ROS decoupling

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ROS decoupling

Radu B. Rusu
Administrator
Let's start a new thread on what needs to be done to finish the remaining steps for decoupling PCL from ROS.

1. ROS Messages
---------------

Because we depend on 5 ROS messages only (pcl/PointIndices, pcl/ModelCoefficients, pcl/PolygonMesh - Zoli do we need to
rename this to PolygonalMesh? -, pcl/Vertices, and sensor_msgs/PointCloud2), we can just rip off the generated include
headers. We already added include/pcl/ros/msg/Header.h.

A simpler solution and preferred alternative would be to modify genmsg_cpp to be able to spit out a simpler set of
header files that do not contain any ROS parts besides the inclusion of Header.h, which will still need to be manually
written, as it depends on Time, etc...


2. CMake/build system
---------------------

We reduced our dependency set to a minimum: Eigen, FLANN, CMinpack, ANN (to be removed). We need the following CMake
macros/bits implemented:

* search for the above libraries and make sure they can be used during the compilation process

* add Boost + flags

* add OpenMP + flags

* make sure compiler optimizations are correctly set

* unit tests?


3. [...]
--------

--
Cheers,
Radu.

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Re: ROS decoupling

Zoltan-Csaba Marton
Hi,

just my small contributions:

On Wed, 2010-10-27 at 17:29 +0900, Radu Bogdan Rusu wrote:
> Let's start a new thread on what needs to be done to finish the remaining steps for decoupling PCL from ROS.
>
> 1. ROS Messages
> ---------------
>
> Because we depend on 5 ROS messages only (pcl/PointIndices, pcl/ModelCoefficients, pcl/PolygonMesh - Zoli do we need to
> rename this to PolygonalMesh? -, pcl/Vertices, and sensor_msgs/PointCloud2), we can just rip off the generated include
> headers. We already added include/pcl/ros/msg/Header.h.

As this http://en.wikipedia.org/wiki/Polygonal_mesh redirects to Polygon
mesh, I would say that it is correct.

> A simpler solution and preferred alternative would be to modify genmsg_cpp to be able to spit out a simpler set of
> header files that do not contain any ROS parts besides the inclusion of Header.h, which will still need to be manually
> written, as it depends on Time, etc...
>
I would also prefer this one.

>
> 2. CMake/build system
> ---------------------
>
> We reduced our dependency set to a minimum: Eigen, FLANN, CMinpack, ANN (to be removed). We need the following CMake
> macros/bits implemented:
>
> * search for the above libraries and make sure they can be used during the compilation process
>
> * add Boost + flags
>
> * add OpenMP + flags
>
> * make sure compiler optimizations are correctly set
>
> * unit tests?
>
>
> 3. [...]
> --------
>

Cheers,
Zoltan

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