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Image Transport rework port in progress for review (#84)
* Remove boost where possible. * ros::VoidPtr to std::shared_ptr<void> * Conversions around boost where necessary. * Ignore other packages for now. * Basic ament_cmake port. * Port camera_common. * Port publisher. * Convert subscriber. * Port single_subscriber_publisher. * Type updates. VoidPtr -> std::shared_ptr<void> sensor_msgs::Image -> sensor_msgs::msg::Image sensor_msgs::ImageConstPtr -> sensor_msgs::msg::Image::ConstSharedPtr * Replace queue_size and latch with qos. * Implement simple subscriber and publisher. * Refactor. * Restore comments and naming. * Fixup transport and add republisher back in. * Add library export. * Address reviewer feedback. * Clean up a few warnings, remove boost headers. * compile_definitions -> compile_options * Reviewer feedback on necessary includes. * Address comments about CMakeLists and package. * Switch to RCLCPP loggers. * ERROR -> FATAL where asserts were used. * Add TODOs for ROS2 assert equivalents back. * Added a TODO for getNumPublishers.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,69 +1,121 @@ | ||
| cmake_minimum_required(VERSION 2.8.3) | ||
| cmake_minimum_required(VERSION 3.5) | ||
|
|
||
| project(image_transport) | ||
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||
| find_package(catkin REQUIRED | ||
| COMPONENTS | ||
| message_filters | ||
| pluginlib | ||
| rosconsole | ||
| roscpp | ||
| roslib | ||
| sensor_msgs | ||
| ) | ||
| # Default to C++14 | ||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) | ||
| endif() | ||
|
|
||
| find_package(Boost REQUIRED) | ||
| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
|
|
||
| catkin_package( | ||
| INCLUDE_DIRS include | ||
| LIBRARIES ${PROJECT_NAME} | ||
| DEPENDS message_filters pluginlib rosconsole roscpp roslib sensor_msgs | ||
| ) | ||
| find_package(ament_cmake_ros REQUIRED) | ||
|
|
||
| find_package(message_filters REQUIRED) | ||
| find_package(pluginlib REQUIRED) | ||
| find_package(rclcpp REQUIRED) | ||
| find_package(sensor_msgs REQUIRED) | ||
|
|
||
| include_directories(include ${catkin_INCLUDE_DIRS}) | ||
| include_directories(include) | ||
|
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||
| # Build libimage_transport | ||
| # Build image_transport library | ||
| add_library(${PROJECT_NAME} | ||
| src/camera_common.cpp | ||
| src/publisher.cpp | ||
| src/subscriber.cpp | ||
| src/single_subscriber_publisher.cpp | ||
| src/camera_publisher.cpp | ||
| src/camera_subscriber.cpp | ||
| src/image_transport.cpp | ||
| src/publisher.cpp | ||
| src/single_subscriber_publisher.cpp | ||
| src/subscriber.cpp | ||
| ) | ||
| add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) | ||
| target_link_libraries(${PROJECT_NAME} | ||
| ${Boost_LIBRARIES} | ||
| ${catkin_LIBRARIES} | ||
|
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||
| ament_target_dependencies(${PROJECT_NAME} | ||
| "message_filters" | ||
| "pluginlib" | ||
| "rclcpp" | ||
| "sensor_msgs" | ||
| ) | ||
|
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||
| # Build libimage_transport_plugins | ||
| add_library(${PROJECT_NAME}_plugins src/manifest.cpp src/raw_publisher.cpp) | ||
| target_link_libraries(${PROJECT_NAME}_plugins ${PROJECT_NAME}) | ||
| target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") | ||
|
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||
| install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_plugins | ||
| DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| COMPONENT main | ||
| ) | ||
| install(DIRECTORY include/${PROJECT_NAME}/ | ||
| DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| # Build image_transport_plugins library (raw) | ||
| add_library(${PROJECT_NAME}_plugins | ||
| src/manifest.cpp | ||
| ) | ||
| target_link_libraries(${PROJECT_NAME}_plugins ${PROJECT_NAME}) | ||
|
|
||
| # add two execs | ||
| # Build list_trasnports | ||
| add_executable(list_transports src/list_transports.cpp) | ||
| target_link_libraries(list_transports ${PROJECT_NAME}) | ||
|
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||
| # Build republish | ||
| add_executable(republish src/republish.cpp) | ||
| target_link_libraries(republish ${PROJECT_NAME}) | ||
|
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||
| add_executable(list_transports src/list_transports.cpp) | ||
| target_link_libraries(list_transports | ||
| ${PROJECT_NAME} | ||
| ${catkin_LIBRARIES} | ||
| # Install plugin descriptions | ||
| pluginlib_export_plugin_description_file(image_transport default_plugins.xml) | ||
|
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||
| # Install libraries | ||
| install( | ||
| TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_plugins | ||
| ARCHIVE DESTINATION lib | ||
| LIBRARY DESTINATION lib | ||
| RUNTIME DESTINATION bin | ||
| ) | ||
|
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||
| install(TARGETS list_transports republish | ||
| DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # Install executables | ||
| install( | ||
| TARGETS list_transports republish | ||
| RUNTIME DESTINATION lib/${PROJECT_NAME} | ||
| ) | ||
|
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| # add xml file | ||
| install(FILES default_plugins.xml | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| # Install include directories | ||
| install( | ||
| DIRECTORY include/ | ||
| DESTINATION include | ||
| ) | ||
|
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| ament_export_include_directories(include) | ||
| ament_export_libraries(${PROJECT_NAME}) | ||
|
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| ament_export_dependencies(message_filters) | ||
| ament_export_dependencies(rclcpp) | ||
| ament_export_dependencies(sensor_msgs) | ||
| ament_export_dependencies(pluginlib) | ||
|
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||
| if(BUILD_TESTING) | ||
| #TODO(ros2) enable linting | ||
| #find_package(ament_lint_auto REQUIRED) | ||
| #ament_lint_auto_find_test_dependencies() | ||
|
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| find_package(ament_cmake_gtest) | ||
|
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| ament_add_gtest(${PROJECT_NAME}-camera_common test/test_camera_common.cpp) | ||
| if(TARGET ${PROJECT_NAME}-camera_common) | ||
| target_link_libraries(${PROJECT_NAME}-camera_common ${PROJECT_NAME}) | ||
| endif() | ||
|
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||
| ament_add_gtest(${PROJECT_NAME}-publisher test/test_publisher.cpp) | ||
| if(TARGET ${PROJECT_NAME}-publisher) | ||
| target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME}) | ||
| endif() | ||
|
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||
| ament_add_gtest(${PROJECT_NAME}-subscriber test/test_subscriber.cpp) | ||
| if(TARGET ${PROJECT_NAME}-subscriber) | ||
| target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME}) | ||
| endif() | ||
|
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||
| ament_add_gtest(${PROJECT_NAME}-message_passing test/test_message_passing.cpp) | ||
| if(TARGET ${PROJECT_NAME}-message_passing) | ||
| target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME}) | ||
| endif() | ||
|
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||
| ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher test/test_single_subscriber_publisher.cpp) | ||
| if(TARGET ${PROJECT_NAME}-single_subscriber_publisher) | ||
| target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME}) | ||
| endif() | ||
| endif() | ||
|
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||
| ament_package() |
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