Added ROS 2 Topic Support to Shapes Demo (#51)

* Refs #14447: Added TypeSupport Signed-off-by: Javier Santiago <javiersantiago@eprosima.com> * Refs #14447: Added new type IDL and generated files Signed-off-by: Javier Santiago <javiersantiago@eprosima.com> * Refs #14447: Modified CMakeLists, type includes and ShapesDemo Signed-off-by: Javier Santiago <javiersantiago@eprosima.com> * Refs #14447: UI changes Signed-off-by: Javier Santiago <javiersantiago@eprosima.com> * Refs #14447: Modified README.md Signed-off-by: Javier Santiago <javiersantiago@eprosima.com> * Refs #14447: Disabled QOS parameters not relevant for ROS2 Signed-off-by: Javier Santiago <javiersantiago@eprosima.com> * Refs #14447: Disabled ROS 2 unnecessary QOS assignments Signed-off-by: Javier Santiago <javiersantiago@eprosima.com> * Refs #14447: Applied suggestions Signed-off-by: Javier Santiago <javiersantiago@eprosima.com> * Refs #14447: Typos Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
eProsima · May 18, 2022 · dc1ad80 · dc1ad80
1 parent 16a6cf8
commit dc1ad80
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Showing 32 changed files with 1,799 additions and 132 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -133,6 +133,22 @@ endif()
 eprosima_find_package(fastcdr)
 eprosima_find_package(fastrtps OPTION TINYXML2_FROM_SOURCE)
 
+# Required by ContentFilteredTopic
+if (NOT fastrtps_FOUND OR fastrtps_VERSION LESS 2.5.1)
+ message(FATAL_ERROR "Trying to use a version of Fast-DDS lower than 2.5.1. Please update your Fast-DDS installation.")
+endif()
+
+if(BUILD_ROS_COMPONENTS)
+ # If ROS environment is not set, disable ROS features.
+ if (DEFINED ENV{ROS_VERSION})
+ add_subdirectory(shapes_demo_typesupport)
+ else()
+ message(WARNING "ROS environment not found. Disabling requested ROS 2 integration.")
+ set(BUILD_ROS_COMPONENTS OFF)
+ endif()
+
+endif()
+
 ###############################################################################
 # Compile
 ###############################################################################
@@ -191,6 +207,14 @@ set( SHAPESDEMO_SOURCES
  images/eprosima_icon.rc
  )
 
+if(BUILD_ROS_COMPONENTS)
+ list( APPEND SHAPESDEMO_SOURCES
+ src/shapesdemo/KeylessShape.cxx
+ src/shapesdemo/KeylessShapePubSubTypes.cxx
+ src/shapesdemo/KeylessShapeTypeObject.cxx
+ )
+endif()
+
 if(THIRDPARTY)
  set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}")
  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
@@ -204,6 +228,11 @@ endif()
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE -D${SHAPESVERSION})
 target_include_directories(${PROJECT_NAME} PRIVATE include ${IU_HEADERS})
+
+if(BUILD_ROS_COMPONENTS)
+target_compile_definitions(${PROJECT_NAME} PRIVATE -DENABLE_ROS_COMPONENTS)
+endif()
+
 target_link_libraries(${PROJECT_NAME} fastrtps fastcdr Qt5::Widgets Qt5::Core Qt5::Gui)
 
 ###############################################################################

diff --git a/README.md b/README.md
@@ -312,3 +312,51 @@ Two methods are provided:
 The other available tab in this section shows an output log:
 
 ![Output](docs/log.png)
+
+### ROS 2 Compatibility
+
+By default eProsima Shapes Demo can be built and used on a ROS 2 installation as long as an installation of Fast DDS version 2.5.1 or higher is available and the qt5-default package has been installed. 
+However, ROS 2 will not be able to interact with the Shapes Demo Topics in any way. 
+
+A CMake flag can be used to build eProsima Shapes Demo with ROS 2 support enabled.
+
+  $ colcon build --cmake-args -DBUILD_ROS_COMPONENTS=ON
+
+This will display an additional "Use ROS2 Topics" checkbox in the Participant configuration dialog.
+
+![Participant Windows With ROS Enabled](docs/participant_ros_enabled.png)
+
+When using eProsima Shapes Demo with this checkbox marked, ROS 2 will be aware of the Topics transmitted. 
+
+  $ ros2 topic list -t
+  /Square [shapes_demo_typesupport/idl/KeylessShapeType]
+  /parameter_events [rcl_interfaces/msg/ParameterEvent]
+  /rosout [rcl_interfaces/msg/Log]
+
+When building eProsima Shapes Demo with ROS 2 capabilities enabled, a TypeSupport will be built for KeylessShapeType. Sourcing the generated environment will make it available to ROS 2 applications, allowing the usage of ROS commands like the following.
+
+  $ source install/setup.bash
+  $ ros2 topic echo /Square
+  color: RED
+  x: 175
+  y: 215
+  shapesize: 30
+  ---
+  color: RED
+  x: 169
+  y: 210
+  shapesize: 30
+  ---
+
+  $ ros2 topic pub /Square shapes_demo_typesupport/idl/KeylessShapeType "{ color: BLUE, x: 155, y: 150, shapesize: 30}"
+  publisher: beginning loop
+  publishing #1: shapes_demo_typesupport.idl.KeylessShapeType(color='BLUE', x=155, y=150, shapesize=30)
+
+
+---
+**NOTE**
+
+ROS 2 Topics enablement will disable some QoS that are not supported by ROS 2 at the moment, namely Ownership and Partitions.
+Their respective checkboxes will be disabled on the Publisher and Subscriber Dialogs.
+
+---
diff --git a/docs/participant_ros_enabled.png b/docs/participant_ros_enabled.png
diff --git a/forms/participantdialog.ui b/forms/participantdialog.ui
@@ -104,7 +104,7 @@
  <item row="8" column="4">
  <widget class="QLineEdit" name="lineEdit_server_ip"/>
  </item>
- <item row="23" column="3">
+ <item row="25" column="3">
  <widget class="QPushButton" name="pushButton_start">
  <property name="focusPolicy">
  <enum>Qt::TabFocus</enum>
@@ -114,7 +114,7 @@
  </property>
  </widget>
  </item>
- <item row="23" column="4">
+ <item row="25" column="4">
  <widget class="QPushButton" name="pushButton_stop">
  <property name="focusPolicy">
  <enum>Qt::TabFocus</enum>
@@ -161,6 +161,33 @@
  </property>
  </widget>
  </item>
+ <item row="21" column="0">
+ <widget class="Line" name="line_5">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="22" column="0">
+ <widget class="QLabel" name="label_12">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>ROS</string>
+ </property>
+ </widget>
+ </item>
+ <item row="23" column="1">
+ <widget class="QCheckBox" name="rosTopicCheckBox">
+ <property name="text">
+ <string>Use ROS2 Topics</string>
+ </property>
+ </widget>
+ </item>
  <item row="9" column="1">
  <widget class="QCheckBox" name="TCPcheckBox">
  <property name="text">

diff --git a/forms/ui/ui_optionsdialog.h b/forms/ui/ui_optionsdialog.h
@@ -28,46 +28,53 @@ QT_BEGIN_NAMESPACE
 class Ui_OptionsDialog
 {
 public:
- QGridLayout *gridLayout;
- QDialogButtonBox *buttonBox;
- QLabel *label_8;
- QSpinBox *spin_updateInterval;
- QPushButton *pushButton_udp;
- QSlider *horizontalSlider_speed;
- QLabel *label_5;
- QSpinBox *spin_listen_port;
- QPushButton *pushButton_tcp_client;
- QPushButton *pushButton_tcp_server;
- QSpinBox *spin_server_port;
- QLabel *label_6;
- QLabel *label_3;
- QLineEdit *lineEdit_server_ip;
- QLabel *label_7;
- QPushButton *pushButton_tcp_WAN_server;
- QLabel *label_2;
- QLabel *label_4;
- QFrame *line_2;
- QComboBox *comboBox;
- QFrame *line;
- QLabel *label_9;
- QFrame *line_3;
- QCheckBox *statisticsCheckBox;
- QSpinBox *spin_domainId;
- QPushButton *pushButton_start;
- QPushButton *pushButton_stop;
- QLabel *label_10;
-
- void setupUi(QDialog *OptionsDialog)
+
+ QGridLayout* gridLayout;
+ QDialogButtonBox* buttonBox;
+ QLabel* label_8;
+ QSpinBox* spin_updateInterval;
+ QPushButton* pushButton_udp;
+ QSlider* horizontalSlider_speed;
+ QLabel* label_5;
+ QSpinBox* spin_listen_port;
+ QPushButton* pushButton_tcp_client;
+ QPushButton* pushButton_tcp_server;
+ QSpinBox* spin_server_port;
+ QLabel* label_6;
+ QLabel* label_3;
+ QLineEdit* lineEdit_server_ip;
+ QLabel* label_7;
+ QPushButton* pushButton_tcp_WAN_server;
+ QLabel* label_2;
+ QLabel* label_4;
+ QFrame* line_2;
+ QComboBox* comboBox;
+ QFrame* line;
+ QLabel* label_9;
+ QFrame* line_3;
+ QCheckBox* statisticsCheckBox;
+ QFrame* line_5;
+ QLabel* label_12;
+ QCheckBox* rosTopicCheckBox;
+ QSpinBox* spin_domainId;
+ QPushButton* pushButton_start;
+ QPushButton* pushButton_stop;
+ QLabel* label_10;
+
+ void setupUi(
+ QDialog* OptionsDialog)
  {
  if (OptionsDialog->objectName().isEmpty())
+ {
  OptionsDialog->setObjectName(QString::fromUtf8("OptionsDialog"));
+ }
  OptionsDialog->resize(467, 335);
  gridLayout = new QGridLayout(OptionsDialog);
  gridLayout->setObjectName(QString::fromUtf8("gridLayout"));
  buttonBox = new QDialogButtonBox(OptionsDialog);
  buttonBox->setObjectName(QString::fromUtf8("buttonBox"));
  buttonBox->setOrientation(Qt::Horizontal);
- buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Ok);
+ buttonBox->setStandardButtons(QDialogButtonBox::Cancel | QDialogButtonBox::Ok);
 
  gridLayout->addWidget(buttonBox, 15, 3, 1, 2);
 
@@ -212,6 +219,26 @@ class Ui_OptionsDialog
 
  gridLayout->addWidget(statisticsCheckBox, 9, 2, 1, 1);
 
+#ifdef ENABLE_ROS_COMPONENTS
+ line_5 = new QFrame(OptionsDialog);
+ line_5->setObjectName(QString::fromUtf8("line_5"));
+ line_5->setFrameShape(QFrame::HLine);
+ line_5->setFrameShadow(QFrame::Sunken);
+
+ gridLayout->addWidget(line_5, 11, 0, 1, 1);
+
+ label_12 = new QLabel(OptionsDialog);
+ label_12->setObjectName(QString::fromUtf8("label_12"));
+ label_12->setFont(font);
+
+ gridLayout->addWidget(label_4, 9, 0, 1, 1);
+
+ rosTopicCheckBox = new QCheckBox(OptionsDialog);
+ rosTopicCheckBox->setObjectName(QString::fromUtf8("rosTopicCheckBox"));
+
+ gridLayout->addWidget(rosTopicCheckBox, 9, 2, 1, 1);
+#endif
+
  spin_domainId = new QSpinBox(OptionsDialog);
  spin_domainId->setObjectName(QString::fromUtf8("spin_domainId"));
  spin_domainId->setValue(80);
@@ -252,7 +279,8 @@ class Ui_OptionsDialog
  QMetaObject::connectSlotsByName(OptionsDialog);
  } // setupUi
 
- void retranslateUi(QDialog *OptionsDialog)
+ void retranslateUi(
+ QDialog* OptionsDialog)
  {
  OptionsDialog->setWindowTitle(QApplication::translate("OptionsDialog", "Options", nullptr));
  label_8->setText(QApplication::translate("OptionsDialog", "Listen Port:", nullptr));
@@ -274,6 +302,8 @@ class Ui_OptionsDialog
  label_4->setText(QApplication::translate("OptionsDialog", "Statistics", nullptr));
  label_9->setText(QApplication::translate("OptionsDialog", "Shape Movements", nullptr));
  statisticsCheckBox->setText(QApplication::translate("OptionsDialog", "Active Statistics", nullptr));
+ rosTopicCheckBox->setText(QApplication::translate("OptionsDialog", "Use ROS 2 Topics", nullptr));
+
  spin_domainId->setSpecialValueText(QString());
  spin_domainId->setSuffix(QString());
  pushButton_start->setText(QApplication::translate("OptionsDialog", "Start", nullptr));
@@ -284,7 +314,9 @@ class Ui_OptionsDialog
 };
 
 namespace Ui {
- class OptionsDialog: public Ui_OptionsDialog {};
+class OptionsDialog : public Ui_OptionsDialog
+{
+};
 } // namespace Ui
 
 QT_END_NAMESPACE

diff --git a/idl/KeylessShape.idl b/idl/KeylessShape.idl
@@ -0,0 +1,12 @@
+module shapes_demo_typesupport
+{
+ module idl
+ {
+ struct KeylessShapeType {
+ string color;
+ long x;
+ long y;
+ long shapesize;
+ };
+ };
+};
diff --git a/images/eprosimalogo.qrc b/images/eprosimalogo.qrc
@@ -1,5 +1,6 @@
 <RCC>
  <qresource prefix="/">
  <file>eProsimaLogo.png</file>
+ <file>vulcanexusLogo.png</file>
  </qresource>
 </RCC>
diff --git a/images/vulcanexusLogo.png b/images/vulcanexusLogo.png
diff --git a/include/eprosimashapesdemo/qt/participantdialog.h b/include/eprosimashapesdemo/qt/participantdialog.h
@@ -53,6 +53,9 @@ private slots:
  void on_statisticsCheckBox_stateChanged(
  int arg1);
 
+ void on_rosTopicCheckBox_stateChanged(
+ int arg1);
+
  void on_IntraprocesscheckBox_stateChanged(
  int arg1);