ROS Fuerte and PCL from source on ARM / Hard-float support

edit

The PCL-developers did a great job over the weekend and pushed things further . Its now possible to use pcl 1.7 beside an existing pcl installation for ROS respectively as working pcl source for an ARM-board (Thumps up)

To use this 1.7 trunk version as source for your ROS there are some tricks to do. ( My objective was it to run openni_launch -> which depends on depth_image_proc -> which needs pcl )

Here's what you need to do:

1) $ svn co http://svn.pointclouds.org/ros/trunk/perception_pcl_fuerte_unstable/

2) $ roscd pcl17_ros && make

3) check out https://code.ros.org/svn/ros-pkg/stacks/image_pipeline/trunk/depth_image_proc/ (URL taken from here: http://ros.org/wiki/depth_image_proc), add it to your ROS_PACKAGE_PATH in front of all the rest.

4) go to depth_image_proc and apply the patch (which is basically changing includes and namespaces from pcl to pcl17) attached to this post and make, i.e.:

$ roscd depth_image_proc 
$ patch -p0 < pcl17_trunk.patch 
$ make

I hope I saved someones time :)

patch:

Because I can't upload a patch file. Just copy this into a new createt file named pcl17_trunk.patch

Index: manifest.xml
===================================================================
--- manifest.xml    (revision 40052)
+++ manifest.xml    (working copy)
@@ -24,8 +24,8 @@
   <depend package="image_transport"/>
   <depend package="message_filters"/>
   <depend package="nodelet"/>
-  <depend package="pcl"/>
-  <depend package="pcl_ros"/>
+  <depend package="pcl17"/>
+  <depend package="pcl17_ros"/>
   <depend package="roscpp"/>
   <depend package="sensor_msgs"/>
   <depend package="stereo_msgs"/>
Index: src/nodelets/point_cloud_xyz.cpp
===================================================================
--- src/nodelets/point_cloud_xyz.cpp    (revision 40052)
+++ src/nodelets/point_cloud_xyz.cpp    (working copy)
@@ -1,8 +1,8 @@
 #include <ros/ros.h>
 #include <nodelet/nodelet.h>
 #include <image_transport/image_transport.h>
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
+#include <pcl17_ros/point_cloud.h>
+#include <pcl17/point_types.h>
 #include <sensor_msgs/image_encodings.h>
 #include <image_geometry/pinhole_camera_model.h>
 #include <boost/thread.hpp>
@@ -21,7 +21,7 @@

   // Publications
   boost::mutex connect_mutex_;
-  typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
+  typedef pcl17::PointCloud<pcl17::PointXYZ> PointCloud;
   ros::Publisher pub_point_cloud_;

   image_geometry::PinholeCameraModel model_;
@@ -119,7 +119,7 @@
   {
     for (int u = 0; u < (int)cloud_msg->width; ++u)
     {
-      pcl::PointXYZ& pt = *pt_iter++;
+      pcl17::PointXYZ& pt = *pt_iter++;
       T depth = depth_row[u];

       // Missing points denoted by NaNs
Index: src/nodelets/point_cloud_xyzrgb.cpp
===================================================================
--- src/nodelets/point_cloud_xyzrgb.cpp (revision 40052)
+++ src/nodelets/point_cloud_xyzrgb.cpp (working copy)
@@ -5,8 +5,8 @@
 #include <message_filters/subscriber.h>
 #include <message_filters/synchronizer.h>
 #include <message_filters/sync_policies/approximate_time.h>
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
+#include <pcl17_ros/point_cloud.h>
+#include <pcl17/point_types.h>
 #include <sensor_msgs/image_encodings.h>
 #include <image_geometry/pinhole_camera_model.h>
 #include "depth_traits.h"
@@ -45,7 +45,7 @@

   // Publications
   boost::mutex connect_mutex_;
-  typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
+  typedef pcl17::PointCloud<pcl17::PointXYZRGB> PointCloud;
   ros::Publisher pub_point_cloud_;

   image_geometry::PinholeCameraModel model_;
@@ -243,7 +243,7 @@
   {
     for (int u = 0; u < (int)cloud_msg->width; ++u, rgb += color_step)
     {
-      pcl::PointXYZRGB& pt = *pt_iter++;
+      pcl17::PointXYZRGB& pt = *pt_iter++;
       T depth = depth_row[u];

       // Check for invalid measurements