pcl)
 
 ### Build the program
 

zed_wrapper/launch/zed_camera.launch

@@ -65,6 +65,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
         <!-- flip camera -->
         <param name="camera_flip"           value="$(arg camera_flip)" />
+
         <!-- Configuration frame camera -->    
         <param name="pose_frame"                    value="$(arg pose_frame)" />
         <param name="odometry_frame"                value="$(arg odometry_frame)" />

zed_wrapper/launch/zed_camera_nodelet.launch

@@ -52,6 +52,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <!-- Publish urdf zed -->
     <arg name="publish_urdf"          default="true" />
 
+    <!-- to flip or not to flip -->
+    <arg name="camera_flip"         default="false" />
     <arg name="rgb_topic"           default="rgb/image_rect_color" />
     <arg name="rgb_info_topic"      default="rgb/camera_info" />
     <arg name="depth_topic"         default="depth/depth_registered" />
@@ -63,6 +65,9 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
         <!-- publish pose frame -->
         <param name="publish_tf"            value="$(arg publish_tf)" />
 
+        <!-- flip camera -->
+        <param name="camera_flip"           value="$(arg camera_flip)" />
+
         <!-- Configuration frame camera -->
         <param name="pose_frame"                    value="$(arg pose_frame)" />
         <param name="odometry_frame"                value="$(arg odometry_frame)" />

zed_wrapper/package.xml

@@ -20,7 +20,6 @@
   <depend>opencv3</depend>
   <depend>image_transport</depend>
   <depend>dynamic_reconfigure</depend>
-  <depend>pcl_conversions</depend>
   <depend>nodelet</depend>
 
   <build_depend>urdf</build_depend>