Image Transport rework port in progress for review

image_transport/CMakeLists.txt

@@ -1,69 +1,121 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
+
 project(image_transport)
 
-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 REQUIRED)
+
+find_package(message_filters REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tinyxml_vendor REQUIRED)
+find_package(TinyXML REQUIRED)
 
-include_directories(include ${catkin_INCLUDE_DIRS})
+include_directories(include)
 
-# Build libimage_transport
+# Build image_transport library
 add_library(${PROJECT_NAME}
+  SHARED
   src/camera_common.cpp
+  src/publisher.cpp
+  src/subscriber.cpp
+  src/single_subscriber_publisher.cpp
   src/camera_publisher.cpp
   src/camera_subscriber.cpp
   src/image_transport.cpp
-  src/publisher.cpp
-  src/single_subscriber_publisher.cpp
-  src/subscriber.cpp
 )
-add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}
-  ${Boost_LIBRARIES}
-  ${catkin_LIBRARIES}
+
+ament_target_dependencies(${PROJECT_NAME}
+  "message_filters"
+  "pluginlib"
+  "rclcpp"
+  "sensor_msgs"
+  "TinyXML"
 )
 
-# Build libimage_transport_plugins                                      
-add_library(${PROJECT_NAME}_plugins src/manifest.cpp src/raw_publisher.cpp)
+# Build image_transport_plugins library (raw)
+add_library(${PROJECT_NAME}_plugins
+  SHARED
+  src/manifest.cpp
+)
 target_link_libraries(${PROJECT_NAME}_plugins ${PROJECT_NAME})
 
-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 list_trasnports
+add_executable(list_transports src/list_transports.cpp)
+target_link_libraries(list_transports ${PROJECT_NAME})
 
-# add two execs
+# Build republish
 add_executable(republish src/republish.cpp)
 target_link_libraries(republish ${PROJECT_NAME})
 
-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)
+
+# Install libraries
+install(
+  TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_plugins
+  LIBRARY DESTINATION lib
 )
 
-install(TARGETS list_transports republish
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# Install executables
+install(
+  TARGETS list_transports republish
+  RUNTIME DESTINATION share/${PROJECT_NAME}
 )
 
-# add xml file
-install(FILES default_plugins.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# Install include directories
+install(
+  DIRECTORY "include/"
+  DESTINATION include
 )
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(message_filters)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(sensor_msgs)
+ament_export_dependencies(pluginlib)
+
+if(BUILD_TESTING)
+  #TODO(ros2) enable linting
+  #find_package(ament_lint_auto REQUIRED)
+  #ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest)
+
+  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 ${PROJECT_NAME})
+  endif()
+
+  ament_add_gtest(${PROJECT_NAME}-publisher test/test_publisher.cpp)
+  if(TARGET ${PROJECT_NAME}-publisher)
+    target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME})
+  endif()
+
+  ament_add_gtest(${PROJECT_NAME}-subscriber test/test_subscriber.cpp)
+  if(TARGET ${PROJECT_NAME}-subscriber)
+    target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME})
+  endif()
+
+  ament_add_gtest(${PROJECT_NAME}-message_passing test/test_message_passing.cpp)
+  if(TARGET ${PROJECT_NAME}-message_passing)
+    target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME})
+  endif()
+
+  ament_add_gtest(${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()
+
+ament_package()

image_transport/default_plugins.xml

@@ -1,11 +1,17 @@
-<library path="lib/libimage_transport_plugins">
-  <class name="image_transport/raw_pub" type="image_transport::RawPublisher" base_class_type="image_transport::PublisherPlugin">
+<library path="image_transport_plugins">
+  <class
+    name="image_transport/raw_pub"
+    type="image_transport::RawPublisher"
+    base_class_type="image_transport::PublisherPlugin">
     <description>
       This is the default publisher. It publishes the Image as-is on the base topic.
     </description>
   </class>
 
-  <class name="image_transport/raw_sub" type="image_transport::RawSubscriber" base_class_type="image_transport::SubscriberPlugin">
+  <class
+    name="image_transport/raw_sub"
+    type="image_transport::RawSubscriber"
+    base_class_type="image_transport::SubscriberPlugin">
     <description>
       This is the default pass-through subscriber for topics of type sensor_msgs/Image.
     </description>

image_transport/include/image_transport/camera_common.h

@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -42,11 +42,16 @@ namespace image_transport {
 /**
  * \brief Form the camera info topic name, sibling to the base topic.
  *
- * \note This function assumes that the name is completely resolved. If the \c 
- * base_topic is remapped the resulting camera info topic will be incorrect. 
+ * \note This function assumes that the name is completely resolved. If the \c
+ * base_topic is remapped the resulting camera info topic will be incorrect.
  */
 std::string getCameraInfoTopic(const std::string& base_topic);
 
+/**
+ * \brief Replacement for uses of boost::erase_last_copy
+ */
+std::string erase_last_copy(const std::string& input, const std::string& search);
+
 } //namespace image_transport
 
 #endif

image_transport/include/image_transport/camera_publisher.h

@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -35,9 +35,12 @@
 #ifndef IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
 #define IMAGE_TRANSPORT_CAMERA_PUBLISHER_H
 
-#include <ros/ros.h>
-#include <sensor_msgs/Image.h>
-#include <sensor_msgs/CameraInfo.h>
+#include <rclcpp/macros.hpp>
+#include <rclcpp/node.hpp>
+
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/camera_info.hpp>
+
 #include "image_transport/single_subscriber_publisher.h"
 
 namespace image_transport {
@@ -62,7 +65,11 @@ class ImageTransport;
 class CameraPublisher
 {
 public:
-  CameraPublisher() {}
+  CameraPublisher() = default;
+
+  CameraPublisher(rclcpp::Node::SharedPtr node,
+                  const std::string& base_topic,
+                  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
   /*!
    * \brief Returns the number of subscribers that are currently connected to
@@ -85,13 +92,13 @@ class CameraPublisher
   /*!
    * \brief Publish an (image, info) pair on the topics associated with this CameraPublisher.
    */
-  void publish(const sensor_msgs::Image& image, const sensor_msgs::CameraInfo& info) const;
+  void publish(const sensor_msgs::msg::Image& image, const sensor_msgs::msg::CameraInfo& info) const;
 
   /*!
    * \brief Publish an (image, info) pair on the topics associated with this CameraPublisher.
    */
-  void publish(const sensor_msgs::ImageConstPtr& image,
-               const sensor_msgs::CameraInfoConstPtr& info) const;
+  void publish(const sensor_msgs::msg::Image::ConstSharedPtr& image,
+               const sensor_msgs::msg::CameraInfo::ConstSharedPtr& info) const;
 
   /*!
    * \brief Publish an (image, info) pair with given timestamp on the topics associated with
@@ -100,7 +107,7 @@ class CameraPublisher
    * Convenience version, which sets the timestamps of both image and info to stamp before
    * publishing.
    */
-  void publish(sensor_msgs::Image& image, sensor_msgs::CameraInfo& info, ros::Time stamp) const;
+  void publish(sensor_msgs::msg::Image& image, sensor_msgs::msg::CameraInfo& info, rclcpp::Time stamp) const;
 
   /*!
    * \brief Shutdown the advertisements associated with this Publisher.
@@ -113,21 +120,8 @@ class CameraPublisher
   bool operator==(const CameraPublisher& rhs) const { return impl_ == rhs.impl_; }
 
 private:
-  CameraPublisher(ImageTransport& image_it, ros::NodeHandle& info_nh,
-                  const std::string& base_topic, uint32_t queue_size,
-                  const SubscriberStatusCallback& image_connect_cb,
-                  const SubscriberStatusCallback& image_disconnect_cb,
-                  const ros::SubscriberStatusCallback& info_connect_cb,
-                  const ros::SubscriberStatusCallback& info_disconnect_cb,
-                  const ros::VoidPtr& tracked_object, bool latch);
-
   struct Impl;
-  typedef boost::shared_ptr<Impl> ImplPtr;
-  typedef boost::weak_ptr<Impl> ImplWPtr;
-
-  ImplPtr impl_;
-
-  friend class ImageTransport;
+  std::shared_ptr<Impl> impl_;
 };
 
 } //namespace image_transport