Am 493/pcl 1.9.1

.github/workflows/package.yml

@@ -0,0 +1,46 @@
+name: Release Candidate
+on: 
+  push:
+    branches-ignore:
+      - master
+jobs:
+  package:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [[x64, self-hosted,linux,build], [arm64,self-hosted,linux, build]]
+      fail-fast: false
+    steps:
+      - uses: AutoModality/action-clean@v1.1.0
+      - uses: actions/checkout@v2
+      - uses: rlespinasse/github-slug-action@2.0.0 # for GITHUB_REF_SLUG
+      - name: Package
+        id: package
+        uses: AutoModality/action-package-debian-ros@v4
+        with:
+          version: 1.7.1-${{ github.run_number }}
+          release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}
+      - name: The generated package
+        run: echo "The artifact is ${{ steps.package.outputs.artifact-path }}"
+      - name: Deploy
+        id: deploy
+        uses: AutoModality/action-cloudsmith@0.2.0
+        with:
+          api-key: ${{ secrets.CLOUDSMITH_API_KEY }}
+          command: 'push'
+          format: 'deb'
+          owner: 'automodality'
+          repo: 'dev'
+          distro: 'ubuntu'
+          release: 'bionic'
+          file: '${{ steps.package.outputs.artifact-path }}'
+  draft-pr:
+    runs-on: ubuntu-18.04
+    needs: package
+    steps:
+      - uses: actions/checkout@v2
+      - name: Draft a Pull Request
+        uses: repo-sync/pull-request@v2
+        with:
+          pr_draft: true
+          github_token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -1 +1,13 @@
 *.pyc
+
+*/.catkin_tools/
+build
+devel
+install
+logs
+debian/ros-melodic-am-perception-pcl
+src
+.catkin_workspace
+*.deb
+*.log
+*.substvars

CMakeLists.txt

@@ -0,0 +1 @@
+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake

Makefile

@@ -0,0 +1,20 @@
+SHELL := /bin/bash
+
+SRC_DIR=src
+
+default:
+
+	mkdir -p ${SRC_DIR}
+
+	cp -rf pcl_conversions ${SRC_DIR}
+	cp -rf pcl_ros ${SRC_DIR}
+	cp -rf perception_pcl ${SRC_DIR}
+	mv -f CMakeLists.txt ${SRC_DIR}
+	source /opt/ros/melodic/setup.bash && catkin_make && catkin_make install
+
+
+clean:
+	mv -f ${SRC_DIR}/CMakeLists.txt .
+	rm -rf ${SRC_DIR}
+	rm -rf ../*.*deb
+	rm -rf build devel install

debian/README.md

@@ -0,0 +1,7 @@
+# Debian packaging for perception_pcl
+
+Limited support for building since the repo does not change often.
+
+See [slack](https://automodality.slack.com/archives/C011WK68QCR/p1600972629000100) conversation for more information.
+
+Replaces: ros-melodic-pcl-conversions, ros-melodic-pcl-ros

debian/changelog

@@ -0,0 +1 @@
+ros-melodic-am-perception-pcl (0.20200924173146) unstable; urgency=medium

debian/compat

@@ -0,0 +1 @@
+9

debian/control

@@ -0,0 +1,26 @@
+Source: ros-melodic-am-perception-pcl
+Section: misc
+Priority: extra
+Maintainer: info <info@automodality.com>
+Build-Depends: debhelper (>= 9.0.0), 
+							 pcl,
+							 libeigen3-dev,
+							 ros-melodic-pcl-msgs,
+							 libflann-dev,
+							 ros-melodic-tf,
+							 ros-melodic-tf2-eigen,
+
+
+Homepage: https://github.com/AutoModality/perception_pcl
+Standards-Version: 3.9.2
+Package: ros-melodic-am-perception-pcl
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, 
+				 pcl,
+				 libeigen3-dev,
+				 ros-melodic-pcl-msgs,
+				 libflann-dev,
+				 ros-melodic-tf,
+				 ros-melodic-tf2-eigen,
+Replaces: ros-melodic-pcl-conversions, ros-melodic-pcl-ros, ros-melodic-perception-pcl
+Description: contains packages including pcl_ros and pcl_conversions

debian/files

@@ -0,0 +1,2 @@
+ros-melodic-am-perception-pcl-dbgsym_0.20200924173146_amd64.ddeb debug optional
+ros-melodic-am-perception-pcl_0.20200924173146_amd64.deb misc extra

debian/rules

@@ -0,0 +1,14 @@
+#!/usr/bin/make -f
+#export DH_VERBOSE = 1
+
+INSTALL_DIR=debian/ros-melodic-am-perception-pcl/opt/ros/melodic
+
+%:
+	dh $@
+
+override_dh_auto_install:
+	# for some reason, install: in the makefile isn't being called???
+	mkdir -p ${INSTALL_DIR}
+	cp -r install/include ${INSTALL_DIR}
+	cp -r install/lib ${INSTALL_DIR}
+	cp -r install/share ${INSTALL_DIR}

debian/watch

@@ -0,0 +1,2 @@
+# You must remove unused comment lines for the released package.
+version=3

pcl_ros/CMakeLists.txt

@@ -132,24 +132,24 @@ target_link_libraries(pcl_ros_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIE
 class_loader_hide_library_symbols(pcl_ros_io)
 
 ## Declare the pcl_ros_features library
-add_library(pcl_ros_features
-  src/pcl_ros/features/feature.cpp
-  # Compilation is much faster if we include all the following CPP files in feature.cpp
-  src/pcl_ros/features/boundary.cpp
-  src/pcl_ros/features/fpfh.cpp
-  src/pcl_ros/features/fpfh_omp.cpp
-  src/pcl_ros/features/shot.cpp
-  src/pcl_ros/features/shot_omp.cpp
-  src/pcl_ros/features/moment_invariants.cpp
-  src/pcl_ros/features/normal_3d.cpp
-  src/pcl_ros/features/normal_3d_omp.cpp
-  src/pcl_ros/features/pfh.cpp
-  src/pcl_ros/features/principal_curvatures.cpp
-  src/pcl_ros/features/vfh.cpp
-)
-target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
-add_dependencies(pcl_ros_features ${PROJECT_NAME}_gencfg)
-class_loader_hide_library_symbols(pcl_ros_features)
+#add_library(pcl_ros_features
+#  src/pcl_ros/features/feature.cpp
+#  # Compilation is much faster if we include all the following CPP files in feature.cpp
+#  src/pcl_ros/features/boundary.cpp
+#  src/pcl_ros/features/fpfh.cpp
+#  src/pcl_ros/features/fpfh_omp.cpp
+#  src/pcl_ros/features/shot.cpp
+#  src/pcl_ros/features/shot_omp.cpp
+#  src/pcl_ros/features/moment_invariants.cpp
+#  src/pcl_ros/features/normal_3d.cpp
+#  src/pcl_ros/features/normal_3d_omp.cpp
+#  src/pcl_ros/features/pfh.cpp
+#  src/pcl_ros/features/principal_curvatures.cpp
+#  src/pcl_ros/features/vfh.cpp
+#)
+#target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+#add_dependencies(pcl_ros_features ${PROJECT_NAME}_gencfg)
+#class_loader_hide_library_symbols(pcl_ros_features)
 
 
 ## Declare library for base filter plugin
@@ -160,41 +160,41 @@ target_link_libraries(pcl_ros_filter pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBR
 add_dependencies(pcl_ros_filter ${PROJECT_NAME}_gencfg)
 
 ## Declare the pcl_ros_filters library
-add_library(pcl_ros_filters
-  src/pcl_ros/filters/extract_indices.cpp
-  src/pcl_ros/filters/passthrough.cpp
-  src/pcl_ros/filters/project_inliers.cpp
-  src/pcl_ros/filters/radius_outlier_removal.cpp
-  src/pcl_ros/filters/statistical_outlier_removal.cpp
-  src/pcl_ros/filters/voxel_grid.cpp
-  src/pcl_ros/filters/crop_box.cpp
-)
-target_link_libraries(pcl_ros_filters pcl_ros_filter pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
-add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg)
-class_loader_hide_library_symbols(pcl_ros_filters)
+#add_library(pcl_ros_filters
+#  src/pcl_ros/filters/extract_indices.cpp
+#  src/pcl_ros/filters/passthrough.cpp
+#  src/pcl_ros/filters/project_inliers.cpp
+#  src/pcl_ros/filters/radius_outlier_removal.cpp
+#  src/pcl_ros/filters/statistical_outlier_removal.cpp
+#  src/pcl_ros/filters/voxel_grid.cpp
+#  src/pcl_ros/filters/crop_box.cpp
+#)
+#target_link_libraries(pcl_ros_filters pcl_ros_filter pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+#add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg)
+#class_loader_hide_library_symbols(pcl_ros_filters)
 
 ## Declare the pcl_ros_segmentation library
-add_library (pcl_ros_segmentation
-  src/pcl_ros/segmentation/extract_clusters.cpp
-  src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
-  src/pcl_ros/segmentation/sac_segmentation.cpp
-  src/pcl_ros/segmentation/segment_differences.cpp
-  src/pcl_ros/segmentation/segmentation.cpp
-)
-target_link_libraries(pcl_ros_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
-add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
-class_loader_hide_library_symbols(pcl_ros_segmentation)
+#add_library (pcl_ros_segmentation
+#  src/pcl_ros/segmentation/extract_clusters.cpp
+#  src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
+#  src/pcl_ros/segmentation/sac_segmentation.cpp
+#  src/pcl_ros/segmentation/segment_differences.cpp
+#  src/pcl_ros/segmentation/segmentation.cpp
+#)
+#target_link_libraries(pcl_ros_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+#add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
+#class_loader_hide_library_symbols(pcl_ros_segmentation)
 
 ## Declare the pcl_ros_surface library
-add_library (pcl_ros_surface
-  src/pcl_ros/surface/surface.cpp
-  # Compilation is much faster if we include all the following CPP files in surface.cpp
-  src/pcl_ros/surface/convex_hull.cpp
-  src/pcl_ros/surface/moving_least_squares.cpp
-)
-target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
-add_dependencies(pcl_ros_surface ${PROJECT_NAME}_gencfg)
-class_loader_hide_library_symbols(pcl_ros_surface)
+#add_library (pcl_ros_surface
+#  src/pcl_ros/surface/surface.cpp
+#  # Compilation is much faster if we include all the following CPP files in surface.cpp#
+#  src/pcl_ros/surface/convex_hull.cpp
+#  src/pcl_ros/surface/moving_least_squares.cpp
+#)
+#target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+#add_dependencies(pcl_ros_surface ${PROJECT_NAME}_gencfg)
+#class_loader_hide_library_symbols(pcl_ros_surface)
 
 ## Tools
 
@@ -245,11 +245,11 @@ install(
   TARGETS
     pcl_ros_tf
     pcl_ros_io
-    pcl_ros_features
+#    pcl_ros_features
     pcl_ros_filter
-    pcl_ros_filters
-    pcl_ros_surface
-    pcl_ros_segmentation
+#    pcl_ros_filters
+#    pcl_ros_surface
+#    pcl_ros_segmentation
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}