4 files changed, 50 insertions, 15 deletions

diff --git a/devel/ros-image_common/Makefile b/devel/ros-image_common/Makefile
index 61cbbf760ce0..fbfd8d1f8754 100644
--- a/devel/ros-image_common/Makefile
+++ b/devel/ros-image_common/Makefile
@@ -5,10 +5,9 @@
 # $FreeBSD$
 
 PORTNAME=	ros-image_common
-PORTVERSION=	1.2.0
-PORTREVISION=	1
+PORTVERSION=	1.4.1
 CATEGORIES=	devel
-MASTER_SITES=	ftp://rene-ladan.nl/pub/distfiles/ros/
+MASTER_SITES=	https://code.ros.org/svn/release/download/stacks/${STACKNAME}/${STACKNAME}-${PORTVERSION}/
 DISTNAME=	image_common-${PORTVERSION}
 DIST_SUBDIR=	ros
 
@@ -18,14 +17,16 @@ COMMENT=	Robot Operating System - common image routines
 LICENSE=	BSD
 
 STACKNAME=	${PORTNAME:S/ros-//}
-WRKSRC=		${WRKDIR}/${STACKNAME}
+WRKSRC=		${WRKDIR}/${STACKNAME}-${PORTVERSION}
 
 BUILD_DEPENDS=	rosmake:${PORTSDIR}/devel/ros \
 		${LOCALBASE}/ros/stacks/common/stack.xml:${PORTSDIR}/devel/ros-common \
+		${LOCALBASE}/ros/stacks/ros_comm/stack.xml:${PORTSDIR}/devel/ros_comm \
 		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/ros-common_msgs \
 		chrpath:${PORTSDIR}/devel/chrpath
 RUN_DEPENDS=	roscore:${PORTSDIR}/devel/ros \
 		${LOCALBASE}/ros/stacks/common/stack.xml:${PORTSDIR}/devel/ros-common \
+		${LOCALBASE}/ros/stacks/ros_comm/stack.xml:${PORTSDIR}/devel/ros_comm \
 		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/ros-common_msgs
 USE_PYTHON=	yes
 USE_BZIP2=	yes
@@ -39,7 +40,7 @@ MAKE_ENV+=	CPATH=${LOCALBASE}/include \
 		LIBRARY_PATH=${LOCALBASE}/lib \
 		MAKE=${LOCALBASE}/bin/gmake \
 		ROS_ROOT=${LOCALBASE}/ros/ros \
-		ROS_PACKAGE_PATH=${LOCALBASE}/ros/stacks/common:${LOCALBASE}/ros/stacks/common_msgs:${WRKSRC} \
+		ROS_PACKAGE_PATH=${LOCALBASE}/ros/stacks/ros_comm:${LOCALBASE}/ros/stacks/common:${LOCALBASE}/ros/stacks/common_msgs:${WRKSRC} \
 		PYTHONPATH=${LOCALBASE}/ros/ros/core/roslib/src
 
 MAKE_ARGS=	-i --no-rosdep --status-rate=0 --disable-logging
@@ -50,7 +51,8 @@ do-build:
 do-install:
 	${MKDIR} ${PREFIX}/ros/stacks/${STACKNAME}
 # delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
-.for d in camera_calibration_parsers image_transport polled_camera
+.for d in camera_calibration_parsers camera_info_manager image_transport \
+    polled_camera
 	${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
 	    -or -name .svnignore -type f -or -name .cvsignore -type f \
 	    -or -name \*.orig | ${XARGS} ${RM} -rf
@@ -69,6 +71,7 @@ do-install:
 .endfor
 # strip and symlink ELF libaries
 .for f in camera_calibration_parsers/lib/libcamera_calibration_parsers.so \
+    camera_info_manager/lib/libcamera_info_manager.so \
     image_transport/lib/libimage_transport.so \
     polled_camera/lib/libpolled_camera.so
 	${STRIP_CMD} ${PREFIX}/ros/stacks/${STACKNAME}/${f}
@@ -76,4 +79,8 @@ do-install:
 	${LN} -s ${PREFIX}/ros/stacks/${STACKNAME}/${f} ${PREFIX}/lib
 .endfor
 
+post-install:
+	${PYTHON_CMD} -O -mcompileall ${PREFIX}/ros/stacks/${STACKNAME}/
+	${PYTHON_CMD} -mcompileall ${PREFIX}/ros/stacks/${STACKNAME}/
+
 .include <bsd.port.mk>
diff --git a/devel/ros-image_common/distinfo b/devel/ros-image_common/distinfo
index ff74b75d1651..5efe05c4b86b 100644
--- a/devel/ros-image_common/distinfo
+++ b/devel/ros-image_common/distinfo
@@ -1,2 +1,2 @@
-SHA256 (ros/image_common-1.2.0.tar.bz2) = 91ebf01f68d7485cf42dbde53749c1819f8fb266d9b2f1f1d803894a485b06aa
-SIZE (ros/image_common-1.2.0.tar.bz2) = 21669
+SHA256 (ros/image_common-1.4.1.tar.bz2) = e800892070ec757e50be35b9dff7202ec058e4bc8ffd10d655c313b8d842ab4e
+SIZE (ros/image_common-1.4.1.tar.bz2) = 28084
diff --git a/devel/ros-image_common/pkg-descr b/devel/ros-image_common/pkg-descr
index 7637690c8da0..60ae6d8fc862 100644
--- a/devel/ros-image_common/pkg-descr
+++ b/devel/ros-image_common/pkg-descr
@@ -3,6 +3,10 @@ Common code for working with images in ROS:
 camera_calibration_parsers contains routines for reading and writing camera
 calibration parameters.
 
+camera_info_manager provides a C++ interface for camera calibration information.
+It provides CameraInfo, and handles SetCameraInfo service requests, saving and
+restoring the camera calibration data.
+
 image_transport should always be used to subscribe to and publish images. It
 provides transparent support for transporting images in low-bandwidth
 compressed formats. Examples (provided by separate plugin packages) include
diff --git a/devel/ros-image_common/pkg-plist b/devel/ros-image_common/pkg-plist
index 712d2de9872d..c948a1e37f5d 100644
--- a/devel/ros-image_common/pkg-plist
+++ b/devel/ros-image_common/pkg-plist
@@ -1,4 +1,5 @@
 lib/libcamera_calibration_parsers.so
+lib/libcamera_info_manager.so
 lib/libimage_transport.so
 lib/libpolled_camera.so
 ros/stacks/image_common/CMakeLists.txt
@@ -17,6 +18,17 @@ ros/stacks/image_common/camera_calibration_parsers/src/convert.cpp
 ros/stacks/image_common/camera_calibration_parsers/src/parse.cpp
 ros/stacks/image_common/camera_calibration_parsers/src/parse_ini.cpp
 ros/stacks/image_common/camera_calibration_parsers/src/parse_yml.cpp
+ros/stacks/image_common/camera_info_manager/CMakeLists.txt
+ros/stacks/image_common/camera_info_manager/Makefile
+ros/stacks/image_common/camera_info_manager/ROS_NOBUILD
+ros/stacks/image_common/camera_info_manager/include/camera_info_manager/camera_info_manager.h
+ros/stacks/image_common/camera_info_manager/lib/libcamera_info_manager.so
+ros/stacks/image_common/camera_info_manager/mainpage.dox
+ros/stacks/image_common/camera_info_manager/manifest.xml
+ros/stacks/image_common/camera_info_manager/src/camera_info_manager.cpp
+ros/stacks/image_common/camera_info_manager/tests/test_calibration.yaml
+ros/stacks/image_common/camera_info_manager/tests/unit_test.cpp
+ros/stacks/image_common/camera_info_manager/tests/unit_test.test
 ros/stacks/image_common/image_transport/CMakeLists.txt
 ros/stacks/image_common/image_transport/Makefile
 ros/stacks/image_common/image_transport/ROS_NOBUILD
@@ -62,25 +74,29 @@ ros/stacks/image_common/polled_camera/lib/libpolled_camera.so
 ros/stacks/image_common/polled_camera/mainpage.dox
 ros/stacks/image_common/polled_camera/manifest.xml
 ros/stacks/image_common/polled_camera/src/polled_camera/__init__.py
+ros/stacks/image_common/polled_camera/src/polled_camera/__init__.pyc
+ros/stacks/image_common/polled_camera/src/polled_camera/__init__.pyo
 ros/stacks/image_common/polled_camera/src/polled_camera/srv/_GetPolledImage.py
+ros/stacks/image_common/polled_camera/src/polled_camera/srv/_GetPolledImage.pyc
+ros/stacks/image_common/polled_camera/src/polled_camera/srv/_GetPolledImage.pyo
 ros/stacks/image_common/polled_camera/src/polled_camera/srv/__init__.py
+ros/stacks/image_common/polled_camera/src/polled_camera/srv/__init__.pyc
+ros/stacks/image_common/polled_camera/src/polled_camera/srv/__init__.pyo
 ros/stacks/image_common/polled_camera/src/poller.cpp
 ros/stacks/image_common/polled_camera/src/publication_server.cpp
 ros/stacks/image_common/polled_camera/srv/GetPolledImage.srv
-ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/.GetPolledImage.asd-dep
-ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/GetPolledImage.lisp
-ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/_package.lisp
-ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/_package_GetPolledImage.lisp
-ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/polled_camera-srv.asd
 ros/stacks/image_common/polled_camera/srv_gen/cpp/include/polled_camera/GetPolledImage.h
 ros/stacks/image_common/polled_camera/srv_gen/generated
+ros/stacks/image_common/polled_camera/srv_gen/lisp/GetPolledImage.lisp
+ros/stacks/image_common/polled_camera/srv_gen/lisp/_package.lisp
+ros/stacks/image_common/polled_camera/srv_gen/lisp/_package_GetPolledImage.lisp
+ros/stacks/image_common/polled_camera/srv_gen/lisp/polled_camera-srv.asd
 ros/stacks/image_common/stack.xml
+@dirrm ros/stacks/image_common/polled_camera/srv_gen/lisp
 @dirrm ros/stacks/image_common/polled_camera/srv_gen/cpp/include/polled_camera
 @dirrm ros/stacks/image_common/polled_camera/srv_gen/cpp/include
 @dirrm ros/stacks/image_common/polled_camera/srv_gen/cpp
 @dirrm ros/stacks/image_common/polled_camera/srv_gen
-@dirrm ros/stacks/image_common/polled_camera/srv/lisp/polled_camera
-@dirrm ros/stacks/image_common/polled_camera/srv/lisp
 @dirrm ros/stacks/image_common/polled_camera/srv
 @dirrm ros/stacks/image_common/polled_camera/src/polled_camera/srv
 @dirrm ros/stacks/image_common/polled_camera/src/polled_camera
@@ -96,6 +112,13 @@ ros/stacks/image_common/stack.xml
 @dirrm ros/stacks/image_common/image_transport/include
 @dirrm ros/stacks/image_common/image_transport/bin
 @dirrm ros/stacks/image_common/image_transport
+@dirrm ros/stacks/image_common/camera_info_manager/tests
+@dirrm ros/stacks/image_common/camera_info_manager/src
+@dirrm ros/stacks/image_common/camera_info_manager/lib
+@dirrm ros/stacks/image_common/camera_info_manager/include/camera_info_manager
+@dirrm ros/stacks/image_common/camera_info_manager/include
+@dirrm ros/stacks/image_common/camera_info_manager/bin
+@dirrm ros/stacks/image_common/camera_info_manager
 @dirrm ros/stacks/image_common/camera_calibration_parsers/src
 @dirrm ros/stacks/image_common/camera_calibration_parsers/lib
 @dirrm ros/stacks/image_common/camera_calibration_parsers/include/camera_calibration_parsers
@@ -103,3 +126,4 @@ ros/stacks/image_common/stack.xml
 @dirrm ros/stacks/image_common/camera_calibration_parsers/bin
 @dirrm ros/stacks/image_common/camera_calibration_parsers
 @dirrm ros/stacks/image_common
+@exec mkdir -p %D/ros/stacks/image_common/camera_info_manager/bin