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View Code? Open in Web Editor NEWROS driver for Firewire stereo cameras
ROS driver for Firewire stereo cameras
See this ros.answers.org question (http://answers.ros.org/question/218569/camera1394stereo-missing-nodes-on-indigo/).
Essentially it seems that the install is not configured in the CMakeLists.txt
for this package. Therefore, using sudo apt-get install ros-indigo-camera1394stereo
delivers an incomplete package.
When catkin_make my catkin workspace after clonning camera1304stereo package the following error appears:
-- checking for module 'libdc1394-2'
-- found libdc1394-2, version 2.2.1
CMake Error at camera1394stereo/CMakeLists.txt:66 (install):
install called with unknown mode camera1394stereo_node
If the following lines from CMakeLists.txt are commented:
install(camera1394stereo_node camera1394stereo_nodelet ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
The problem disappears.
-- ==> add_subdirectory(camera1394stereo)
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- thread
And everything compiles fine.
Tested with ROS Indigo and Jade.
CMakeFiles/camera1394stereo_nodelet.dir/src/nodes/dev_camera1394stereo.cpp.o -c /tmp/binarydeb/ros-kinetic-camera1394stereo-1.0.6/src/nodes/dev_camera1394stereo.cpp
In file included from /tmp/binarydeb/ros-kinetic-camera1394stereo-1.0.6/src/nodes/dev_camera1394stereo.cpp:54:0:
/opt/ros/kinetic/include/sensor_msgs/image_encodings.h: In function ‘int sensor_msgs::image_encodings::numChannels(const string&)’:
/opt/ros/kinetic/include/sensor_msgs/image_encodings.h:170:86: error: ‘atoi’ was not declared in this scope
encoding.size() - prefix.size()).c_str()); // ex. 8UC5 -> 5
^
/opt/ros/kinetic/include/sensor_msgs/image_encodings.h: In function ‘int sensor_msgs::image_encodings::bitDepth(const string&)’:
/opt/ros/kinetic/include/sensor_msgs/image_encodings.h:216:37: error: ‘atoi’ was not declared in this scope
return atoi(prefix.c_str()); // ex. 8UC -> 8
^
/opt/ros/kinetic/include/sensor_msgs/image_encodings.h:218:86: error: ‘atoi’ was not declared in this scope
encoding.size() - prefix.size()).c_str()); // ex. 8UC10 -> 10
^
make[4]: *** [CMakeFiles/camera1394stereo_nodelet.dir/src/nodes/dev_camera1394stereo.cpp.o] Error 1
CMakeFiles/camera1394stereo_nodelet.dir/build.make:113: recipe for target
For some reason camera1394stereo will always be compiled when I run catkin_make although I made no changes.
Some CMake dependency might be broken:
Generating reconfiguration files for Camera1394Stereo in camera1394stereo
[ 94%] Built target camera1394stereo_gencfg
Scanning dependencies of target camera1394stereo_nodelet
Scanning dependencies of target camera1394stereo_node
[ 95%] [ 95%] [ 96%] [ 97%] Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_nodelet.dir/src/nodes/featuresstereo.cpp.o
Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_nodelet.dir/src/nodes/driver1394stereo.cpp.o
[ 97%] [ 98%] [ 98%] Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_nodelet.dir/src/nodes/nodelet.cpp.o
Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_nodelet.dir/src/nodes/dev_camera1394stereo.cpp.o
Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_node.dir/src/nodes/camera1394stereo_node.cpp.o
Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_node.dir/src/nodes/driver1394stereo.cpp.o
Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_nodelet.dir/src/nodes/format7stereo.cpp.o
[ 98%] Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_node.dir/src/nodes/dev_camera1394stereo.cpp.o
[ 98%] Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_node.dir/src/nodes/featuresstereo.cpp.o
[100%] Building CXX object camera1394stereo/CMakeFiles/camera1394stereo_node.dir/src/nodes/format7stereo.cpp.o
Linking CXX shared library /wg/stor5/swirth/catkin_ws/devel/lib/libcamera1394stereo_nodelet.so
[100%] Built target camera1394stereo_nodelet
Linking CXX executable /wg/stor5/swirth/catkin_ws/devel/lib/camera1394stereo/camera1394stereo_node
[100%] Built target camera1394stereo_node
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