Use SDK (libraries, header files, etc) during creating a C ROS package-CodePudding

I am working with Teledyne Lumenera USB Camera. I installed lucam-sdk_2.4.3.94 for Linux on my Ubuntu 18.04. It includes these files:

The api folder contains this files:

One of the folders is example which contains several examples for working with Teledyne Lumenera USB Camera. Each example in example folder, shows one of the aspects of the camera like setting focus, reading camera info, etc. Each example has a folder that contains some .cpp, .h and one make file.

I want to write a C ROS node that uses this SDK.

First, I create a ROS package in my catkin_ws/src then I copy one of the examples in SDK into the src package folder.

When I use catkin_make, it says that it does not recognize lucamapi.h, which is one of the header files in the SDK.

My question is two parts:

1- the code that I copied from example folders contains some .cpp and .h files. Also, that has a make file beside themselves. I do not know how to handle the make file. How can I put parameters of the following MakeFile into CMakeList.txt?

2- I do not know how to change CMakeList.txt in my ROS package in order to have access to SDK headers, lib, etc.

This is make file for one of of the examples in the SDK:

#
CC = g  
LD = $(CC)

ifndef ARCH
ARCH    := $(shell uname -m | sed -e s/i.86/i386/ -e s/sun4u/sparc64/ -e s/arm.*/arm/ -e s/sa110/arm/ -e s/x86_64/x86-64/)
endif

LU_LDFLAGS = -lm -lpthread -lstdc  

PROG = livePreview
VERSION = 0.1


INCLUDES = $(LUMENERA_SDK)/include
CFLAGS = -DVERSION=\"$(VERSION)\" -I$(INCLUDES) -g
CFLAGS  = -DLUMENERA_LINUX_API
OBJS = 
ALL_INCLUDES =

all lu: $(PROG)

clean:
    rm -f $(PROG) *.o *.core core *.bak *~

livePreview: verify_environment livePreview.o Camera.o
    $(LD) livePreview.o Camera.o `pkg-config --libs opencv` -llucamapi $(LU_LDFLAGS) -o $@

verify_environment:
    @if test "$(LUMENERA_SDK)" = "" ; then \
        echo "LUMENERA_SDK environment variable is not set!"; \
        exit 1; \
    fi
Camera.o: Camera.cpp $(INCLUDES)/lucamapi.h
    $(CC) $(CFLAGS) -c Camera.cpp 

livePreview.o: livePreview.cpp $(INCLUDES)/lucamapi.h
    $(CC) $(CFLAGS) -c livePreview.cpp

CodePudding user response：

I solved the problem. Working with CMakeList and ROS was confusing.

Go to this repository, and read instalation part, then look at CMakeList.txt:

https://github.com/farhad-dalirani/lumenera_camera_package