Update CMakelists with correct cmake plural variables. Add Readme

CMakeLists.txt

@@ -18,16 +18,16 @@ find_package(catkin REQUIRED COMPONENTS sensor_msgs image_transport camera_info_
 FIND_PACKAGE(iriutils REQUIRED)
 FIND_PACKAGE(firewire REQUIRED)
 
-FIND_LIBRARY(raw1394_LIBRARY
+FIND_LIBRARY(raw1394_LIBRARIES
     NAMES raw1394
     PATHS /usr/lib /usr/local/lib)
-FIND_LIBRARY(dc1394_LIBRARY
+FIND_LIBRARY(dc1394_LIBRARIES
     NAMES dc1394
     PATHS /usr/lib /usr/local/lib)
 
-IF (raw1394_INCLUDE_DIR AND raw1394_LIBRARY AND dc1394_INCLUDE_DIR AND dc1394_LIBRARY)
+IF (raw1394_INCLUDE_DIRS AND raw1394_LIBRARIES AND dc1394_INCLUDE_DIRS AND dc1394_LIBRARIES)
    SET(firewire_ready TRUE)
-ENDIF (raw1394_INCLUDE_DIR AND raw1394_LIBRARY AND dc1394_INCLUDE_DIR AND dc1394_LIBRARY)
+ENDIF (raw1394_INCLUDE_DIRS AND raw1394_LIBRARIES AND dc1394_INCLUDE_DIRS AND dc1394_LIBRARIES)
 
 # ******************************************************************** 
 #           Add topic, service and action definition here
@@ -91,8 +91,8 @@ include_directories(include)
 include_directories(${catkin_INCLUDE_DIRS})
 include_directories(${iriutils_INCLUDE_DIR})
 include_directories(${firewire_INCLUDE_DIR})
-include_directories(${raw1394_INCLUDE_DIR})
-include_directories(${dc1394_INCLUDE_DIR})
+include_directories(${raw1394_INCLUDE_DIRS})
+include_directories(${dc1394_INCLUDE_DIRS})
 
 ## Declare a cpp library
 add_library(${PROJECT_NAME}_nodelet src/firewire_camera_driver_node.cpp src/firewire_camera_driver.cpp)
@@ -107,23 +107,24 @@ add_executable(${PROJECT_NAME} src/firewire_camera_driver.cpp src/firewire_camer
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY})
 target_link_libraries(${PROJECT_NAME} ${firewire_LIBRARY})
-target_link_libraries(${PROJECT_NAME} ${raw1394_LIBRARY})
-target_link_libraries(${PROJECT_NAME} ${dc1394_LIBRARY})
+target_link_libraries(${PROJECT_NAME} ${raw1394_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${dc1394_LIBRARIES})
 
 target_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES})
 target_link_libraries(${PROJECT_NAME}_nodelet ${iriutils_LIBRARY})
 target_link_libraries(${PROJECT_NAME}_nodelet ${firewire_LIBRARY})
-target_link_libraries(${PROJECT_NAME}_nodelet ${raw1394_LIBRARY})
-target_link_libraries(${PROJECT_NAME}_nodelet ${dc1394_LIBRARY})
+target_link_libraries(${PROJECT_NAME}_nodelet ${raw1394_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}_nodelet ${dc1394_LIBRARIES})
 # ******************************************************************** 
 #               Add message headers dependencies 
 # ******************************************************************** 
 # add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
-add_dependencies(${PROJECT_NAME}_gencfg iri_base_driver_generate_messages)
+add_dependencies(${PROJECT_NAME}_gencfg         iri_base_driver_generate_messages)
 # ******************************************************************** 
 #               Add dynamic reconfigure dependencies 
 # ******************************************************************** 
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+add_dependencies(${PROJECT_NAME}         ${${PROJECT_NAME}_EXPORTED_TARGETS})
+add_dependencies(${PROJECT_NAME}_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 # target_link_libraries(foo_node

README.md

+# Description
+
+The iri_firewire_camera_driver ROS package is a wrapper of the firewire_camera C++ driver library.
+
+
+# Dependencies
+
+This node has the following dependencies:
+
+ * [firewire_camera](https://gitlab.iri.upc.edu/labrobotica/drivers/firewire_camera)
+
+ * [iri_base_driver](https://gitlab.iri.upc.edu/labrobotica/ros/iri_core/iri_base_driver): 
+
+
+# Install
+
+This package, as well as all IRI dependencies, can be installed by cloning the 
+repository inside the active workspace:
+
+```
+roscd
+cd ../src
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/platforms/segway/iri_segway_rmp200_driver.git 
+```
+
+However, this package is normally used as part of a wider installation (i.e. a 
+robot, an experiment or a demosntration) which will normally include a complete 
+rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
+
+# How to use it
+
+<!--
+The *node.launch* launch file is intended to be included in any launch file 
+that needs the node. It has the following arguments:
+
+  * name: (default: robot) namespace of the node
+
+  * config_file: (default: $(find iri_segway_rmp200_driver)/config/params.yaml) a configuration file with all the supported parameters. 
+  A default YAML configuration file is provided in the config folder, 
+  but each application can define a new file with the desired parameters and pass it to this launch file.
+ 
+  * output: (default: log) the desired output for the node. Possible values for this parameter are log and screen.
+ 
+  * launch_prefix: (default: none)
+
+To remap the topics and services of the driver, use a global remap command.
+-->
\ No newline at end of file

config/flea_params.yaml

@@ -2,6 +2,13 @@ tf_prefix:               "robot"
 frame_id:                "camera_frame"
 Camera_node:             0
 Camera_serial:           ""
+
+  #known serials
+  #flea:           00b09d0100a96262
+  #flea2:          00b09d01006cf72a
+  #bumblebee dabo: 0814438300001f9c
+  #bumblebee tibi: 
+
 ISO_speed:               400
 Image_width:             1024
 Image_height:            768
@@ -18,4 +25,4 @@ Shutter_mode:            0     # 0=Auto, 1=Manual
 Shutter_value:           28
 Gain_enabled:            true
 Gain_mode:               0     # 0=Auto, 1=Manual
-Gain_value:              48
+Gain_value:              48
\ No newline at end of file

launch/nodelet.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="name" default="robot" />
+  <arg name="config_file" default="$(find iri_firewire_camera_driver)/config/params.yaml" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+
+  <group ns="$(arg name)">
+
+    <node pkg ="nodelet" 
+          type="nodelet" 
+          name="standalone_nodelet"  
+          args="manager" 
+          output="$(arg output)"
+          launch-prefix="$(arg launch_prefix)">
+    
+    <node pkg="nodelet"
+          type="nodelet"
+          name="iri_firewire_camera_driver_nodelet"
+          args="load iri_firewire_camera_driver/FirewireCameraDriverNodelet standalone_nodelet"
+          output="$(arg output)"
+          launch-prefix="$(arg launch_prefix)">
+      <rosparam file="$(arg config_file)" command="load" />
+    </node>
+    
+  </group>
+
+</launch>
+
+<!-- TODO remaps image_raw, camera_info-->
+<!-- TODO params nodelet? -->
+<!-- TODO test with image_proc/crop_decimate, image_proc/rectify
\ No newline at end of file