Merge pull request IntelRealSense#204 from rojkov/non-catkin

Add option to link against non-catkin librealsense

realsense_camera/CMakeLists.txt

@@ -14,8 +14,9 @@ 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 ${CMAKE_SHARED_LINKER_FLAGS}")
 
-find_package(catkin REQUIRED COMPONENTS
- librealsense
+option(USE_SYSTEM_LIBREALSENSE "Build realsense_camera against system librealsense, not the one built with catkin" OFF)
+
+set(REALSENSE_CATKIN_BASED_DEPS
  dynamic_reconfigure
  roscpp
  nodelet
@@ -27,7 +28,20 @@ find_package(catkin REQUIRED COMPONENTS
  std_msgs
  sensor_msgs
  pcl_ros
- roslint
+)
+
+if(USE_SYSTEM_LIBREALSENSE)
+ find_package(realsense REQUIRED)
+else()
+ list(APPEND REALSENSE_CATKIN_BASED_DEPS librealsense)
+endif()
+
+if(CATKIN_ENABLE_TESTING)
+ list(APPEND REALSENSE_CATKIN_BASED_DEPS roslint)
+endif()
+
+find_package(catkin REQUIRED COMPONENTS
+ ${REALSENSE_CATKIN_BASED_DEPS}
 )
 
 add_message_files(
@@ -57,11 +71,6 @@ generate_dynamic_reconfigure_options(
  cfg/zr300_params.cfg
 )
 
-# ROS Lint the code
-roslint_cpp()
-roslint_python()
-roslint_add_test()
-
 #################################
 # catkin specific configuration #
 #################################
@@ -71,11 +80,20 @@ roslint_add_test()
 # 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
- CATKIN_DEPENDS librealsense std_msgs message_runtime sensor_msgs
- LIBRARIES ${PROJECT_NAME}_nodelet
-)
+if(USE_SYSTEM_LIBREALSENSE)
+ catkin_package(
+ INCLUDE_DIRS include
+ CATKIN_DEPENDS std_msgs message_runtime sensor_msgs
+ DEPENDS realsense
+ LIBRARIES ${PROJECT_NAME}_nodelet
+ )
+else()
+ catkin_package(
+ INCLUDE_DIRS include
+ CATKIN_DEPENDS std_msgs message_runtime sensor_msgs librealsense
+ LIBRARIES ${PROJECT_NAME}_nodelet
+ )
+endif()
 
 # Specify additional locations of header files
 include_directories(
@@ -93,10 +111,18 @@ add_dependencies(${PROJECT_NAME}_nodelet ${catkin_EXPORTED_TARGETS})
 
 add_executable(get_debug_info src/get_debug_info.cpp)
 target_link_libraries(get_debug_info ${catkin_LIBRARIES})
+if(USE_SYSTEM_LIBREALSENSE)
+ target_link_libraries(get_debug_info PRIVATE realsense::realsense)
+endif()
 
 if (CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)
 
+ # ROS Lint the code
+ roslint_cpp()
+ roslint_python()
+ roslint_add_test()
+
  add_executable(tests_camera_core test/camera_core.cpp)
  target_link_libraries(tests_camera_core
  ${catkin_LIBRARIES}