Updates setup.py to use setup_utils package

camera_preprocessing/camera_calibration_node.py

@@ -47,7 +47,7 @@ def __init__(self):
         )
         chessboard_path = self.declare_parameter("chessboard_path", "none").value
         subscriber_topic = self.declare_parameter(
-            "subscriber_topic", "/camera/image_raw"
+            "image_topic", "/camera/image_raw"
         ).value
         self.bridge = CvBridge()
         self.lock = False

camera_preprocessing/camera_preprocessing_node.py

@@ -52,7 +52,7 @@ def __init__(self):
         )
         num_skip_frames = self.declare_parameter("num_skip_frames", 1).value
         subscriber_topic = self.declare_parameter(
-            "subscriber_topic", "/camera/image_raw"
+            "image_topic", "/camera/image_raw"
         ).value
         undistorted_publisher_topic = self.declare_parameter(
             "undistorted_publisher_topic", "/camera/undistorted"

package.xml

@@ -10,6 +10,8 @@
   <depend>rclpy</depend>
   <depend>sensor_msgs</depend>
   <depend>cv_bridge</depend>
+  <depend>timing</depend>
+  <depend>setup_utils</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

setup.py

@@ -1,53 +1,35 @@
 import os
 
+from setup_utils import include_directory
 from setuptools import find_packages, setup
 
 package_name = "camera_preprocessing"
 
 
-# ToDo: Add this to the utils package and import it here
-def package_files(directory_list):
-    """
-    Collect all files in the given directories.
-
-    Arguments:
-        directory_list -- List of directories to search for files.
-
-    Returns:
-        List of paths to all files in the given directories
-    """
-    paths = []
-    for directory in directory_list:
-        for path, directories, filenames in os.walk(directory):
-            for filename in filenames:
-                if filename.endswith(".pdf"):
-                    continue
-                paths.append(os.path.join(path, filename))
-    return paths
-
-
 setup(
     name=package_name,
     version="1.0.0",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
-        (
-            os.path.join("share", package_name, "img/calib/Neue_3MP_Kamera"),
-            package_files(["img/calib/Neue_3MP_Kamera"]),
+        *include_directory(
+            install_path=os.path.join("share", package_name, "img/calib"),
+            source_path="img/calib",
+            exclude=[".pdf"],
         ),
-        (
-            os.path.join("share", package_name, "img/position"),
-            package_files(["img/position"]),
+        *include_directory(
+            install_path=os.path.join("share", package_name, "img/position"),
+            source_path="img/position",
+            exclude=[".pdf"],
         ),
-        (
-            os.path.join("share", package_name, "config"),
-            package_files(["config"]),
+        *include_directory(
+            install_path=os.path.join("share", package_name, "config"),
+            source_path="config",
         ),
-        (
-            os.path.join("share", package_name, "launch"),
-            package_files(["launch"]),
+        *include_directory(
+            install_path=os.path.join("share", package_name, "launch"),
+            source_path="launch",
         ),
     ],
     install_requires=["setuptools"],