ROS2 - Humble

hdf5_map_io/CMakeLists.txt

@@ -1,48 +1,76 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.8)
 project(hdf5_map_io)
 
-set(CMAKE_CXX_STANDARD 14)
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-find_package(catkin REQUIRED)
+# DEFAULT RELEASE
+if (NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt)
+  if (NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
+  endif()
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(LVR2 REQUIRED)
 find_package(MPI)
 find_package(PkgConfig REQUIRED)
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES hdf5_map_io
-  DEPENDS LVR2 MPI
-)
 
 # HighFive
 set(HIGHFIVE_EXAMPLES FALSE)
 set(HIGHFIVE_UNIT_TESTS FALSE)
 
+find_library(LVR2_LIBRARY NAMES lvr2)
+
+
 include_directories(
   include
   ${LVR2_INCLUDE_DIRS}
 )
 
-add_library(${PROJECT_NAME}
+add_library(${PROJECT_NAME} SHARED
   src/hdf5_map_io.cpp
 )
 
-find_library(LVR2_LIBRARY NAMES lvr2)
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include>")
 
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME} PUBLIC
   ${LVR2_LIBRARY}
   ${MPI_CXX_LIBRARIES}
+  rclcpp::rclcpp
 )
 
+target_compile_definitions(${PROJECT_NAME} PRIVATE "HDF5_MAP_IO_BUILDING_DLL")
+
 install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(DIRECTORY include/
+  DESTINATION include
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-  PATTERN ".svn" EXCLUDE
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_libraries(${PROJECT_NAME})
+
+# Export modern CMake targets
+ament_export_targets(export_${PROJECT_NAME})
+
+ament_export_dependencies(
+  rclcpp
 )
 
+ament_package()

hdf5_map_io/package.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>hdf5_map_io</name>
   <version>1.1.0</version>
   <description>The hdf5_map_io package</description>
@@ -8,8 +9,15 @@
   <url type="website">http://wiki.ros.org/ros_mesh_tools/hdf5_map_io</url>
   <author email="[email protected]">Sebastian Pütz</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
   <depend>boost</depend>
   <depend>lvr2</depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>

label_manager/CMakeLists.txt

@@ -1,52 +1,84 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(label_manager)
 
-find_package(catkin REQUIRED COMPONENTS
-  actionlib
-  actionlib_msgs
-  genmsg
-  mesh_msgs
-  message_generation
-  roscpp
-  sensor_msgs
-  std_msgs
-  tf
-)
 
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-add_service_files(FILES
-  DeleteLabel.srv
-  GetLabelGroups.srv
-  GetLabeledClusterGroup.srv
-)
+find_package(ament_cmake REQUIRED)
 
-generate_messages(DEPENDENCIES
-  mesh_msgs
-  std_msgs
+
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(actionlib_msgs REQUIRED)
+find_package(mesh_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+
+find_package(Boost COMPONENTS 
+  system 
+  filesystem
 )
 
-catkin_package(
-  CATKIN_DEPENDS
-  actionlib actionlib_msgs genmsg mesh_msgs message_generation message_runtime roscpp sensor_msgs std_msgs tf
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/DeleteLabel.srv"
+  "srv/GetLabelGroups.srv"
+  "srv/GetLabeledClusterGroup.srv"
+  DEPENDENCIES
+    mesh_msgs
+    std_msgs
+  ADD_LINTER_TESTS
 )
 
+
 include_directories(
-  include ${catkin_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
+  include
 )
 
-
-add_executable(${PROJECT_NAME}
+add_executable(${PROJECT_NAME}_node
   src/manager.cpp
   src/manager_node.cpp)
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}
-  ${catkin_LIBRARIES}
+
+add_dependencies(${PROJECT_NAME}_node
+  ${PROJECT_NAME}
+)
+
+target_link_libraries(${PROJECT_NAME}_node
+  Boost::system 
+  Boost::filesystem
+)
+
+ament_target_dependencies(${PROJECT_NAME}_node
+  rclcpp
+  rclcpp_action
+  rclcpp_components
+  actionlib_msgs
+  mesh_msgs
+  sensor_msgs
+  std_msgs
 )
 
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS ${PROJECT_NAME}_node
+  ARCHIVE DESTINATION lib/${PROJECT_NAME}
+  LIBRARY DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin/${PROJECT_NAME}
 )
 
+rosidl_get_typesupport_target(cpp_typesupport_target 
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(${PROJECT_NAME}_node 
+  "${cpp_typesupport_target}")
+
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
+

label_manager/include/label_manager/manager.h

@@ -2,46 +2,63 @@
 #define LABEL_MANAGER_H_
 
 #include <vector>
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "mesh_msgs/msg/mesh_face_cluster_stamped.hpp"
+#include "mesh_msgs/srv/get_labeled_clusters.hpp"
+#include "label_manager/srv/get_label_groups.hpp"
+#include "label_manager/srv/get_labeled_cluster_group.hpp"
+#include "label_manager/srv/delete_label.hpp"
+
+#include "rclcpp/rclcpp.hpp"
 
-#include <ros/ros.h>
-#include <mesh_msgs/MeshFaceClusterStamped.h>
-#include <mesh_msgs/GetLabeledClusters.h>
-#include <label_manager/GetLabelGroups.h>
-#include <label_manager/GetLabeledClusterGroup.h>
-#include <label_manager/DeleteLabel.h>
 
 namespace label_manager
 {
 
-class LabelManager
+class LabelManager : public rclcpp::Node
 {
 public:
-    LabelManager(ros::NodeHandle& nodeHandle);
+    LabelManager(std::string handle_str = "");
 
 private:
-    ros::NodeHandle nh;
-    ros::Subscriber clusterLabelSub;
-    ros::Publisher newClusterLabelPub;
-    ros::ServiceServer srv_get_labeled_clusters;
-    ros::ServiceServer srv_get_label_groups;
-    ros::ServiceServer srv_get_labeled_cluster_group;
-    ros::ServiceServer srv_delete_label;
+    // Subscriber
+    rclcpp::Subscription<mesh_msgs::msg::MeshFaceClusterStamped>::SharedPtr 
+        clusterLabelSub;
+
+    // Publisher
+    rclcpp::Publisher<mesh_msgs::msg::MeshFaceCluster>::SharedPtr 
+        newClusterLabelPub;
 
+    // Service (Servers)
+    rclcpp::Service<mesh_msgs::srv::GetLabeledClusters>::SharedPtr 
+        srv_get_labeled_clusters;
+    rclcpp::Service<label_manager::srv::GetLabelGroups>::SharedPtr 
+        srv_get_label_groups;
+    rclcpp::Service<label_manager::srv::GetLabeledClusterGroup>::SharedPtr 
+        srv_get_labeled_cluster_group;
+    rclcpp::Service<label_manager::srv::DeleteLabel>::SharedPtr 
+        srv_delete_label;
+
     std::string folderPath;
 
-    void clusterLabelCallback(const mesh_msgs::MeshFaceClusterStamped::ConstPtr& msg);
+    void clusterLabelCallback(const mesh_msgs::msg::MeshFaceClusterStamped& msg);
+
     bool service_getLabeledClusters(
-        mesh_msgs::GetLabeledClusters::Request& req,
-        mesh_msgs::GetLabeledClusters::Response& res);
+        const std::shared_ptr<mesh_msgs::srv::GetLabeledClusters::Request> req,
+        std::shared_ptr<mesh_msgs::srv::GetLabeledClusters::Response>      res);
     bool service_getLabelGroups(
-        label_manager::GetLabelGroups::Request& req,
-        label_manager::GetLabelGroups::Response& res);
+        const std::shared_ptr<label_manager::srv::GetLabelGroups::Request> req,
+        std::shared_ptr<label_manager::srv::GetLabelGroups::Response>      res);
     bool service_getLabeledClusterGroup(
-        label_manager::GetLabeledClusterGroup::Request& req,
-        label_manager::GetLabeledClusterGroup::Response& res);
+        const std::shared_ptr<label_manager::srv::GetLabeledClusterGroup::Request> req,
+        std::shared_ptr<label_manager::srv::GetLabeledClusterGroup::Response>      res);
     bool service_deleteLabel(
-        label_manager::DeleteLabel::Request& req,
-        label_manager::DeleteLabel::Response& res);
+        const std::shared_ptr<label_manager::srv::DeleteLabel::Request> req,
+        std::shared_ptr<label_manager::srv::DeleteLabel::Response>      res);
 
     bool writeIndicesToFile(const std::string& fileName, const std::vector<uint>& indices, const bool append);
     std::vector<uint> readIndicesFromFile(const std::string& fileName);

label_manager/package.xml

@@ -1,9 +1,9 @@
-<package>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>label_manager</name>
-  <description>
-    Serving and persisting label information
-  </description>
   <version>1.1.0</version>
+  <description>Serving and persisting label information</description>
   <maintainer email="[email protected]">Sebastian Pütz</maintainer>
 
   <url type="website">http://wiki.ros.org/ros_mesh_tools/label_manager</url>
@@ -13,27 +13,25 @@
 
   <license>BSD-3</license>
 
-  <build_depend>actionlib_msgs</build_depend>
-  <build_depend>actionlib</build_depend>
-  <build_depend>genmsg</build_depend>
-  <build_depend>mesh_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>tf</build_depend>
-
-  <run_depend>actionlib_msgs</run_depend>
-  <run_depend>actionlib</run_depend>
-  <run_depend>genmsg</run_depend>
-  <run_depend>mesh_msgs</run_depend>
-  <run_depend>message_generation</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>tf</run_depend>
-
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_components</depend>
+  <depend>actionlib_msgs</depend>
+  <depend>mesh_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>