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feat: add support of logging by rerun (#5)
* feat: add base interfaces Signed-off-by: ktro2828 <[email protected]> * feat: update feature Signed-off-by: ktro2828 <[email protected]> * chore: apply pre-commit Signed-off-by: ktro2828 <[email protected]> * fix: build success Signed-off-by: ktro2828 <[email protected]> * fix: success to run and visualize pointcloud Signed-off-by: ktro2828 <[email protected]> * feat: add support of logging `CompressedImage` Signed-off-by: ktro2828 <[email protected]> * chore: update .gitignore Signed-off-by: ktro2828 <[email protected]> * docs: update README Signed-off-by: ktro2828 <[email protected]> --------- Signed-off-by: ktro2828 <[email protected]>
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.clang-format

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# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
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Language: Cpp
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BasedOnStyle: Google
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AccessModifierOffset: -2
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AlignAfterOpenBracket: AlwaysBreak
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AllowShortFunctionsOnASingleLine: InlineOnly
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BraceWrapping:
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AfterClass: true
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AfterFunction: true
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AfterNamespace: true
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AfterStruct: true
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BreakBeforeBraces: Custom
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ColumnLimit: 100
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ConstructorInitializerIndentWidth: 0
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ContinuationIndentWidth: 2
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DerivePointerAlignment: false
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PointerAlignment: Middle
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ReflowComments: true
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IncludeCategories:
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# C++ system headers
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- Regex: <[a-z_]*>
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Priority: 6
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CaseSensitive: true
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# C system headers
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- Regex: <.*\.h>
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Priority: 5
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CaseSensitive: true
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# Boost headers
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- Regex: boost/.*
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Priority: 4
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CaseSensitive: true
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# Message headers
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- Regex: .*_msgs/.*
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Priority: 3
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CaseSensitive: true
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- Regex: .*_srvs/.*
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Priority: 3
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CaseSensitive: true
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# Other Package headers
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- Regex: <.*>
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Priority: 2
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CaseSensitive: true
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# Local package headers
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- Regex: '".*"'
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Priority: 1
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CaseSensitive: true

.gitignore

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devel/
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log/
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logs/
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build/
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install/
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log/
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bin/
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lib/
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msg_gen/
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# Catkin custom files
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CATKIN_IGNORE
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COLCON_IGNORE
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# VSCode
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.vscode
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# Clang
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compile_flags.txt

CPPLINT.cfg

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# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120
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set noparent
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linelength=100
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includeorder=standardcfirst
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filter=-build/c++11 # we do allow C++11
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filter=-build/namespaces_literals # we allow using namespace for literals
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filter=-runtime/references # we consider passing non-const references to be ok
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filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions
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filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space
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filter=-whitespace/parens # we allow closing parenthesis to be on the next line
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filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon
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filter=-build/header_guard # we automatically fix the names of header guards using pre-commit
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filter=-build/include_order # we use the custom include order
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filter=-build/include_subdir # we allow the style of "foo.hpp"

README.md

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#### `sensor_msgs`
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| Type | Support |
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|:-------------:|:-------:|
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| `PointCloud2` | |
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| `Image` | |
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| `CameraInfo` | |
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| Type | Support |
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| :---------------: | :-----: |
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| `PointCloud2` ||
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| `Image` ||
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| `CompressedImage` ||
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| `CameraInfo` | |
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### `autoware_msgs`
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#### `autoware_perception_msgs`
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| Type | Support |
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|:-----------------:|:-------:|
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| `DetectedObject` | |
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| `TrackedObject` | |
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| `PredictedObject` | |
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| Type | Support |
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| :----------------: | :-----: |
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| `DetectedObjects` | |
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| `TrackedObjects` | |
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| `PredictedObjects` | |

awviz/CMakeLists.txt

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cmake_minimum_required(VERSION 3.14)
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project(awviz)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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# download rerun
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include(FetchContent)
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FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/latest/download/rerun_cpp_sdk.zip)
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FetchContent_MakeAvailable(rerun_sdk)
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# Ensure rerun_sdk is compiled with -fPIC
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set_target_properties(rerun_sdk PROPERTIES POSITION_INDEPENDENT_CODE ON)
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# setup targets
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file(GLOB SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
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ament_auto_add_library(${PROJECT_NAME} SHARED ${SOURCES})
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# setup dependencies
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target_include_directories(${PROJECT_NAME} PUBLIC include)
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target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} rerun_sdk)
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ament_target_dependencies(${PROJECT_NAME} rclcpp rclcpp_components sensor_msgs cv_bridge tf2_ros)
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "awviz::RerunLoggerNode"
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EXECUTABLE ${PROJECT_NAME}_exec
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_auto_package(
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INSTALL_TO_SHARE
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launch
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config
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)

awviz/LICENSE

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awviz/config/awviz.param.yaml

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/**:
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ros__parameters:
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topic_names:
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- /sensing/lidar/concatenated/pointcloud
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- /sensing/camera/camera0/image_rect_color/compressed
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- /sensing/camera/camera1/image_rect_color/compressed
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- /sensing/camera/camera2/image_rect_color/compressed
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- /sensing/camera/camera3/image_rect_color/compressed
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- /sensing/camera/camera4/image_rect_color/compressed
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- /sensing/camera/camera5/image_rect_color/compressed
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topic_options:
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/sensing/lidar/concatenated/pointcloud:
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type: PointCloud
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entity: /topics/sensing/lidar/concatenated/pointcloud
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/sensing/camera/camera0/image_rect_color/compressed:
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type: CompressedImage
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entity: /topics/sensing/camera/camera0/image_rect_color/compressed
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/sensing/camera/camera1/image_rect_color/compressed:
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type: CompressedImage
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entity: /topics/sensing/camera/camera1/image_rect_color/compressed
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/sensing/camera/camera2/image_rect_color/compressed:
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type: CompressedImage
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entity: /topics/sensing/camera/camera2/image_rect_color/compressed
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/sensing/camera/camera3/image_rect_color/compressed:
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type: CompressedImage
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entity: /topics/sensing/camera/camera3/image_rect_color/compressed
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/sensing/camera/camera4/image_rect_color/compressed:
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type: CompressedImage
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entity: /topics/sensing/camera/camera4/image_rect_color/compressed
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/sensing/camera/camera5/image_rect_color/compressed:
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type: CompressedImage
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entity: /topics/sensing/camera/camera5/image_rect_color/compressed

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