From 2847f355bf26f45c648db72eaeff3af94f936f00 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ga=C3=ABl=20=C3=89corchard?= <gael.ecorchard@cvut.cz>
Date: Tue, 20 Apr 2021 15:38:41 +0200
Subject: [PATCH 1/2] Find system aravis library on Ubuntu 20
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The required version of Aravis (v0.6) is available as system package.

Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
---
 CMakeLists.txt                | 12 ++++++------
 CMakeModules/FindAravis.cmake | 14 ++++++++------
 cfg/CameraAravisConfig.cfg    |  3 +--
 package.xml                   | 18 ++++++++++--------
 4 files changed, 25 insertions(+), 22 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a439775..3b27e5e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,12 +1,14 @@
-# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.16)
 project(camera_aravis)
+
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules)
+
 find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs image_transport camera_info_manager dynamic_reconfigure driver_base tf dynamic_reconfigure)
 find_package(Aravis REQUIRED)
 find_package(GLIB2 REQUIRED)
 
 generate_dynamic_reconfigure_options(cfg/CameraAravisConfig.cfg)
+
 catkin_package(
     DEPENDS Aravis GLIB2
     CATKIN_DEPENDS roscpp sensor_msgs image_transport camera_info_manager dynamic_reconfigure driver_base tf
@@ -14,11 +16,9 @@ catkin_package(
     LIBRARIES
 )
 
-include_directories(cfg/cpp ${catkin_INCLUDE_DIRS} ${ARAVIS_INCLUDE_PATH} ${GLIB2_INCLUDE_DIRS})
-
-message(${ARAVIS_LIBRARY})
+include_directories(cfg/cpp ${catkin_INCLUDE_DIRS} ${Aravis_INCLUDE_PATH} ${GLIB2_INCLUDE_DIRS})
 
 add_executable(camnode src/camnode.cpp)
 
-target_link_libraries(camnode ${catkin_LIBRARIES} ${ARAVIS_LIBRARY} glib-2.0 gmodule-2.0 gobject-2.0)
+target_link_libraries(camnode ${catkin_LIBRARIES} ${Aravis_LIBRARY} glib-2.0 gmodule-2.0 gobject-2.0)
 add_dependencies(camnode ${PROJECT_NAME}_gencfg)
diff --git a/CMakeModules/FindAravis.cmake b/CMakeModules/FindAravis.cmake
index 7b17873..d360fc6 100644
--- a/CMakeModules/FindAravis.cmake
+++ b/CMakeModules/FindAravis.cmake
@@ -1,16 +1,18 @@
 INCLUDE(FindPackageHandleStandardArgs)
 
-FIND_PATH(ARAVIS_INCLUDE_PATH arv.h
-  "$ENV{ARAVIS_INCLUDE_PATH}"
+FIND_PATH(Aravis_INCLUDE_DIRS arv.h
+  "$ENV{ARAVIS_INCLUDE_DIRS}"
+  /usr/include/aravis-0.6
   /usr/local/include/aravis-0.6
 )
 
-FIND_LIBRARY(ARAVIS_LIBRARY aravis-0.6
+FIND_LIBRARY(Aravis_LIBRARY aravis-0.6
   "$ENV{ARAVIS_LIBRARY}"
+  /usr/lib
   /usr/local/lib
 )
 
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(ARAVIS DEFAULT_MSG
-  ARAVIS_INCLUDE_PATH
-  ARAVIS_LIBRARY)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(Aravis DEFAULT_MSG
+  Aravis_INCLUDE_DIRS
+  Aravis_LIBRARY)
 
diff --git a/cfg/CameraAravisConfig.cfg b/cfg/CameraAravisConfig.cfg
index ee91162..d74621d 100755
--- a/cfg/CameraAravisConfig.cfg
+++ b/cfg/CameraAravisConfig.cfg
@@ -1,7 +1,6 @@
 #!/usr/bin/env python
 
-PACKAGE='camera_aravis'
-import roslib; roslib.load_manifest(PACKAGE)
+PACKAGE = 'camera_aravis'
 
 from dynamic_reconfigure.parameter_generator import *
 from driver_base.msg import SensorLevels
diff --git a/package.xml b/package.xml
index b10de17..0639c22 100644
--- a/package.xml
+++ b/package.xml
@@ -17,20 +17,22 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>image_transport</build_depend>
   <build_depend>camera_info_manager</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>driver_base</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>libaravis-dev</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
   <build_depend>tf</build_depend>
   
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>image_transport</run_depend>
   <run_depend>camera_info_manager</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>driver_base</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>libaravis</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
   <run_depend>tf</run_depend>
 
 </package>

From 48f9270773a35da4cd6f17eae5c36836fecbdc75 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ga=C3=ABl=20=C3=89corchard?= <gael.ecorchard@cvut.cz>
Date: Thu, 22 Apr 2021 16:41:49 +0200
Subject: [PATCH 2/2] Fix include_directories
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3b27e5e..8da611e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,7 +16,7 @@ catkin_package(
     LIBRARIES
 )
 
-include_directories(cfg/cpp ${catkin_INCLUDE_DIRS} ${Aravis_INCLUDE_PATH} ${GLIB2_INCLUDE_DIRS})
+include_directories(cfg/cpp ${catkin_INCLUDE_DIRS} ${Aravis_INCLUDE_DIRS} ${GLIB2_INCLUDE_DIRS})
 
 add_executable(camnode src/camnode.cpp)