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Commit 9679881

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Stuart Alldritt
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Merge pull request #17 from microsoft/master
Create first melodic release
2 parents 5513873 + 046c9d2 commit 9679881

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‎.github/ISSUE_TEMPLATE/bug_report.md

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---
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name: Bug report
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about: Create a report to help us improve
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title: ''
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labels: bug, triage needed
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assignees: ''
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---
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<!--
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Before filing a bug
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- Ensure the bug reproduces on the latest commit of your release branch.
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- Search existing issues and make sure this issue is not already filed.
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-->
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**Describe the bug**
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A clear and concise description of what the bug is.
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**To Reproduce**
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Steps to reproduce the behavior:
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1. Go to '...'
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2. Click on '....'
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3. Scroll down to '....'
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4. See error
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**Expected behavior**
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A clear and concise description of what you expected to happen.
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**Logs**
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Please provide relevant logs to help diagnose your issue. To assist in debugging, please enable *info* level logging of the Azure Kinect Sensor SDK and attach any logs you have to this issue.
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See [k4atypes.h](https://github.com/Microsoft/Azure-Kinect-Sensor-SDK/blob/feecae0456511ac734287571b101d10fd7292673/include/k4a/k4atypes.h#L184) for how to enable logs.
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Please also enable *DEBUG* level logging of the ROS node.
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See [roscpp/Overview/Logging](http://wiki.ros.org/roscpp/Overview/Logging) for how to enable ROS DEBUG logs.
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**Screenshots**
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If applicable, add screenshots to help explain your problem.
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**Desktop (please complete the following information):**
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- OS: [e.g. Windows 10, Ubuntu]
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- Version [e.g. Version 1903, 18.04]
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**Additional context**
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Add any other context about the problem here.

‎.github/ISSUE_TEMPLATE/feature-request--enhancement-.md

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---
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name: Feature request (enhancement)
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about: Suggest an idea for this project
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title: ''
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labels: enhancement, triage needed
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assignees: ''
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---
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<!--
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Thanks for submitting an idea for improvement!
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This repo is for feedback specific to the Azure Kinect ROS Driver. If you have feedback for the Sensor SDK, please visit https://github.com/microsoft/Azure-Kinect-Sensor-SDK
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Feature requests on our GitHub page should be for changes to the driver that will improve functionality for all users.
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Tips to submit an enhancement that may be approved:
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- The idea should fit with the purpose of the Azure Kinect ROS Driver, which is to expose Azure Kinect sensor data in a ROS-compatible format. Post-processing of the sensor data should be done in external ROS nodes.
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- Well thought out ideas considering edge cases and API design will be more likely for someone to pursue.
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-->
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**Is your feature request related to a problem? Please describe.**
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A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
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**Describe the solution you'd like**
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A clear and concise description of what you want to happen.
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**Describe alternatives you've considered**
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A clear and concise description of any alternative solutions or features you've considered.
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**Additional context**
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Add any other context or screenshots about the feature request here.

‎.github/pull_request_template.md

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<!--
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All pull requests should fix a Triage Approved issue. Put that issue # here:
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e.g. ## Fixes #300.
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-->
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## Fixes #
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### Description of the changes:
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-
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-
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-
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<!-- Please check off the appropriate boxes with [x] before submitting your pull request -->
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### Before submitting a Pull Request:
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- [ ] I reviewed [CONTRIBUTING.md](https://github.com/microsoft/Azure_Kinect_ROS_Driver/blob/master/CONTRIBUTING.md)
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- [ ] I [built my changes](https://github.com/microsoft/Azure_Kinect_ROS_Driver/blob/master/docs/building.md) locally
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- [ ] I tested my changes with a device
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### I tested changes on: <!-- it's not required to have tested both, just indicate which one you tried -->
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- [ ] Windows
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- [ ] Linux
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<!-- Specify how you tested your changes (i.e. manual/ad-hoc testing, automated testing, new automated tests added)-->
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‎.gitignore

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# External SDK Folder
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ext/sdk/*
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# Prerequisites
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*.d
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‎CMakeLists.txt

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# Copyright (c) Microsoft Corporation. All rights reserved.
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# Licensed under the MIT License.
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cmake_minimum_required(VERSION 2.8.3)
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project(azure_kinect_ros_driver LANGUAGES C CXX)
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if(${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
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add_compile_options(/std:c++latest)
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else()
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add_compile_options(-std=c++11)
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endif()
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list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_CURRENT_LIST_DIR}/cmake)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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sensor_msgs
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image_transport
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nodelet
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tf2
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tf2_ros
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tf2_geometry_msgs
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geometry_msgs
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nodelet
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)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES k4a_ros_bridge
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# CATKIN_DEPENDS roscpp std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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add_executable(${PROJECT_NAME}_node
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src/k4a_ros_bridge_node.cpp
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src/k4a_ros_device.cpp
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src/k4a_ros_device_params.cpp
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src/k4a_calibration_transform_data.cpp
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)
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add_library(${PROJECT_NAME}_nodelet
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src/k4a_ros_bridge_nodelet.cpp
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src/k4a_ros_device.cpp
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src/k4a_ros_device_params.cpp
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src/k4a_calibration_transform_data.cpp
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)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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############################
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#### AZURE KINECT SDK ######
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############################
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macro(process_ext_sdk)
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message(STATUS "K4A SDK found in ext/sdk!")
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message(STATUS "!! Not searching for SDK in system path !!")
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# mark that the K4A SDK will need to be copied to the output binary folder
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# this is needed even on Linux if the SDK is not installed to the system path
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set(K4A_INSTALL_NEEDED true)
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get_target_property(K4A_INCLUDE_DIRS k4a::k4a INTERFACE_INCLUDE_DIRECTORIES)
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get_target_property(K4A_CONFIGS k4a::k4a IMPORTED_CONFIGURATIONS)
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message("Configs: ${K4A_CONFIGS}")
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# TODO: if we find more than one configuration, we should fail
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# TODO: potentially clean this logic up
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foreach(imported_config ${K4A_CONFIGS})
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if (${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
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get_target_property(K4A_CONFIG_LIBS k4a::k4a IMPORTED_IMPLIB_${imported_config})
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get_target_property(K4A_CONFIG_DLLS k4a::k4a IMPORTED_LOCATION_${imported_config})
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list(APPEND K4A_LIBS ${K4A_CONFIG_LIBS})
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list(APPEND K4A_DLL_FILES ${K4A_CONFIG_DLLS})
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elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
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get_target_property(K4A_CONFIG_LIBS k4a::k4a IMPORTED_LOCATION_${imported_config})
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get_target_property(K4A_CONFIG_DLLS k4a::k4a IMPORTED_LOCATION_${imported_config})
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list(APPEND K4A_LIBS ${K4A_CONFIG_LIBS})
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list(APPEND K4A_DLL_FILES ${K4A_CONFIG_DLLS})
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endif()
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endforeach()
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if(DEFINED DEPTHENGINE_DLL)
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## Find the depth engine DLL
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file(GLOB_RECURSE DEPTHENGINE_DLL_FILE
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"${CMAKE_CURRENT_SOURCE_DIR}/ext/sdk/*/${DEPTHENGINE_DLL}" )
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list(APPEND K4A_DLL_FILES ${DEPTHENGINE_DLL_FILE})
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endif()
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endmacro()
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# Define the names of some files that we are going to try and find
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if (${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
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set(DEPTHENGINE_DLL "depthengine_1_0.dll")
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elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
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set(DEPTHENGINE_DLL "libdepthengine.so.1.0")
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else()
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message(FATAL_ERROR "Platform ${CMAKE_SYSTEM_NAME} is not supported")
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endif()
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message("Finding K4A SDK binaries")
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# Disable cached locations for K4A SDK binaries.
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# Do this to force the search logic to happen correctly.
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# If we don't disable these cached directories, we
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# won't be able to tell the difference between the ext/sdk location
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# and the system installed version on linux. Since we have to treat these
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# differently (one needs install, one doesn't) we must disable the cache
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# so that find_package(k4a) will fail in all cases if not installed via the .deb.
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unset(k4a_DIR CACHE)
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unset(azure-kinect-sensor-sdk_DIR CACHE)
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if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
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message("Linux mode: Searching for K4A in system path and ./ext/sdk")
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# Test if we can find the k4a library in the system path
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find_package(k4a 1.1.0 QUIET)
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if (${k4a_FOUND})
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message("K4A SDK found in system libraries!")
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# For system libraries on linux, we can just append the target name (k4a::k4a)
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# to what will be passed into target_link_libraries()
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list(APPEND K4A_LIBS k4a::k4a)
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else()
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message("K4A SDK not found in system libraries. Searching ./ext/sdk...")
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find_package(k4a 1.1.0 PATHS "${CMAKE_CURRENT_SOURCE_DIR}/ext/sdk")
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if(${k4a_FOUND})
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set(K4A_INSTALL_NEEDED true)
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message("K4A SDK found in ./ext/sdk!")
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process_ext_sdk()
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else()
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message(FATAL_ERROR "K4A SDK not found in system libraries or ./ext/sdk. Please install the Azure Kinect SDK.")
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endif()
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endif()
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elseif(${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
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# Windows will always need K4A install for all targets
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set(K4A_INSTALL_NEEDED true)
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# Try to find K4A installed to Program Files
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find_package(azure-kinect-sensor-sdk 1.1.0 EXACT QUIET PATHS "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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if (${azure-kinect-sensor-sdk_FOUND})
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message("K4A SDK found in Program Files!")
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list(APPEND K4A_LIBS ${azure-kinect-sensor-sdk_LIBRARIES})
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list(APPEND K4A_BINS ${azure-kinect-sensor-sdk_BINARIES})
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set(K4A_INCLUDE_DIRS ${azure-kinect-sensor-sdk_INCLUDE_DIRS})
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# Create a list of all K4A DLLs
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list(APPEND K4A_DLLS ${azure-kinect-sensor-sdk_LIBRARIES})
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list(APPEND K4A_DLLS ${azure-kinect-sensor-sdk_BINARIES})
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foreach(DLL ${K4A_DLLS})
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set(prop "PROPERTY-NOTFOUND")
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get_property(prop TARGET ${DLL} PROPERTY IMPORTED_LOCATION)
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message(STATUS "IMPORTED_LOCATION: ${prop}")
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if((NOT prop) OR (prop EQUAL "PROPERTY-NOTFOUND"))
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message(FATAL_ERROR "Target '${DLL}' in package azure-kinect-sensor-sdk does not contain an IMPORTED_LOCATION property")
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endif()
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list(APPEND K4A_DLL_FILES ${prop})
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endforeach(DLL)
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else()
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# Try to find K4A installed to ./ext/sdk
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find_package(k4a 1.1.0 QUIET PATHS "${CMAKE_CURRENT_SOURCE_DIR}/ext/sdk")
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if (${k4a_FOUND})
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message("K4A SDK found in ./ext/sdk!")
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process_ext_sdk()
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else()
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message(FATAL_ERROR "K4A SDK not found in Program Files or ./ext/sdk. Please install the Azure Kinect SDK.")
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endif()
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endif()
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endif()
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message("K4A Include Dirs: ${K4A_INCLUDE_DIRS}")
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message("K4A Libs: ${K4A_LIBS}")
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message("K4A DLLs: ${K4A_DLL_FILES}")
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message("K4A Install Needed: ${K4A_INSTALL_NEEDED}")
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if (${K4A_INSTALL_NEEDED})
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# Tell cmake that we need to reconfigure if any of the DLL files change
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set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${K4A_DLL_FILES})
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# We need to copy the DLLs into the CATKIN_PACKAGE_LIB_DESTINATION so
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# the node executable can find them on launch, and CATKIN_PACKAGE_BIN_DESTINATION
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# so the nodelet can find them on launch
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set(DLL_COPY_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION};${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}")
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foreach(DIRECTORY ${DLL_COPY_DIRECTORY})
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file(MAKE_DIRECTORY "${DIRECTORY}")
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endforeach(DIRECTORY)
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foreach(DLL ${K4A_DLL_FILES})
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foreach(DIRECTORY ${DLL_COPY_DIRECTORY})
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file(COPY "${DLL}" DESTINATION "${DIRECTORY}")
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get_filename_component(DLL_NAME ${DLL} NAME)
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message(STATUS "Copied dll from ${DLL_NAME} to ${DIRECTORY}")
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# Tell cmake that we need to clean up these DLLs on a "make clean"
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set_property(DIRECTORY APPEND PROPERTY ADDITIONAL_MAKE_CLEAN_FILES "${DIRECTORY}/${DLL_NAME}")
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endforeach(DIRECTORY)
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endforeach(DLL)
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endif()
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##################################
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###### END AZURE KINECT SDK ######
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##################################
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include_directories(
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${catkin_INCLUDE_DIRS}
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${K4A_INCLUDE_DIRS}
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"include"
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)
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target_link_libraries(${PROJECT_NAME}_node
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${K4A_LIBS}
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${catkin_LIBRARIES}
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)
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target_link_libraries(${PROJECT_NAME}_nodelet
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${K4A_LIBS}
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executables and/or libraries for installation
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install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}_nodelet
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark other files for installation (e.g. launch and bag files, etc.)
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install(
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DIRECTORY
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launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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## Run a custom install script for the K4A components
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## Running the two "CODE" blocks populates the cmake_install.cmake script with the information
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## about which DLLs to install, and where to install them.
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## We then run the more complex script to actually perform the installation.
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if (${K4A_INSTALL_NEEDED})
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message("Installing K4A SDK to binary output folder")
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install(CODE "set(K4A_DLL_FILES \"${K4A_DLL_FILES}\")")
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install(CODE "set(DLL_COPY_DIRECTORY \"${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}\")")
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install(SCRIPT "./cmake/azure-kinect-sensor-sdk-install.cmake")
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endif()

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