use catkni_python_setup, convert packge.xml to format3

Author: k-okada

CMakeLists.txt

@@ -38,6 +38,8 @@ if(cv_bridge_VERSION VERSION_LESS "1.11.13")
   add_definitions("-DCV_BRIDGE_CVT_COLOR_FOR_DISPLAY_OPTION_IS_NOT_SUPPORTED")
 endif()
 
+catkin_python_setup()
+
 # generate the dynamic_reconfigure config file
 generate_dynamic_reconfigure_options(
   cfg/DiscreteFourierTransform.cfg
@@ -412,6 +414,12 @@ install(DIRECTORY launch test scripts
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
         USE_SOURCE_PERMISSIONS)
 
+file(GLOB PROGRAM_FILES scripts/*.py)
+catkin_install_python(PROGRAMS
+  "${PROGRAM_FILES}"
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 ## test
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>opencv_apps</name>
   <version>2.0.2</version>
   <description>
@@ -18,6 +18,12 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+
   <build_depend>cv_bridge</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>g++-static</build_depend>
@@ -29,16 +35,16 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
 
-  <run_depend>cv_bridge</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>image_view</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>std_srvs</run_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>image_view</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>nodelet</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
 
   <test_depend>roslaunch</test_depend>
   <test_depend>rostest</test_depend>