How to integrate PCL with ROS as an external library

classic Classic list List threaded Threaded
6 messages Options
Reply | Threaded
Open this post in threaded view
|

How to integrate PCL with ROS as an external library

saimanoj18
Hi,

I would like to know how PCL can be added as a library to a ROS package.

I have compiled the PCL-trunk from source and am on UBUNTU 12.04 and ROS-Fuerte.

If this can be done then the latest features or algorithms developed in PCL format can be easily deployed in to ROS

Thanks
 
With all Good wishes,

Sai Manoj Prakhya

_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users
Reply | Threaded
Open this post in threaded view
|

Re: How to integrate PCL with ROS as an external library

saimanoj18

 Hi,

Thanks for your reply. 

TO be precise I want to use the NDT transform in the registration folder.

I have seen the link http://svn.pointclouds.org/ros/branches but i could not find "registration" folder  in pcl and pcl_ros folders inside the fuerte directory.

So if I can integrate PCL in to ROS it would solve the issue
 

With all Good wishes,

Sai Manoj Prakhya

From: Mac Mason <[hidden email]>
To: Sai Manoj <[hidden email]>; Point Cloud Library (PCL) users <[hidden email]>
Sent: Tuesday, 19 February 2013 1:11 AM
Subject: Re: [PCL-users] How to integrate PCL with ROS as an external library

From pointclouds.org/downloads:

For ROS users that are willing to test the unstable version of PCL
(i.e., trunk), we offer a few custom ROS stacks at
http://svn.pointclouds.org/ros/branches/. To prevent PCL trunk from
interfering with your current stable PCL release, we rename all
includes and namespaces by appending the current TRUNK version number,
for example: pcl17::PointCloud instead of pcl::PointCloud if the TRUNK
version is 1.7.0, or #include <pcl17/point_cloud.h> instead of
#include <pcl/point_cloud.h>. A more elegant solution will be
implemented together with the release of PCL 2.0.

    --M

On Mon, Feb 18, 2013 at 11:44 AM, Sai Manoj <[hidden email]> wrote:

> Hi,
>
> I would like to know how PCL can be added as a library to a ROS package.
>
> I have compiled the PCL-trunk from source and am on UBUNTU 12.04 and
> ROS-Fuerte.
>
> If this can be done then the latest features or algorithms developed in PCL
> format can be easily deployed in to ROS
>
> Thanks
>
> With all Good wishes,
>
> Sai Manoj Prakhya
>
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users
>



--
Julian "Mac" Mason      [hidden email]      www.cs.duke.edu/~mac



_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users
Reply | Threaded
Open this post in threaded view
|

Re: How to integrate PCL with ROS as an external library

Michael Korn
Hey,

please, read http://www.ros.org/wiki/pcl17: "The makefile in this package checkouts the original PCL repository (http://svn.pointclouds.org/pcl/trunk) and patches the source code, to be compatible with ROS and to have his own namespace (pcl17)."

Michael
Reply | Threaded
Open this post in threaded view
|

Re: How to integrate PCL with ROS as an external library

Julius Kammerl-2
In reply to this post by saimanoj18
Hi Sai,

the Makefile in ros/branches/fuerte/perception_pcl/pcl checks out PCL
from source. Once it is checked out, you should find the registration
component within build/pcl_trunk.

Cheers,
Julius

On 02/18/2013 09:21 AM, Sai Manoj wrote:

>
>
>  Hi,
>
> Thanks for your reply.
>
> TO be precise I want to use the NDT transform in the registration folder.
>
> I have seen the link http://svn.pointclouds.org/ros/branches but i could not find "registration" folder  in pcl and pcl_ros folders inside the fuerte directory.
>
> So if I can integrate PCL in to ROS it would solve the issue
>  
>
> With all Good wishes,
>
>
> Sai Manoj Prakhya
>
>
>> ________________________________
>> From: Mac Mason <[hidden email]>
>> To: Sai Manoj <[hidden email]>; Point Cloud Library (PCL) users <[hidden email]>
>> Sent: Tuesday, 19 February 2013 1:11 AM
>> Subject: Re: [PCL-users] How to integrate PCL with ROS as an external library
>>
>>From pointclouds.org/downloads:
>>
>> For ROS users that are willing to test the unstable version of PCL
>> (i.e., trunk), we offer a few custom ROS stacks at
>> http://svn.pointclouds.org/ros/branches/. To prevent PCL trunk from
>> interfering with your current stable PCL release, we rename all
>> includes and namespaces by appending the current TRUNK version number,
>> for example: pcl17::PointCloud instead of pcl::PointCloud if the TRUNK
>> version is 1.7.0, or #include <pcl17/point_cloud.h> instead of
>> #include <pcl/point_cloud.h>. A more elegant solution will be
>> implemented together with the release of PCL 2.0.
>>
>>     --M
>>
>> On Mon, Feb 18, 2013 at 11:44 AM, Sai Manoj <[hidden email]> wrote:
>>> Hi,
>>>
>>> I would like to know how PCL can be added as a library to a ROS package.
>>>
>>> I have compiled the PCL-trunk from source and am on UBUNTU 12.04 and
>>> ROS-Fuerte.
>>>
>>> If this can be done then the latest features or algorithms developed in PCL
>>> format can be easily deployed in to ROS
>>>
>>> Thanks
>>>
>>> With all Good wishes,
>>>
>>> Sai Manoj Prakhya
>>>
>>> _______________________________________________
>>> [hidden email] / http://pointclouds.org
>>> http://pointclouds.org/mailman/listinfo/pcl-users
>>>
>>
>>
>>
>> --
>> Julian "Mac" Mason      [hidden email]      www.cs.duke.edu/~mac
>>
>>
>>
>>
>>
>> _______________________________________________
>> [hidden email] / http://pointclouds.org
>> http://pointclouds.org/mailman/listinfo/pcl-users


_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users

signature.asc (917 bytes) Download Attachment
Reply | Threaded
Open this post in threaded view
|

Re: How to integrate PCL with ROS as an external library

saimanoj18
In reply to this post by Michael Korn
Hi,

Thanks for your suggestion and I did that and downloaded pcl and perception_pcl from pointclouds.org and did rosdep without any errors..

I am using ubuntu 12.04 and fuerte

when I rosmake pcl_ros, its resulting the errors below.
mkdir -p bin cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=rospack find rosbuild/rostoolchain.cmake .. [rosbuild] Building package pcl_ros [rosbuild] Cached build flags older than manifests; calling rospack to get flags Failed to invoke /opt/ros/fuerte/bin/rospack cflags-only-I;--deps-only pcl_ros CMake Error at /usr/lib/vtk-5.8/VTKTargets.cmake:16 (ADD_EXECUTABLE): Command add_executable() is not scriptable Call Stack (most recent call first): /usr/lib/vtk-5.8/VTKConfig.cmake:231 (INCLUDE) /usr/share/cmake-2.8/Modules/FindVTK.cmake:73 (FIND_PACKAGE) /home/sai/fuerte_workspace/pcl17/pcl/vtk_include.cmake:1 (find_package)
CMake Error at /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:129 (message):
Failed to invoke rospack to get compile flags for package 'pcl_ros'.  Look
above
for errors from rospack itself.  Aborting.  Please fix the broken
dependency
!
Call Stack (most recent call first): /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:227 (rosbuild_invoke_rospack) CMakeLists.txt:4 (rosbuild_init)
-- Configuring incomplete, errors occurred!
Any idea on how this can be solved.
 
With all Good wishes,

Sai Manoj Prakhya

From: Michael Korn <[hidden email]>
To: [hidden email]
Sent: Tuesday, 19 February 2013 11:07 PM
Subject: Re: [PCL-users] How to integrate PCL with ROS as an external library

Hey,

please, read http://www.ros.org/wiki/pcl17: "The makefile in this package
checkouts the original PCL repository (http://svn.pointclouds.org/pcl/trunk)
and patches the source code, to be compatible with ROS and to have his own
namespace (pcl17)."

Michael



--
View this message in context: http://www.pcl-users.org/How-to-integrate-PCL-with-ROS-as-an-external-library-tp4026185p4026204.html
Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users



_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users
Reply | Threaded
Open this post in threaded view
|

Re: How to integrate PCL with ROS as an external library

Julius Kammerl-2
Hi Sai,

it looks like your ROS environment is not setup correctly. Is
perception_pcl within your ROS_PACKAGE_PATH? You should also delete any
previously generated CMakeFiles/CMakeCache files before executing rosmake.

Please make also sure that you use the latest source from
https://svn@.../ros/branches/fuerte/perception_pcl

Cheers,
Julius

On 02/19/2013 11:41 PM, Sai Manoj wrote:

> Hi,
>
> Thanks for your suggestion and I did that and downloaded pcl and perception_pcl from pointclouds.org and did rosdep without any errors..
>
>
> I am using ubuntu 12.04 and fuerte
>
> when I rosmake pcl_ros, its resulting the errors below.
> mkdir -p bin cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=rospack find rosbuild/rostoolchain.cmake .. [rosbuild] Building package pcl_ros [rosbuild] Cached build flags older than manifests; calling rospack to get flags Failed to invoke /opt/ros/fuerte/bin/rospack cflags-only-I;--deps-only pcl_ros CMake Error at /usr/lib/vtk-5.8/VTKTargets.cmake:16 (ADD_EXECUTABLE): Command add_executable() is not scriptable Call Stack (most recent call first): /usr/lib/vtk-5.8/VTKConfig.cmake:231 (INCLUDE) /usr/share/cmake-2.8/Modules/FindVTK.cmake:73 (FIND_PACKAGE) /home/sai/fuerte_workspace/pcl17/pcl/vtk_include.cmake:1 (find_package)
> CMake Error at /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:129 (message):
> Failedto invoke rospack to getcompile flags forpackage'pcl_ros'. Look
> above forerrors fromrospack itself. Aborting. Pleasefix the broken
> dependency!
>
> Call Stack (most recent call first): /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:227 (rosbuild_invoke_rospack) CMakeLists.txt:4 (rosbuild_init)
> -- Configuring incomplete, errors occurred!
> Any idea on how this can be solved.
>  
> With all Good wishes,
>
>
> Sai Manoj Prakhya
>
>
>> ________________________________
>> From: Michael Korn <[hidden email]>
>> To: [hidden email]
>> Sent: Tuesday, 19 February 2013 11:07 PM
>> Subject: Re: [PCL-users] How to integrate PCL with ROS as an external library
>>
>> Hey,
>>
>> please, read http://www.ros.org/wiki/pcl17: "The makefile in this package
>> checkouts the original PCL repository (http://svn.pointclouds.org/pcl/trunk)
>> and patches the source code, to be compatible with ROS and to have his own
>> namespace (pcl17)."
>>
>> Michael
>>
>>
>>
>> --
>> View this message in context: http://www.pcl-users.org/How-to-integrate-PCL-with-ROS-as-an-external-library-tp4026185p4026204.html
>> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
>> _______________________________________________
>> [hidden email] / http://pointclouds.org
>> http://pointclouds.org/mailman/listinfo/pcl-users
>>
>>
>>
>>
>>
>> _______________________________________________
>> [hidden email] / http://pointclouds.org
>> http://pointclouds.org/mailman/listinfo/pcl-users


_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users

signature.asc (917 bytes) Download Attachment