Generate single nodelet executable with oneline cmake macro

nodelet/CMakeLists.txt

@@ -21,6 +21,7 @@ catkin_package(
   LIBRARIES nodeletlib ${UUID_LIBRARIES}
   CATKIN_DEPENDS bondcpp message_runtime pluginlib rosconsole roscpp std_msgs
   DEPENDS Boost
+  CFG_EXTRAS nodelet-extras.cmake
 )
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${BOOST_INCLUDE_DIRS})
@@ -47,3 +48,6 @@ install(TARGETS nodeletlib
 install(TARGETS nodelet
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+install(DIRECTORY cmake
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

nodelet/cmake/nodelet-extras.cmake

@@ -0,0 +1,55 @@
+######################################################################
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2016, Kentaro Wada.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of the Kentaro Wada nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+######################################################################
+
+macro(nodelet_add_executable node_name nodelet_name)
+  # Get path to nodelet ROS package
+  if(nodelet_SOURCE_DIR)
+    set(_nodelet_SOURCE_DIR ${nodelet_SOURCE_DIR})
+  elseif(nodelet_SOURCE_PREFIX)
+    set(_nodelet_SOURCE_DIR ${nodelet_SOURCE_PREFIX})
+  else(nodelet_SOURCE_PREFIX)
+    set(_nodelet_SOURCE_DIR ${nodelet_PREFIX}/share/nodelet)
+  endif()
+  # Generate single nodelet executable
+  set(NODE_NAME ${node_name})
+  set(NODELET_NAME ${nodelet_name})
+  configure_file(${_nodelet_SOURCE_DIR}/cmake/standalone_nodelet_exe.cpp.in
+                 ${node_name}.cpp @ONLY)
+  add_executable(${node_name}_exe ${node_name}.cpp)
+  set_target_properties(${node_name}_exe PROPERTIES OUTPUT_NAME ${node_name})
+  # Additional linking should be conducted in each package
+  target_link_libraries(${node_name}_exe ${catkin_LIBRARIES} ${BOOST_LIBRARIES})
+  # Generate list of targets. This is useful for installation
+  list(APPEND ${PROJECT_NAME}_nodelet_exe_targets ${node_name}_exe)
+endmacro()

nodelet/cmake/standalone_nodelet_exe.cpp.in

@@ -0,0 +1,50 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2016, Kentaro Wada.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Kentaro Wada nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+#include <ros/ros.h>
+#include <nodelet/loader.h>
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "@NODE_NAME@");
+
+    nodelet::Loader manager(true);
+    nodelet::M_string remappings;
+    nodelet::V_string my_argv;
+
+    manager.load(ros::this_node::getName(), "@NODELET_NAME@", remappings, my_argv);
+
+    ros::spin();
+    return 0;
+}