From 2d4b7c64132c8c4f37948a151cae6571936a4edb Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Mon, 17 Jul 2023 16:42:55 +0300
Subject: [PATCH] update cmake and package rbs_perception

---
 rbs_perception/CMakeLists.txt | 43 +++++++++++++++++++++++++++++++++++
 rbs_perception/package.xml    |  2 ++
 2 files changed, 45 insertions(+)

diff --git a/rbs_perception/CMakeLists.txt b/rbs_perception/CMakeLists.txt
index bcbbdc0..1fab054 100644
--- a/rbs_perception/CMakeLists.txt
+++ b/rbs_perception/CMakeLists.txt
@@ -9,11 +9,22 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rclpy REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 #find_package(opencv2 REQUIRED)
+find_package(PCL 1.12 REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(pcl_ros REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(tf2_msgs REQUIRED)
+find_package(moveit_msgs REQUIRED)
+#find_package(grasp_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
 
 # Install Python modules
 ament_python_install_package(${PROJECT_NAME})
@@ -21,14 +32,46 @@ ament_python_install_package(${PROJECT_NAME})
 # Install Python executables
 install(PROGRAMS
   scripts/detection_service.py
+  scripts/grasp_marker_publish.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
+add_executable(pc_filter src/perception_filter.cpp)
+ament_target_dependencies(pc_filter 
+rclcpp  
+pcl_conversions
+tf2_ros
+tf2_eigen
+tf2_msgs
+geometry_msgs
+sensor_msgs
+PCL
+pcl_ros
+)
+target_include_directories(pc_filter PRIVATE
+$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+$<INSTALL_INTERFACE:include>)
+
+target_compile_definitions(pc_filter
+    PRIVATE "PC_FILTER_CPP_BUILDING_DLL")
+
+target_link_libraries(pc_filter ${PCL_LIBRARIES})
+install(
+  DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)
+
 install(
   DIRECTORY config
   DESTINATION share/${PROJECT_NAME}
 )
 
+
+install(TARGETS
+    pc_filter
+    DESTINATION lib/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
diff --git a/rbs_perception/package.xml b/rbs_perception/package.xml
index c2b3d2a..dc0eb92 100644
--- a/rbs_perception/package.xml
+++ b/rbs_perception/package.xml
@@ -11,10 +11,12 @@
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>rclpy</depend>
+  <depend>rclcpp</depend>
   <depend>image_transport</depend>
   <depend>cv_bridge</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>perception_pcl</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>