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merged 2 commits into from
May 28, 2025
Merged

use spinnaker v4.2 and clean up #244

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0a6dae9
use spinnaker v4.2 and clean up
berndpfrommer May 28, 2025
c14dfd9
add dependency on libomp-dev
berndpfrommer May 28, 2025
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189 changes: 23 additions & 166 deletions spinnaker_camera_driver/cmake/download_spinnaker
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Original file line number Diff line number Diff line change
Expand Up @@ -39,178 +39,36 @@ import urllib

logging.basicConfig(level=logging.INFO)

URL_TEMPLATES = {
'focal': {
'deb': 'https://packages.clearpathrobotics.com/stable/flir/Spinnaker/Ubuntu{version}/spinnaker-2.2.0.48-Ubuntu{version}-{arch}-pkg.tar.gz',
'src': None, # if we ever have non-deb archives that require manual extraction, those package URLS will go here.
},
'jammy': {
'deb': 'https://packages.clearpathrobotics.com/stable/flir/Spinnaker/Ubuntu{version}/spinnaker-3.1.0.79-Ubuntu{version}-{arch}-pkg.tar.gz',
'src': None, # if we ever have non-deb archives that require manual extraction, those package URLS will go here
},
'noble': {
'deb': 'https://pfrommer.us/Spinnaker/Ubuntu{version}/spinnaker-4.0.0.116-{arch}-pkg-{version}.tar.gz',
'src': None, # if we ever have non-deb archives that require manual extraction, those package URLS will go here
},
}

ARCHS = {
'focal': {
'x86_64': {
'linux_arch': 'amd64',
'current': '20.04',
'type': 'deb',
'folder_name': 'spinnaker-2.2.0.48-amd64',
'shared_library': 'opt/spinnaker/lib/',
'debs': [
'libgentl_2.2.0.48_amd64.deb',
'libspinnaker_2.2.0.48_amd64.deb',
'libspinnaker-c_2.2.0.48_amd64.deb',
'libspinnaker-c-dev_2.2.0.48_amd64.deb',
'libspinnaker-dev_2.2.0.48_amd64.deb',
'libspinvideo_2.2.0.48_amd64.deb',
'libspinvideo-c_2.2.0.48_amd64.deb',
'libspinvideo-c-dev_2.2.0.48_amd64.deb',
'libspinvideo-dev_2.2.0.48_amd64.deb',
'spinnaker_2.2.0.48_amd64.deb',
'spinnaker-doc_2.2.0.48_amd64.deb',
'spinupdate_2.2.0.48_amd64.deb',
'spinupdate-dev_2.2.0.48_amd64.deb',
'spinview-qt_2.2.0.48_amd64.deb',
'spinview-qt-dev_2.2.0.48_amd64.deb',
],
},
'armv8': {
'linux_arch': 'arm64',
'current': '20.04',
'type': 'deb',
'shared_library': 'opt/spinnaker/lib/',
'folder_name': 'spinnaker-2.2.0.48-arm64',
'debs': [
'libgentl_2.2.0.48_arm64.deb',
'libspinnaker_2.2.0.48_arm64.deb',
'libspinnaker-c_2.2.0.48_arm64.deb',
'libspinnaker-c-dev_2.2.0.48_arm64.deb',
'libspinnaker-dev_2.2.0.48_arm64.deb',
'libspinvideo_2.2.0.48_arm64.deb',
'libspinvideo-c_2.2.0.48_arm64.deb',
'libspinvideo-c-dev_2.2.0.48_arm64.deb',
'libspinvideo-dev_2.2.0.48_arm64.deb',
'spinnaker_2.2.0.48_arm64.deb',
'spinnaker-doc_2.2.0.48_arm64.deb',
'spinupdate_2.2.0.48_arm64.deb',
'spinupdate-dev_2.2.0.48_arm64.deb',
'spinview-qt_2.2.0.48_arm64.deb',
'spinview-qt-dev_2.2.0.48_arm64.deb',
],
},
},
'jammy': {
'x86_64': {
'linux_arch': 'amd64',
'type': 'deb',
'folder_name': 'spinnaker-3.1.0.79-amd64',
'shared_library': 'opt/spinnaker/lib/',
'debs': [
'libgentl_3.1.0.79_amd64.deb',
'libspinnaker_3.1.0.79_amd64.deb',
'libspinnaker-c_3.1.0.79_amd64.deb',
'libspinnaker-c-dev_3.1.0.79_amd64.deb',
'libspinnaker-dev_3.1.0.79_amd64.deb',
'libspinvideo_3.1.0.79_amd64.deb',
'libspinvideo-c_3.1.0.79_amd64.deb',
'libspinvideo-c-dev_3.1.0.79_amd64.deb',
'libspinvideo-dev_3.1.0.79_amd64.deb',
'spinnaker_3.1.0.79_amd64.deb',
'spinnaker-doc_3.1.0.79_amd64.deb',
'spinupdate_3.1.0.79_amd64.deb',
'spinupdate-dev_3.1.0.79_amd64.deb',
'spinview-qt_3.1.0.79_amd64.deb',
'spinview-qt-dev_3.1.0.79_amd64.deb',
],
},
'armv8': {
'linux_arch': 'arm64',
'type': 'deb',
'shared_library': 'opt/spinnaker/lib/',
'folder_name': 'spinnaker-3.1.0.79-arm64',
'debs': [
'libgentl_3.1.0.79_arm64.deb',
'libspinnaker_3.1.0.79_arm64.deb',
'libspinnaker-c_3.1.0.79_arm64.deb',
'libspinnaker-c-dev_3.1.0.79_arm64.deb',
'libspinnaker-dev_3.1.0.79_arm64.deb',
'libspinvideo_3.1.0.79_arm64.deb',
'libspinvideo-c_3.1.0.79_arm64.deb',
'libspinvideo-c-dev_3.1.0.79_arm64.deb',
'libspinvideo-dev_3.1.0.79_arm64.deb',
'spinnaker_3.1.0.79_arm64.deb',
'spinnaker-doc_3.1.0.79_arm64.deb',
'spinupdate_3.1.0.79_arm64.deb',
'spinupdate-dev_3.1.0.79_arm64.deb',
'spinview-qt_3.1.0.79_arm64.deb',
'spinview-qt-dev_3.1.0.79_arm64.deb',
],
},
},
'noble': {
'x86_64': {
'linux_arch': 'amd64',
'type': 'deb',
'folder_name': 'spinnaker-4.0.0.116-amd64',
'shared_library': 'opt/spinnaker/lib/',
'debs': [
'libgentl_4.0.0.116_amd64.deb',
'libspinnaker_4.0.0.116_amd64.deb',
'libspinnaker-c_4.0.0.116_amd64.deb',
'libspinnaker-c-dev_4.0.0.116_amd64.deb',
'libspinnaker-dev_4.0.0.116_amd64.deb',
'spinnaker_4.0.0.116_amd64.deb',
'spinnaker-doc_4.0.0.116_amd64.deb',
],
},
'armv8': {
'linux_arch': 'arm64',
'type': 'deb',
'shared_library': 'opt/spinnaker/lib/',
'folder_name': 'spinnaker-4.0.0.116-arm64',
'debs': [
'libgentl_4.0.0.116_amd64.deb',
'libspinnaker_4.0.0.116_amd64.deb',
'libspinnaker-c_4.0.0.116_amd64.deb',
'libspinnaker-c-dev_4.0.0.116_amd64.deb',
'libspinnaker-dev_4.0.0.116_amd64.deb',
'spinnaker_4.0.0.116_amd64.deb',
'spinnaker-doc_4.0.0.116_amd64.deb',
],
},
},
}


OS_LIBRARY_VERSION = {
'focal': '20.04',
'jammy': '22.04',
'noble': '24.04',
}

ARCH_LINUX_ARCH = {
'x86_64': 'amd64',
'armv8': 'arm64',
}

arch = sys.argv[1]
destination_folder = sys.argv[2]
os_code_name = sys.argv[3]
spinnaker_version='4.2.0.46'


linux_arch = ARCH_LINUX_ARCH[arch]
os_version = OS_LIBRARY_VERSION[os_code_name]
my_arch = ARCHS[os_code_name][arch]
archive_url = URL_TEMPLATES[os_code_name][my_arch['type']].format(
arch=my_arch['linux_arch'], version=os_version
)
folder_name = my_arch['folder_name']
shared_library = my_arch['shared_library']
archive_url = f'https://pfrommer.us/Spinnaker/spinnaker-{spinnaker_version}-{linux_arch}-pkg-{os_version}.tar.gz'
print('archive url: ', archive_url)
folder_name = f'spinnaker-{spinnaker_version}-{linux_arch}'


print('CPU architecture is ', arch)
print('linux arch is ', linux_arch)
print('OS code name is ', os_code_name)
print('OS version is ', os_version)
print('Destination folder is ', destination_folder)

print('CPU architecture is %s', arch)
print('OS code name is %s', os_code_name)
print('Destination folder is %s', destination_folder)
spinnaker_base = 'opt/spinnaker/lib'

if not os.path.exists(os.path.join(os.getcwd(), folder_name)):
cj = http.cookiejar.CookieJar()
Expand All @@ -219,13 +77,12 @@ if not os.path.exists(os.path.join(os.getcwd(), folder_name)):

print('Downloading SDK archive from {0}...'.format(archive_url))
resp = opener.open(archive_url)

print('Unpacking tarball.')
with tarfile.open(mode='r:gz', fileobj=io.BytesIO(resp.read())) as tar:
tar.extractall()

print('Unpacking debs.')
debs = glob.glob(os.path.join(os.getcwd(), folder_name, '*.deb'))

unpack_dir = os.path.join(os.getcwd())
if not os.path.exists(unpack_dir):
os.makedirs(unpack_dir)
Expand All @@ -237,11 +94,11 @@ if not os.path.exists(os.path.join(os.getcwd(), folder_name)):
print('Copying libraries to {0}'.format(destination_folder))
if not os.path.exists(destination_folder):
os.makedirs(destination_folder)
libs = glob.glob(os.path.join(os.getcwd(), 'opt/spinnaker/lib', 'libSpinnaker*.so*'))
libs += glob.glob(os.path.join(os.getcwd(), 'opt/spinnaker/lib', 'libG*.so*'))
libs += glob.glob(os.path.join(os.getcwd(), 'opt/spinnaker/lib', 'lib*Parser*.so*'))
libs += glob.glob(os.path.join(os.getcwd(), 'opt/spinnaker/lib', 'libLog*.so*'))
libs += glob.glob(os.path.join(os.getcwd(), 'opt/spinnaker/lib', 'libNodeMapData*.so*'))
libs = glob.glob(os.path.join(os.getcwd(), spinnaker_base, 'libSpinnaker*.so*'))
libs += glob.glob(os.path.join(os.getcwd(), spinnaker_base, 'libG*.so*'))
libs += glob.glob(os.path.join(os.getcwd(), spinnaker_base, 'lib*Parser*.so*'))
libs += glob.glob(os.path.join(os.getcwd(), spinnaker_base, 'libLog*.so*'))
libs += glob.glob(os.path.join(os.getcwd(), spinnaker_base, 'libNodeMapData*.so*'))
for lib in libs:
print('Copying: {}'.format(os.path.basename(lib)))
shutil.copyfile(lib, os.path.join(destination_folder, os.path.basename(lib)))
Expand Down
1 change: 1 addition & 0 deletions spinnaker_camera_driver/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@

<depend>libusb-1.0-dev</depend> <!-- spinnaker dependency -->
<depend>ffmpeg</depend> <!-- spinnaker dependency -->
<depend>libomp-dev</depend> <!-- spinnaker dependency -->

<depend>yaml-cpp</depend> <!-- parameter definition file parsing -->

Expand Down