Ground bridge debian work

communications/ground_dds_ros_bridge/CMakeLists.txt

@@ -109,6 +109,37 @@ add_executable(ground_dds_ros_bridge_node
 add_dependencies(ground_dds_ros_bridge_node ${catkin_EXPORTED_TARGETS})
 target_link_libraries(ground_dds_ros_bridge_node ground_dds_ros_bridge ${catkin_LIBRARIES})
 
+#############
+## Install ##
+#############
+# Determine our module name
+get_filename_component(MODULE_NAME ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+
+# Mark libraries for installation
+install(TARGETS ground_dds_ros_bridge
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+# Mark nodelet_plugin for installation
+#install(FILES nodelet_plugins.xml
+#        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+#)
+
+# Install C++ executables
+install(TARGETS ground_dds_ros_bridge_node DESTINATION bin)
+install(CODE "execute_process(
+  COMMAND ln -s ../../bin/ground_dds_ros_bridge_node share/${MODULE_NAME}
+  WORKING_DIRECOTRY ${CMAKE_INSTALL_PREFIX}
+  OUTPUT_QUIET
+  ERROR_QUIET
+  )")
+
+# Mark launch files for installation
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  PATTERN ".svn" EXCLUDE)
 else (USE_DDS)
   find_package(catkin REQUIRED COMPONENTS)
   catkin_package()

debian/.gitignore

@@ -3,7 +3,7 @@ astrobee0
 astrobee-comms
 astrobee-dev
 astrobee-config
-astrobee-comms
+astrobee-ground-comms
 files
 debhelper-build-stamp
 *.substvars

debian/astrobee-ground-comms.dirs

@@ -0,0 +1,4 @@
+opt/astrobee
+opt/astrobee/lib
+opt/astrobee/lib/pkgconfig
+opt/astrobee/share

debian/astrobee-ground-comms.files

@@ -0,0 +1,3 @@
+opt/astrobee/lib/libground_dds_ros_bridge.so
+opt/astrobee/bin/ground_dds_ros_bridge_node
+opt/astrobee/share/ground_dds_ros_bridge

debian/astrobee-ground-comms.lintian-overrides

@@ -0,0 +1,4 @@
+# See astrobee-comms.lintian-overrides for details
+dir-or-file-in-opt
+# Ignore until we figure out how to use shlibs on chroot
+missing-dependency-on-libc

debian/control

@@ -43,6 +43,24 @@ Depends: ${misc:Depends}
 Description: Astrobee flight software communications.
  The communications portion of the Astrobee flight software.
 
+Package: astrobee-ground-comms
+Section: comm
+Architecture: amd64
+Depends: ${misc:Depends}
+  astrobee-config (>= ${binary:Version}),
+  astrobee-comms (>= ${binary:Version}),
+  rti (>=1.0), libmiro0 (>=0.1), libsoracore1 (>=1.0),
+  ros-${ros-distro}-ros-base, ros-${ros-distro}-cpp-common,
+  ros-${ros-distro}-common-msgs, ros-${ros-distro}-nodelet, ros-${ros-distro}-image-transport,
+  ros-${ros-distro}-compressed-image-transport, ros-${ros-distro}-tf2,
+  ros-${ros-distro}-tf2-geometry-msgs, ros-${ros-distro}-tf2-msgs, ros-${ros-distro}-tf2-ros,
+  ros-${ros-distro}-tf2-sensor-msgs,
+  libgoogle-glog0v5
+Description: Astrobee flight software communications.
+ The communications portion of the Astrobee flight software.
+
+
+
 Package: astrobee0
 Architecture: any
 Depends: ${misc:Depends}