Imported upstream version '1.1.1' of 'upstream'

.github/workflows/docker-ros.yml

@@ -0,0 +1,28 @@
+name: docker-ros
+
+on: push
+
+jobs:
+
+  ros:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: ika-rwth-aachen/docker-ros@v1.0.0
+        with:
+          image-tag: ros
+          base-image: rwthika/ros:latest
+          command: rosrun message_tf_frame_transformer message_tf_frame_transformer
+          platform: amd64,arm64
+          target: run
+
+  ros2:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: ika-rwth-aachen/docker-ros@v1.0.0
+        with:
+          image-tag: ros2
+          base-image: rwthika/ros2:latest
+          command: ros2 run message_tf_frame_transformer message_tf_frame_transformer
+          platform: amd64,arm64
+          target: run
+          enable-push-as-latest: 'true'

.github/workflows/industrial_ci.yml

@@ -0,0 +1,25 @@
+name: industrial_ci
+
+on: push
+
+jobs:
+  industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ROS_DISTRO:
+          - noetic
+          - humble
+          - iron
+          - rolling
+        ROS_REPO:
+          - testing
+          - main
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-industrial/industrial_ci@master
+        with:
+          config: ${{ toJSON(matrix) }}
+        env:
+          NOT_TEST_BUILD: true

CHANGELOG.rst

@@ -0,0 +1,17 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package message_tf_frame_transformer
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.1 (2024-03-19)
+------------------
+* Merge pull request #3 from clalancette/clalancette/fix-compile-error
+  Fix a compile error with modern rclcpp.
+* Contributors: Lennart Reiher
+
+1.1.0 (2023-06-10)
+------------------
+* integrate docker-ros
+* add support for ros2 iron
+* add remark for pointcloud2
+  closes #1
+* Contributors: Lennart Reiher

CMakeLists.txt

@@ -0,0 +1,286 @@
+cmake_minimum_required(VERSION 3.12.0 FATAL_ERROR)
+project(message_tf_frame_transformer)
+
+find_package(ros_environment REQUIRED QUIET)
+set(ROS_VERSION $ENV{ROS_VERSION})
+
+## Compile as C++17
+add_compile_options(-std=c++17)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# === ROS2 (AMENT) =============================================================
+if(${ROS_VERSION} EQUAL 2)
+
+  find_package(ament_cmake REQUIRED)
+
+  find_package(geometry_msgs REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(sensor_msgs REQUIRED)
+  find_package(tf2 REQUIRED)
+  find_package(tf2_geometry_msgs REQUIRED)
+  find_package(tf2_ros REQUIRED)
+  find_package(tf2_sensor_msgs REQUIRED)
+
+  add_executable(${PROJECT_NAME} src/MessageTfFrameTransformer.ros2.cpp)
+
+  target_include_directories(${PROJECT_NAME} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
+
+  ament_target_dependencies(${PROJECT_NAME}
+    geometry_msgs
+    rclcpp
+    sensor_msgs
+    tf2
+    tf2_geometry_msgs
+    tf2_ros
+    tf2_sensor_msgs
+  )
+
+  install(TARGETS
+    ${PROJECT_NAME}
+    DESTINATION lib/${PROJECT_NAME}
+  )
+
+  install(
+    DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+    FILES_MATCHING PATTERN "*ros2*"
+  )
+
+  # if(BUILD_TESTING)
+  #   find_package(ament_lint_auto REQUIRED)
+  #   # the following line skips the linter which checks for copyrights
+  #   # comment the line when a copyright and license is added to all source files
+  #   set(ament_cmake_copyright_FOUND TRUE)
+  #   # the following line skips cpplint (only works in a git repo)
+  #   # comment the line when this package is in a git repo and when
+  #   # a copyright and license is added to all source files
+  #   set(ament_cmake_cpplint_FOUND TRUE)
+  #   ament_lint_auto_find_test_dependencies()
+  # endif()
+
+  ament_package()
+
+# === ROS1 (CATKIN) ============================================================
+elseif(${ROS_VERSION} EQUAL 1)
+
+  ## Find catkin macros and libraries
+  ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+  ## is used, also find other catkin packages
+  find_package(catkin REQUIRED COMPONENTS
+    geometry_msgs
+    nodelet
+    roscpp
+    tf2
+    tf2_geometry_msgs
+    tf2_ros
+    tf2_sensor_msgs
+    topic_tools
+  )
+
+  ## System dependencies are found with CMake's conventions
+  # find_package(Boost REQUIRED)
+
+  ## Uncomment this if the package has a setup.py. This macro ensures
+  ## modules and global scripts declared therein get installed
+  ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+  # catkin_python_setup()
+
+  ################################################
+  ## Declare ROS messages, services and actions ##
+  ################################################
+
+  ## To declare and build messages, services or actions from within this
+  ## package, follow these steps:
+  ## * Let MSG_DEP_SET be the set of packages whose message types you use in
+  ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+  ## * In the file package.xml:
+  ##   * add a build_depend tag for "message_generation"
+  ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+  ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+  ##     but can be declared for certainty nonetheless:
+  ##     * add a exec_depend tag for "message_runtime"
+  ## * In this file (CMakeLists.txt):
+  ##   * add "message_generation" and every package in MSG_DEP_SET to
+  ##     find_package(catkin REQUIRED COMPONENTS ...)
+  ##   * add "message_runtime" and every package in MSG_DEP_SET to
+  ##     catkin_package(CATKIN_DEPENDS ...)
+  ##   * uncomment the add_*_files sections below as needed
+  ##     and list every .msg/.srv/.action file to be processed
+  ##   * uncomment the generate_messages entry below
+  ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+  ## Generate messages in the 'msg' folder
+  # add_message_files(
+  #   FILES
+  #   Message1.msg
+  #   Message2.msg
+  # )
+
+  ## Generate services in the 'srv' folder
+  # add_service_files(
+  #   FILES
+  #   Service1.srv
+  #   Service2.srv
+  # )
+
+  ## Generate actions in the 'action' folder
+  # add_action_files(
+  #   FILES
+  #   Action1.action
+  #   Action2.action
+  # )
+
+  ## Generate added messages and services with any dependencies listed here
+  # generate_messages(
+  #   DEPENDENCIES
+  #   std_msgs
+  # )
+
+  ################################################
+  ## Declare ROS dynamic reconfigure parameters ##
+  ################################################
+
+  ## To declare and build dynamic reconfigure parameters within this
+  ## package, follow these steps:
+  ## * In the file package.xml:
+  ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+  ## * In this file (CMakeLists.txt):
+  ##   * add "dynamic_reconfigure" to
+  ##     find_package(catkin REQUIRED COMPONENTS ...)
+  ##   * uncomment the "generate_dynamic_reconfigure_options" section below
+  ##     and list every .cfg file to be processed
+
+  ## Generate dynamic reconfigure parameters in the 'cfg' folder
+  # generate_dynamic_reconfigure_options(
+  #   cfg/params.cfg
+  # )
+
+  ###################################
+  ## catkin specific configuration ##
+  ###################################
+  ## The catkin_package macro generates cmake config files for your package
+  ## Declare things to be passed to dependent projects
+  ## INCLUDE_DIRS: uncomment this if your package contains header files
+  ## LIBRARIES: libraries you create in this project that dependent projects also need
+  ## CATKIN_DEPENDS: catkin_packages dependent projects also need
+  ## DEPENDS: system dependencies of this project that dependent projects also need
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+      geometry_msgs
+      nodelet
+      roscpp
+      tf2
+      tf2_geometry_msgs
+      tf2_ros
+      tf2_sensor_msgs
+      topic_tools
+    # DEPENDS
+  )
+
+  ###########
+  ## Build ##
+  ###########
+
+  ## Specify additional locations of header files
+  ## Your package locations should be listed before other locations
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+  )
+
+  ## Declare a C++ library
+  add_library(${PROJECT_NAME}
+    src/MessageTfFrameTransformer.cpp
+  )
+
+  ## Add cmake target dependencies of the library
+  ## as an example, code may need to be generated before libraries
+  ## either from message generation or dynamic reconfigure
+  # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  ## Declare a C++ executable
+  ## With catkin_make all packages are built within a single CMake context
+  ## The recommended prefix ensures that target names across packages don't collide
+  add_executable(${PROJECT_NAME}_node src/MessageTfFrameTransformer.node.cpp)
+
+  ## Rename C++ executable without node postfix
+  set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME ${PROJECT_NAME} PREFIX "")
+
+  ## Add cmake target dependencies of the executable
+  ## same as for the library above
+  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+  add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  ## Specify libraries to link a library or executable target against
+  target_link_libraries(${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+  )
+  target_link_libraries(${PROJECT_NAME}_node
+    ${catkin_LIBRARIES}
+  )
+
+  #############
+  ## Install ##
+  #############
+
+  # all install targets should use catkin DESTINATION variables
+  # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+  ## Mark executable scripts (Python etc.) for installation
+  ## in contrast to setup.py, you can choose the destination
+  # install(PROGRAMS
+  #   scripts/my_python_script
+  #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  # )
+
+  ## Mark executables and/or libraries for installation
+  install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  #   FILES_MATCHING PATTERN "*.h"
+  #   PATTERN ".svn" EXCLUDE
+  )
+
+  ## Mark other files for installation (e.g. launch and bag files, etc.)
+  install(FILES
+    nodelet_plugins.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+  install(DIRECTORY
+    launch
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    PATTERN "*ros2*" EXCLUDE
+  )
+
+  #############
+  ## Testing ##
+  #############
+
+  ## Add gtest based cpp test target and link libraries
+  # catkin_add_gtest(${PROJECT_NAME}-test test/test_hx_testmanager.cpp)
+  #if(CATKIN_ENABLE_TESTING)
+  #  find_package(rostest REQUIRED)
+  #  add_rostest_gtest(test_ika_dogm test/ika_dogm.test test/UnitTest.cpp)
+  #  catkin_add_gtest(test_ika_dogm test/UnitTest.cpp)
+  #  target_link_libraries(test_ika_dogm ${catkin_LIBRARIES} ${PROJECT_NAME}_dogm_creation)
+  #endif()
+  # if(TARGET ${PROJECT_NAME}-test)
+  #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+  # endif()
+
+  ## Add folders to be run by python nosetests
+  # catkin_add_nosetests(test)
+
+endif()

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Institute for Automotive Engineering of RWTH Aachen University
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.