small changes:

jsinapov · Apr 24, 2017 · d86ec3e · d86ec3e
1 parent 972176a
commit d86ec3e
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Showing 4 changed files with 12 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -9,7 +9,7 @@ project(agile_grasp)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS cmake_modules cv_bridge eigen_conversions geometry_msgs 
-message_generation pcl_conversions roscpp sensor_msgs std_msgs visualization_msgs)
+message_generation pcl_conversions roscpp sensor_msgs std_msgs visualization_msgs tf_conversions)
 
 ## System dependencies are found with CMake's conventions
 find_package(Eigen REQUIRED)
@@ -99,6 +99,8 @@ catkin_package(
   sensor_msgs
   std_msgs
   visualization_msgs
+  tf
+  tf_conversions
  DEPENDS 
   Eigen
   LAPACK
@@ -159,8 +161,9 @@ target_link_libraries(train_svm learning localization ${PCL_LIBRARIES})
 target_link_libraries(test_svm learning localization ${PCL_LIBRARIES})
 target_link_libraries(opencv_test ${OpenCV_LIBRARIES})
 target_link_libraries(handle rotating_hand)
-target_link_libraries(find_grasps grasp_localizer ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(find_grasps grasp_localizer grasp_localizer_server ${catkin_LIBRARIES} ${PCL_LIBRARIES})
 target_link_libraries(grasp_localizer handle localization rotating_hand ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(grasp_localizer_server handle localization rotating_hand ${catkin_LIBRARIES} ${PCL_LIBRARIES})
 target_link_libraries(handle_search handle rotating_hand ${catkin_LIBRARIES} ${PCL_LIBRARIES})
 target_link_libraries(plot grasp_hypothesis handle quadric ${catkin_LIBRARIES} ${PCL_LIBRARIES})
 target_link_libraries(hand_search finger_hand grasp_hypothesis plot quadric rotating_hand ${PCL_LIBRARIES})

diff --git a/include/agile_grasp/grasp_localizer_server.h b/include/agile_grasp/grasp_localizer_server.h
@@ -29,8 +29,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef GRASP_LOCALIZER_H_
-#define GRASP_LOCALIZER_H_
+#ifndef GRASP_LOCALIZER_SERVER_H_
+#define GRASP_LOCALIZER_SERVER_H_
 
 #include <eigen_conversions/eigen_msg.h>
 #include <pcl_conversions/pcl_conversions.h>

diff --git a/package.xml b/package.xml
@@ -23,6 +23,7 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>visualization_msgs</build_depend>  
+  <build_depend>tf_conversions</build_depend>  
 
   <run_depend>cmake_modules</run_depend>
   <run_depend>cv_bridge</run_depend>
@@ -36,4 +37,6 @@
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>visualization_msgs</run_depend>  
+  <run_depend>tf</run_depend>  
+  <run_depend>tf_conversions</run_depend>  
 </package>
diff --git a/src/nodes/find_grasps.cpp b/src/nodes/find_grasps.cpp
@@ -29,7 +29,7 @@ int main(int argc, char** argv)
   ros::init(argc, argv, "find_grasps");
   ros::NodeHandle node("~");
 
-  GraspLocalizer::Parameters params;
+  GraspLocalizerServer::Parameters params;
 
   // camera transforms (poses)
   Eigen::Matrix4d base_tf, sqrt_tf;
@@ -102,7 +102,7 @@ int main(int argc, char** argv)
   std::cout << "  plot_mode: " << PLOT_MODES[params.plotting_mode_] << "\n";
   std::cout << "  marker_lifetime: " << params.marker_lifetime_ << "\n";
 
-  GraspLocalizer loc(node, cloud_topic, cloud_frame, cloud_type, svm_file_name, params);
+  GraspLocalizerServer loc(node, cloud_topic, cloud_frame, cloud_type, svm_file_name, params);
   loc.localizeGrasps();
 
 	return 0;