Merge pull request #67 from clunietp/color-nodelet

Add color server nodelet support

Author: wxmerkt

octomap_server/CMakeLists.txt

@@ -73,6 +73,9 @@ target_link_libraries(octomap_tracking_server_node ${PROJECT_NAME} ${LINK_LIBS})
 add_library(octomap_server_nodelet src/octomap_server_nodelet.cpp)
 target_link_libraries(octomap_server_nodelet ${PROJECT_NAME} ${LINK_LIBS})
 
+add_library(octomap_color_server_nodelet src/octomap_server_nodelet.cpp)
+target_link_libraries(octomap_color_server_nodelet ${PROJECT_NAME}_color ${LINK_LIBS})
+
 # install targets:
 install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_color
   octomap_server_node
@@ -82,6 +85,7 @@ install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_color
   octomap_saver
   octomap_tracking_server_node
   octomap_server_nodelet
+  octomap_color_server_nodelet
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

octomap_server/color_nodelet_plugins.xml

@@ -0,0 +1,7 @@
+<library path="lib/liboctomap_color_server_nodelet">
+  <class name="octomap_color_server/OctomapServerNodelet" type="octomap_server::OctomapServerNodelet" base_class_type="nodelet::Nodelet">
+    <description>
+      Nodelet for running the color Octomap server
+    </description>
+  </class>
+</library>

octomap_server/package.xml

@@ -13,6 +13,7 @@
 
   <export>
     <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+    <nodelet plugin="${prefix}/color_nodelet_plugins.xml" />
   </export>
 
   <buildtool_depend>catkin</buildtool_depend>