This PR intents to build a c++ native library "grasp_pose_detection" that is independent on ROS. This serves as a common library in either ROS or ROS2.
Created CMakeLists.txt for subdir "gpd/src" to build GPD into a native library "libgrasp_pose_detection.so"
Added a new class "src/nodes/ros_params.cpp::ROSParameters" to take ROS parameters from NodeHandle
Removed ROS dependency from "src/gpd". All parameters passed from the constructors.
How to build the library:
An automatic way is to build the "gpd" package from catkin workspace:
$ catkin_make -DCMAKE_BUILD_TYPE=Release --pkg gpd
or "catkin_make -DCMAKE_BUILD_TYPE=Release -DUSE_OPENVINO=ON --pkg gpd"
Alternatively, manually kick off the build is supported:
$ cd src/gpd
$ mkdir build && cd build
$ cmake -DUSE_CAFFE=ON ..
or "cmake -DUSE_OPENVINO=ON .."
$ sudo make install
By default "libgrasp_pose_detection.so" shall be installed to "/usr/local/install".
There are NO changes on build options or launch options :)
This PR is tested working with "USE_CAFFE=ON (default)" or "USE_OPENVINO=ON".
This PR is also tested with "Ubuntu 16.04 + ROS Kinetic" or "Ubuntu 18.04 + ROS Melodic".
atenpas
commented
4 years ago
This PR intents to build a c++ native library "grasp_pose_detection" that is independent on ROS. This serves as a common library in either ROS or ROS2.
Fix issue https://github.com/atenpas/gpd/issues/52
Key changes include:
How to build the library: An automatic way is to build the "gpd" package from catkin workspace: $ catkin_make -DCMAKE_BUILD_TYPE=Release --pkg gpd
or "catkin_make -DCMAKE_BUILD_TYPE=Release -DUSE_OPENVINO=ON --pkg gpd"
Alternatively, manually kick off the build is supported: $ cd src/gpd $ mkdir build && cd build $ cmake -DUSE_CAFFE=ON ..
or "cmake -DUSE_OPENVINO=ON .."
$ sudo make install By default "libgrasp_pose_detection.so" shall be installed to "/usr/local/install".
There are NO changes on build options or launch options :) This PR is tested working with "USE_CAFFE=ON (default)" or "USE_OPENVINO=ON". This PR is also tested with "Ubuntu 16.04 + ROS Kinetic" or "Ubuntu 18.04 + ROS Melodic".