[ROS2:Foxy] Added ros2 support

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 
 project(rc_genicam_camera)
 include(cmake/project_version.cmake)
@@ -9,17 +9,14 @@ if (NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE RELEASE CACHE STRING "Build type: DEBUG or RELEASE" FORCE)
 endif ()
 
-# - Standard definitions -
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-add_definitions(-Wall)
-if (CMAKE_MAJOR_VERSION VERSION_LESS "3.1.0")
-  add_definitions(-std=c++11)
-else ()
-  set(CMAKE_CXX_STANDARD 11)
-endif ()
-
-add_definitions(-Wall)
-add_definitions(-Wno-unknown-pragmas)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
 # checking for intel architecture and activating SSSE3 for optimization of
 # rotating images
@@ -37,97 +34,73 @@ if (USE_SSSE3)
   add_definitions(-mssse3)
 endif ()
 
-## 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
-  nodelet
-  roscpp
-  std_srvs
-  sensor_msgs
-  image_transport
-  dynamic_reconfigure
-  message_generation
-)
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rc_genicam_camera_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(RC_GENICAM_API REQUIRED)
 
-## Generate services in the 'srv' folder
-add_service_files(
-    FILES
-    GetGenICamParameter.srv
-    SetGenICamParameter.srv
+include_directories(
+  include
+  ${RC_GENICAM_API_INCLUDE_DIRS}
 )
 
-## Generate messages in the 'msg' folder
-add_message_files(
-    FILES
-    ReturnValue.msg
+ament_export_include_directories("include/${PROJECT_NAME}")
+
+add_executable(${PROJECT_NAME}_node
+  src/genicam_camera_node_main.cc
+  src/publishers/camera_info_publisher.cc
+  src/publishers/image_publisher.cc
+  src/camerainfolist.cc
+  src/genicam_camera_node.cc
+  src/imagelist.cc
+  src/timestamp_corrector.cc
 )
 
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
+ament_target_dependencies(${PROJECT_NAME}_node
+  rclcpp
   sensor_msgs
-  std_msgs
+  image_transport
+  rc_genicam_camera_interfaces
 )
 
-## System dependencies are found with CMake's conventions
-find_package(RC_GENICAM_API 2.0.3 REQUIRED)
-
-#########################################
-## Definitions for dynamic reconfigure ##
-#########################################
-
-#generate_dynamic_reconfigure_options(cfg/rc_genicam_camera.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 you 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 rc_stereocamera
-  CATKIN_DEPENDS nodelet roscpp sensor_msgs std_msgs std_srvs
-#  DEPENDS
+target_link_libraries(${PROJECT_NAME}_node
+  rc_genicam_api::rc_genicam_api
 )
 
-###########
-## Build ##
-###########
+# ############
+# # Install ##
+# ############
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  ${RC_GENICAM_API_INCLUDE_DIRS}
+install(TARGETS ${PROJECT_NAME}_node
+  DESTINATION lib/${PROJECT_NAME}
 )
 
-add_subdirectory(src)
-
-#############
-## Install ##
-#############
+# Install launch and config files.
+install(DIRECTORY launch config
+  DESTINATION share/${PROJECT_NAME}/
+)
 
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-install(FILES
-        rc_genicam_camera_nodelet.xml
-        README.md
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-        )
-#install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-######################################
-## Define information for packaging ##
-######################################
-# optionally specify dependencies of the debian package here (comma separated!)
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # to prevent automatic addition of libs that are ORed in dependencies
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "rc-genicam-api (>= 2.0.3) | ros-$ENV{ROS_DISTRO}-rc-genicam-api (>= 2.0.3), ros-$ENV{ROS_DISTRO}-image-pipeline")
-
-include(cmake/package_debian.cmake)
+# ## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# rc_genicam_camera_nodelet.xml
+# README.md
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+# #install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# ######################################
+# ## Define information for packaging ##
+# ######################################
+# # optionally specify dependencies of the debian package here (comma separated!)
+# set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # to prevent automatic addition of libs that are ORed in dependencies
+# set(CPACK_DEBIAN_PACKAGE_DEPENDS "rc-genicam-api (>= 2.0.3) | ros-$ENV{ROS_DISTRO}-rc-genicam-api (>= 2.0.3), ros-$ENV{ROS_DISTRO}-image-pipeline")
+
+# include(cmake/package_debian.cmake)
+
+ament_package()

README.md

@@ -1,14 +1,18 @@
-rc_genicam_camera
------------------
+# rc_genicam_camera
 
 This nodelet permits access to the configuration of a GenICam compatible camera
 and publishes raw images and camera_info messages according to the ROS image
 pipeline.
 
-Configuration
--------------
+## Install dependencies
+```bash
+rosdep update
+rosdep install --from-paths src -y --ignore-src
+```
+
+## Configuration
 
-#### Parameters
+### Parameters
 
 Parameters to be set to the ROS param server before run-time.
 
@@ -95,7 +99,7 @@ Parameters to be set to the ROS param server before run-time.
   ID < 0. For stereo systems, 0 is used for the left camera and 1 for the right
   camera. Default: -1.
 
-#### Parameters for Synchronization
+### Parameters for Synchronization
 
 The following parameters are used for receiving and associating the time stamp
 from the camera info of a hardware synchronized master camera that is

config/basler.config

@@ -0,0 +1,12 @@
+TriggerMode=Off
+AcquisitionMode=Continuous
+AcquisitionFrameRateEnable=True
+AcquisitionFrameRateAbs=30.00
+ExposureAuto=Continuous
+AutoExposureTimeUpperLimitRaw=14000
+AutoExposureTimeLowerLimitRaw=80
+# ExposureTime=14000.00
+# GainAuto=Continuous
+AutoGainRawUpperLimit=20.0
+AutoGainRawLowerLimit=1.0
+# Gain=14.00

config/flir.config

@@ -0,0 +1,8 @@
+TriggerMode=Off
+AcquisitionMode=Continuous
+AcquisitionFrameRateEnable=True
+AcquisitionFrameRate=30.00
+ExposureAuto=Continuous
+# ExposureTime=14997.00
+GainAuto=Continuous
+# Gain=14.00

config/rc_genicam_camera_params.yaml

@@ -0,0 +1,16 @@
+rc_genicam_camera_node:
+  ros__parameters:
+    device: "23853944" #BASLER
+    # device: "18486677" #FLIR1
+    # device: "18486668" #FLIR2
+    gev_access: "control" #control/exclusive
+    # frame_id: "cam0" #camera frame ID, default camera[<calib_id>
+    # image_prefix: "/tmp/cam0" #to store images
+    rotate: False #True for rotate 180
+    config_file: "install/rc_genicam_camera/share/rc_genicam_camera/config/basler.config" #genicam config file, set wrt ros2 workspace, this is where it is installed check install config dir in cmakelists. or set absolute path
+    # calib_file: "/path/to/calib" #camera calib file
+    # calib_id: -1 #0 for left 1 for right, -1 default
+    # host_timestamp: True #True for using the host time, False default
+    # timestamp_tolerance: #Maximum acceptable tolerance in seconds between system and camera clock, default 0.01
+    # sync_info: #Name of topic that provides CameraInfo messages at the time when image acquisition is triggered via a hardware signal
+    # sync_tolerance: #Maximum acceptable tolerance in seconds between the CameraInfo timestamps and the image acquisition timestamps

src/camerainfolist.h → include/camerainfolist.h

@@ -36,8 +36,9 @@
 #ifndef RC_GENICAM_CAMERA_CAMERAINFOLIST
 #define RC_GENICAM_CAMERA_CAMERAINFOLIST
 
-#include <ros/ros.h>
-#include <sensor_msgs/CameraInfo.h>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/camera_info.hpp>
 
 namespace rcgccam
 {
@@ -72,7 +73,7 @@ class CameraInfoList
     @return     Dropped camera info message, null pointer if nothing is
                 dropped.
   */
-  sensor_msgs::CameraInfoPtr add(const sensor_msgs::CameraInfoPtr& info);
+  sensor_msgs::msg::CameraInfo::SharedPtr add(sensor_msgs::msg::CameraInfo::SharedPtr info);
 
   /**
     Remove all camera infos that have a timestamp that is older or equal than
@@ -81,7 +82,7 @@ class CameraInfoList
     @param timestamp Timestamp.
     @return          Number of removed camera infos.
   */
-  int removeOld(const ros::Time& timestamp);
+  int removeOld(const rclcpp::Time& timestamp);
 
   /**
     Returns the oldest camera info that has a timestamp within the tolerance
@@ -92,12 +93,12 @@ class CameraInfoList
     @param tolerance Maximum tolarance added or subtracted to the timestamp.
     @return          Pointer to camera info or 0.
   */
-  sensor_msgs::CameraInfoPtr find(const ros::Time& timestamp) const;
+  sensor_msgs::msg::CameraInfo::SharedPtr find(const rclcpp::Time& timestamp) const;
 
 private:
   size_t maxsize_;
   uint64_t tolerance_;
-  std::vector<sensor_msgs::CameraInfoPtr> list_;
+  std::vector<sensor_msgs::msg::CameraInfo::SharedPtr> list_;
 };
 
 }  // namespace rcgccam

src/genicam_camera_nodelet.h → include/genicam_camera_node.h

@@ -39,9 +39,9 @@
 #include "publishers/camera_info_publisher.h"
 #include "publishers/image_publisher.h"
 
-#include <nodelet/nodelet.h>
+#include <rclcpp/rclcpp.hpp>
 #include <message_filters/subscriber.h>
-#include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/msg/camera_info.hpp>
 
 #include <GenApi/GenApi.h>
 #include <rc_genicam_api/device.h>
@@ -50,41 +50,38 @@
 #include <mutex>
 #include <atomic>
 
-#include <rc_genicam_camera/GetGenICamParameter.h>
-#include <rc_genicam_camera/SetGenICamParameter.h>
+#include <rc_genicam_camera_interfaces/srv/set_gen_i_cam_parameter.hpp>
+#include <rc_genicam_camera_interfaces/srv/get_gen_i_cam_parameter.hpp>
 
 namespace rcgccam
 {
-
-class GenICamCameraNodelet : public nodelet::Nodelet
+class GenICamCameraNode : public rclcpp::Node
 {
+  using rcgc_get_srv = rc_genicam_camera_interfaces::srv::GetGenICamParameter;
+  using rcgc_set_srv = rc_genicam_camera_interfaces::srv::SetGenICamParameter;
 
 public:
-
-  GenICamCameraNodelet();
-  virtual ~GenICamCameraNodelet();
+  explicit GenICamCameraNode(const std::string& node_name = "rc_genicam_camera_node");
+  virtual ~GenICamCameraNode();
 
   virtual void onInit();
 
-  bool getGenICamParameter(rc_genicam_camera::GetGenICamParameter::Request& req,
-                           rc_genicam_camera::GetGenICamParameter::Response& resp);
+  bool getGenICamParameter(rcgc_get_srv::Request::SharedPtr req, rcgc_get_srv::Response::SharedPtr resp);
 
-  bool setGenICamParameter(rc_genicam_camera::SetGenICamParameter::Request& req,
-                           rc_genicam_camera::SetGenICamParameter::Response& resp);
+  bool setGenICamParameter(rcgc_set_srv::Request::SharedPtr req, rcgc_set_srv::Response::SharedPtr resp);
 
-  void syncInfo(sensor_msgs::CameraInfoPtr info);
+  void syncInfo(sensor_msgs::msg::CameraInfo::SharedPtr info);
 
 private:
-
   void grab(std::string device, rcg::Device::ACCESS access, std::string config);
 
   double timestamp_tolerance_;
   double sync_tolerance_;
 
-  ros::Subscriber sub_sync_info_;
+  rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr sub_sync_info_ptr_;
 
-  ros::ServiceServer get_param_service_;
-  ros::ServiceServer set_param_service_;
+  rclcpp::Service<rcgc_get_srv>::SharedPtr get_param_service_ptr_;
+  rclcpp::Service<rcgc_set_srv>::SharedPtr set_param_service_ptr_;
 
   std::string frame_id_;