Converted package to ROS Indigo. Build system changed (rosbuild -> ca…

…tkin).

CMakeLists.txt

@@ -1,30 +1,195 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
+cmake_minimum_required(VERSION 2.8.3)
+project(ros_csv_extraction)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  geometry_msgs
+  sensor_msgs
+  std_msgs
+  nav_msgs
+  cv_bridge
+  opencv2
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ros_csv_extraction
+#  CATKIN_DEPENDS rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(ros_csv_extraction
+#   src/${PROJECT_NAME}/ros_csv_extraction.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(ros_csv_extraction ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(ros_csv_extraction_node src/ros_csv_extraction_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(ros_csv_extraction_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(ros_csv_extraction_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+install(PROGRAMS
+  src/extract_all.py
+  src/extract_topic.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ros_csv_extraction ros_csv_extraction_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_csv_extraction.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

@@ -22,7 +22,7 @@ To install the data extraction tool, download the zip file, extract it somewhere
 
 # Usage
  * Extract all compatible topics in a bag file:
- 
+
 `rosrun data_extract extract_all.py -b <path_to_bag_file> -o <path_to_output_dir>`
 
  * Extract a single topic:

package.xml

@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<package>
+  <name>ros_csv_extraction</name>
+  <version>1.5.0</version>
+  <description>
+     A data extraction tool has been created to extract information from ROS "bag" files and convert them into more user-friendly comman-separated-value (CSV) files for use in Excel / Matlab / etc.
+
+     The tool is written in the form of a ROS package "data_extract". Thus far, the data extraction tool is compatible with the following ROS message types:
+     * sensor_msgs/Image
+     * sensor_msgs/Imu
+     * sensor_msgs/LaserScan
+     * sensor_msgs/NavSatFix
+     * sensor_msgs/NavSatFix
+     * gps_common/gpsVel
+     * umrr_driver/radar_msg
+     * nav_msgs/Odometry
+
+     1.) Extract all compatible topics in a bag file
+    rosrun data_extract extract_all.py -b path_to_bag_file -o path_to_output_dir
+     2.) Extract a single topic
+    rosrun data_extraction extract_topic.py -b path_to_bag_file -o path_to_output_csv_file -t topic_name
+
+      The extraction tool will only extract topics of the types listed above.
+
+     Version 1.0 - Shane Lynn - 7th May 2012
+     Version 1.1 - Laki Dantanarayana - 31th July 2012, New Topic added
+     Version 1.2 - Gibson Hu - 2012, Changed image file structure, automatic folder creation.
+     Version 1.3 - Laki Dantanarayana, ROS Indigo support
+   </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Shane Lynn</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>opencv2</build_depend>
+  <build_depend>rosbag</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+
+  <run_depend>rospy</run_depend>
+  <run_depend>opencv2</run_depend>
+  <run_depend>rosbag</run_depend>
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

setup.py

@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    # #  don't do this unless you want a globally visible script
+    # scripts=['bin/myscript'],
+    packages=['PYTHON_PACKAGE_NAME'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)