pcl.orogen

name "pcl"
version "0.1"

pcl_common = Utilrb::PkgConfig.each_package.find { |name| /^pcl_common/.match(name) }
if(!pcl_common)
  raise "cannot find the pcl_common pkg-config package"
end
using_library pcl_common

import_types_from "base"

# We want to export the PointCloud2 type, but trick oroGen into using a
# different header so that the determineTimestap function is present (for the
# benefit of the aggregator)
#
# Import both headers normally, and later force the orogen_include metadata to
# what we desire
import_types_from "pcl/PCLPointCloud2.h"
import_types_from "PCLPointCloud2WithTimestamp.hpp"

# We have to create a wrapper class for pcl::Vertices, since orogen can't handle that
# the struct (Vertices) and it's member (vertices) have the same name.
# (We have to include boost/shared_ptr.hpp because it is missing in the pcl/Vertices header.
# It is fixed in PCL 1.8.1 onwards and can be removed as soon as they become the default version.)
import_types_from "wrappers/PCLVertices.hpp"
typekit.opaque_type '/pcl/Vertices', '/wrappers/PCLVertices', :includes => ['boost/shared_ptr.hpp', 'pcl/Vertices.h']

# We want to export the PolygonMesh type, but trick oroGen into using a
# different header so that the determineTimestap function is present (for the
# benefit of the aggregator)
#
# Import both headers normally, and later force the orogen_include metadata to
# what we desire
import_types_from "pcl/PolygonMesh.h"
import_types_from "PolygonMeshWithTimestamp.hpp"

typekit do
    find_type('/pcl/PCLPointCloud2').
        metadata.set('orogen_include', 'pcl:pcl/PCLPointCloud2WithTimestamp.hpp')
    export_types '/pcl/PCLPointCloud2'

    find_type('/pcl/PolygonMesh').
        metadata.set('orogen_include', 'pcl:pcl/PolygonMeshWithTimestamp.hpp')
    export_types '/pcl/PolygonMesh'
end