Merge pull request #4 from BluEye-Robotics/ros2

Ros2
BluEye-Robotics · Nov 27, 2024 · 5b17d2a · 5b17d2a
2 parents 8506d60 + 0a77a39
commit 5b17d2a
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diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
@@ -2,40 +2,43 @@ name: tests
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
   pull_request:
-    branches: [ master ]
+    branches: [master]
 
 env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
   BUILD_TYPE: Debug
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
 
     steps:
-    - uses: actions/checkout@v2
-    - uses: ros-tooling/setup-ros@v0.2
-      with:
-        required-ros-distributions: noetic
-
-    - name: Install Dependendies
-      run: |
-        sudo apt-get update
-        sudo apt-get install gcc-10 g++-10
-        sudo apt-get install libboost-all-dev libprotobuf-dev libzmq3-dev libfmt-dev
-
-    - name: Configure CMake
-      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
-      env:
-        CC: gcc-10
-        CXX: g++-10
-
-    - name: Build
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Test
-      working-directory: ${{github.workspace}}/build
-      run: make -j$(nproc) && make -j$(nproc) tests
-
+      - uses: actions/checkout@v2
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+
+      - name: Install Dependendies
+        run: |
+          sudo apt-get update
+          sudo apt-get install gcc-10 g++-10
+          sudo apt-get install libboost-all-dev libprotobuf-dev libzmq3-dev libfmt-dev
+
+      - name: Configure CMake
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+        env:
+          CC: gcc-10
+          CXX: g++-10
+
+      - name: Build
+        run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+      - name: Test
+        working-directory: ${{github.workspace}}/build
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          make -j$(nproc) && make -j$(nproc) tests
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,6 @@
 *.swp
 *.swo
 /build
+/build_imx
+.DS_Store
+.vscode
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,6 @@
+cmake_minimum_required(VERSION 3.5)
+
 project(tyndall)
-cmake_minimum_required(VERSION 2.8.3)
 
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -15,18 +16,17 @@ add_definitions(-DDEBUG)
 include_directories(${CMAKE_SOURCE_DIR})
 set(LD_FLAGS "-lpthread -lzmq -lprotobuf -lfmt -lrt -latomic")
 
-find_package(roscpp)
-
-if ("${roscpp_FOUND}")
-  if ("${roscpp_LINK_DIRECTORIES}" STREQUAL "")
-    # quickfix using the path of the first library in roscpp_LIBRARIES
-    execute_process(COMMAND bash "-c" "dirname -z $(echo \"${roscpp_LIBRARIES}\" | cut -f1 -d ';')" OUTPUT_VARIABLE roscpp_LINK_DIRECTORIES)
-  endif()
+find_package(ament_cmake)
+find_package(rclcpp)
+find_package(std_msgs)
+find_package(std_srvs)
+find_package(builtin_interfaces)
 
-  include_directories(${roscpp_INCLUDE_DIRS})
-  link_directories(${roscpp_LINK_DIRECTORIES})
-  set(LD_FLAGS "${LD_FLAGS} -lpthread -lroscpp -lrosconsole -lrosconsole_backend_interface -lrosconsole_log4cxx -lroscpp_serialization -lxmlrpcpp -lrostime -lcpp_common")
+if("${rclcpp_FOUND}")
+  message(STATUS "ROS2 found")
+  set(LD_FLAGS "${LD_FLAGS} -lpthread")
 else()
+  message(STATUS "ROS2 not found")
   add_definitions("-DNO_ROS")
 endif()
 
@@ -35,20 +35,26 @@ add_library(tyndall SHARED ${CFILES})
 target_link_libraries(tyndall ${LD_FLAGS})
 install(TARGETS tyndall DESTINATION lib)
 
+if("${rclcpp_FOUND}")
+  ament_target_dependencies(tyndall rclcpp builtin_interfaces std_msgs std_srvs)
+endif()
+
 file(GLOB HEADERS "tyndall/*.h*" "tyndall/*/*.h*")
+
 foreach(HEADER ${HEADERS})
   execute_process(COMMAND bash "-c" "dirname -z $(realpath --relative-to=${CMAKE_SOURCE_DIR} ${HEADER})" OUTPUT_VARIABLE HEADER_DIR)
   install(FILES ${HEADER} DESTINATION include/${HEADER_DIR})
 endforeach(HEADER)
 
-execute_process(COMMAND bash "-c" "echo -n \"${roscpp_LINK_DIRECTORIES}\" | sed -n -e 's/^.*\\(\\/opt\\)/\\1/p'" OUTPUT_VARIABLE PKGCONF_ROS_LIBLINK_PATH)
+execute_process(COMMAND bash "-c" "echo -n \"${rclcpp_LINK_DIRECTORIES}\" | sed -n -e 's/^.*\\(\\/opt\\)/\\1/p'" OUTPUT_VARIABLE PKGCONF_ROS_LIBLINK_PATH)
 set(PKGCONF_ROS_LIBLINK "-L${PKGCONF_ROS_LIBLINK_PATH}")
 set(PKGCONF_LD_FLAGS ${LD_FLAGS})
 configure_file(tyndall.pc.in tyndall.pc @ONLY)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/tyndall.pc DESTINATION lib/pkgconfig)
 
 set(EXAMPLE_PREFIX "${CMAKE_PROJECT_NAME}_ex_")
 file(GLOB EXAMPLES "examples/*.c*")
+
 foreach(EXAMPLE ${EXAMPLES})
   execute_process(COMMAND bash "-c" "printf ${EXAMPLE_PREFIX}$(basename ${EXAMPLE} | cut -f 1 -d '.')" OUTPUT_VARIABLE EXAMPLE_TARGET)
   add_executable(${EXAMPLE_TARGET} EXCLUDE_FROM_ALL ${EXAMPLE})
@@ -57,20 +63,22 @@ foreach(EXAMPLE ${EXAMPLES})
   set(EXAMPLE_TARGETS "${EXAMPLE_TARGETS}${EXAMPLE_TARGET};")
 endforeach(EXAMPLE)
 
-
 file(GLOB SUBEXAMPLES "examples/*/*.c*")
+
 foreach(EXAMPLE ${SUBEXAMPLES})
   execute_process(COMMAND bash "-c" "printf ${EXAMPLE_PREFIX}$(dirname ${EXAMPLE} | xargs basename)_$(basename ${EXAMPLE} | cut -f 1 -d '.')" OUTPUT_VARIABLE EXAMPLE_TARGET)
   add_executable(${EXAMPLE_TARGET} EXCLUDE_FROM_ALL ${EXAMPLE})
   target_link_libraries(${EXAMPLE_TARGET} tyndall)
   install(TARGETS ${EXAMPLE_TARGET} DESTINATION bin OPTIONAL)
   set(EXAMPLE_TARGETS "${EXAMPLE_TARGETS}${EXAMPLE_TARGET};")
 endforeach(EXAMPLE)
+
 add_custom_target(examples)
 add_dependencies(examples ${EXAMPLE_TARGETS})
 
 set(TEST_PREFIX "${CMAKE_PROJECT_NAME}_test_")
 file(GLOB CPP_TESTS "tests/*/*.cpp")
+
 foreach(CPP_TEST ${CPP_TESTS})
   execute_process(COMMAND bash "-c" "printf ${TEST_PREFIX}$(dirname ${CPP_TEST} | xargs basename)_$(basename ${CPP_TEST} | cut -f 1 -d '.')" OUTPUT_VARIABLE CPP_TEST_TARGET)
   add_executable(${CPP_TEST_TARGET} EXCLUDE_FROM_ALL ${CPP_TEST})
@@ -80,20 +88,43 @@ foreach(CPP_TEST ${CPP_TESTS})
 endforeach(CPP_TEST)
 
 IF(CMAKE_CROSSCOMPILING)
-set(TEST_CMD "echo WARNING: Tests are not executed when cross compiling")
+  set(TEST_CMD "echo WARNING: Tests are not executed when cross compiling")
 ELSE()
-set(TEST_CMD "set -e; for t in ${CMAKE_BINARY_DIR}/${TEST_PREFIX}*; do $t; done")
+  set(TEST_CMD "set -e; for t in ${CMAKE_BINARY_DIR}/${TEST_PREFIX}*; do $t; done")
 ENDIF()
+
 add_custom_target(tests COMMAND /bin/bash -c "${TEST_CMD}" VERBATIM DEPENDS ${CPP_TEST_TARGETS})
 
 set(TOOL_PREFIX "${CMAKE_PROJECT_NAME}_tool_")
 file(GLOB TOOLS "tools/*.c*")
+
 foreach(TOOL ${TOOLS})
   execute_process(COMMAND bash "-c" "printf ${TOOL_PREFIX}$(basename ${TOOL} | cut -f 1 -d '.')" OUTPUT_VARIABLE TOOL_TARGET)
   add_executable(${TOOL_TARGET} EXCLUDE_FROM_ALL ${TOOL})
   target_link_libraries(${TOOL_TARGET} tyndall)
   install(TARGETS ${TOOL_TARGET} DESTINATION bin OPTIONAL)
   set(TOOL_TARGETS "${TOOL_TARGETS}${TOOL_TARGET};")
 endforeach(TOOL)
+
 add_custom_target(tools)
 add_dependencies(tools ${TOOL_TARGETS})
+
+function(dump_cmake_variables)
+  get_cmake_property(_variableNames VARIABLES)
+  list(SORT _variableNames)
+
+  foreach(_variableName ${_variableNames})
+    if(ARGV0)
+      unset(MATCHED)
+      string(REGEX MATCH ${ARGV0} MATCHED ${_variableName})
+
+      if(NOT MATCHED)
+        continue()
+      endif()
+    endif()
+
+    message(STATUS "${_variableName}=${${_variableName}}")
+  endforeach()
+endfunction()
+
+# dump_cmake_variables()
diff --git a/README.md b/README.md
@@ -146,11 +146,11 @@ Pub / sub example:
 
 ```cpp
 #include <tyndall/ros_context.h>
-#include <std_msgs/Int32.h>
+#include <std_msgs/msg/int32.h>
 
 ros_context::init(argc, argv, std::chrono::milliseconds{3}, "ex_ros_context_write");
 
-std_msgs::Int32 msg;
+std_msgs::msg::Int32 msg;
 msg.data = 42;
 
 ros_context_write(msg, "/ex_ros_context");
@@ -160,13 +160,13 @@ ros_context_write(msg, "/ex_ros_context");
 
 ```cpp
 #include <tyndall/ros_context.h>
-#include <std_msgs/Int32.h>
+#include <std_msgs/msg/int32.h>
 
 ros_context::init(argc, argv, std::chrono::milliseconds{3}, "ex_ros_context_read");
 
 while(1)
 {
-  std_msgs::Int32 msg;
+  std_msgs::msg::Int32 msg;
 
   int rc = ros_context_read(msg, "/ex_ros_context");
 
@@ -181,34 +181,34 @@ Serve / call example:
 
 ```cpp
 #include <tyndall/ros_context.h>
-#include <std_srvs/SetBool.h>
+#include <std_srvs/srv/set_bool.hpp>
 
 ros_context::init(argc, argv, std::chrono::milliseconds{3}, "ex_ros_context_serve");
 while(1)
 {
-  std_srvs::SetBool srv;
+  std_srvs::srv::SetBool srv;
   srv.response.success = true;
 
   int rc = ros_context_serve(srv, "ex_ros_context");
 
   if (rc == 0)
-    printf("got: %d\n", srv.request.data);
+    printf("got: %d\n", srv_req.data);
 }
 ```
 
 ### Caller
 
 ```cpp
 #include <tyndall/ros_context.h>
-#include <std_srvs/SetBool.h>
+#include <std_srvs/srv/set_bool.hpp>
 
 ros_context::init(argc, argv, std::chrono::milliseconds{3}, "ex_ros_context_serve");
 while(1)
 {
-  std_srvs::SetBool srv;
+  std_srvs::srv::SetBool srv;
   srv.response.success = true;
 
-  std_srvs::SetBool srv;
+  std_srvs::srv::SetBool srv;
   srv.request.data = true;
 
   int rc = ros_context_call(srv, "/ex_ros_context_serve/ex_ros_context");