Initial Release

.gitignore

@@ -8,3 +8,8 @@
 # Ignore all Linux Editor revision save files
 *~
 
+# Ignore all hidden files
+.project
+.cproject
+.settings
+

README.md

@@ -1,21 +1,9 @@
-# ros
-ROS Development
+# Intel® RealSense™ ROS
+These are packages for using Intel RealSense cameras with ROS.  
 
+www.intel.com/realsense  
 
-## Usage
-* Setup for ROS
+www.ros.org  
 
- `source /opt/ros/`*`<release>`*`/setup.bash`
 
-* Create your Catkin Workspace
-
- `mkdir catkin_ws`
-* Clone the repository as the `src` directory
-
- `git clone https://github.com/otcshare/ros-realsense.git src`
-* Build the Nodes
-
- `catkin_make`
-* Setup to use newly build Nodes
-
- `source devel/setup.bash`
+Refer to the README.md file within each package for more details.

camera/CMakeLists.txt

@@ -2,11 +2,20 @@ cmake_minimum_required(VERSION 2.8.3)
 
 project(realsense_camera)
 
-set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+# Save the command line compile commands in the build output
+set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+# View the makefile commands during build
+#set(CMAKE_VERBOSE_MAKEFILE on)
+
+set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -O2 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")
+# Flags executables
+set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now")
+# Flags shared libraries
+set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now")
 
 find_package(catkin REQUIRED COMPONENTS
+  dynamic_reconfigure
   roscpp
-  rospy
   nodelet
   cv_bridge
   image_transport
@@ -29,6 +38,13 @@ generate_messages(
   std_msgs
 )
 
+#add dynamic reconfigure api
+generate_dynamic_reconfigure_options(
+  cfg/camera_params.cfg
+)
+
+
+
 include_directories(
   ${catkin_INCLUDE_DIRS}
 )
@@ -38,9 +54,18 @@ target_link_libraries(realsense_camera_nodelet
   ${catkin_LIBRARIES}
   /usr/local/lib/librealsense.so
 )
+add_dependencies(realsense_camera_nodelet realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg)
 
 add_executable(realsense_camera_test test/realsense_camera_test_node.cpp)
 target_link_libraries(realsense_camera_test 
   ${catkin_LIBRARIES}
   ${GTEST_LIBRARIES}
 )
+add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg)
+
+add_executable(realsense_camera_test_rgbd test/realsense_camera_test_rgbd_node.cpp)
+target_link_libraries(realsense_camera_test_rgbd 
+  ${catkin_LIBRARIES}
+  ${GTEST_LIBRARIES}
+)
+add_dependencies(realsense_camera_test_rgbd realsense_camera_generate_messages_cpp)