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Port gl_depth_sim to ROS 2 #22

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89 changes: 40 additions & 49 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,19 +1,20 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.8)
project(gl_depth_sim)


set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

add_compile_options(-Wall -Wextra)

find_package(catkin REQUIRED COMPONENTS
roscpp # Used for ROS examples
pcl_ros # Used for interfaces extension
tf2_ros # Used for ROS example
tf2_eigen # Used for ROS example
visualization_msgs # Used for ROS example
)
# Used for ROS examples
find_package(ament_cmake REQUIRED)
find_package(PCL REQUIRED QUIET)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(visualization_msgs REQUIRED)

# Required for core functionality
find_package(glfw3 REQUIRED)
Expand All @@ -24,21 +25,8 @@ find_package(Eigen3 REQUIRED)
find_package(assimp REQUIRED) # Just used for loading models in mesh_loader.h
find_package(OpenCV REQUIRED) # Used for interface extension

catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_interfaces
CATKIN_DEPENDS
roscpp
pcl_ros
tf2_ros
tf2_eigen
visualization_msgs
DEPENDS OpenCV
)

include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)

Expand All @@ -53,33 +41,46 @@ add_library(${PROJECT_NAME}
src/${PROJECT_NAME}/glad.c
src/${PROJECT_NAME}/glfw_guard.cpp
)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}
${OPENGL_LIBRARIES}
${ASSIMP_LIBRARIES}
dl
glfw
)

# Libaries for interfacing with opencv and pcl
# ament_target_dependencies(${PROJECT_NAME}
# rclcpp
# pcl_conversions
# pcl_ros
# tf2_ros
# tf2_eigen
# visualization_msgs
# OpenCV
# )
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# ament_target_dependencies(${PROJECT_NAME}
# rclcpp
# pcl_conversions
# pcl_ros
# tf2_ros
# tf2_eigen
# visualization_msgs
# OpenCV
# )


# Libraries for interfacing with opencv and pcl
add_library(${PROJECT_NAME}_interfaces
src/interfaces/pcl_interface.cpp
src/interfaces/opencv_interface.cpp
)
add_dependencies(${PROJECT_NAME}_interfaces ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_interfaces
${PROJECT_NAME}
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
)
ament_target_dependencies(${PROJECT_NAME}_interfaces
rclcpp
pcl_conversions
pcl_ros
tf2_ros
tf2_eigen
visualization_msgs
OpenCV
)

# Simulated laser scanner library
add_library(${PROJECT_NAME}_sim_laser_scanner
src/${PROJECT_NAME}/sim_laser_scanner.cpp
)
add_dependencies(${PROJECT_NAME}_interfaces ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_sim_laser_scanner
${catkin_LIBRARIES}
${PROJECT_NAME}
${PROJECT_NAME}_interfaces
)
Expand All @@ -90,7 +91,6 @@ set_target_properties(${PROJECT_NAME}_test PROPERTIES OUTPUT_NAME depth_example
target_link_libraries(${PROJECT_NAME}_test
${PROJECT_NAME}
${PROJECT_NAME}_interfaces
${catkin_LIBRARIES}
)

# Example showing an orbiting camera
Expand All @@ -99,7 +99,6 @@ set_target_properties(${PROJECT_NAME}_orbit PROPERTIES OUTPUT_NAME orbit_example
target_link_libraries(${PROJECT_NAME}_orbit
${PROJECT_NAME}
${PROJECT_NAME}_interfaces
${catkin_LIBRARIES}
)

# Example showing orbiting camera with point cloud publishing in ROS
Expand All @@ -108,17 +107,16 @@ set_target_properties(${PROJECT_NAME}_ros_orbit PROPERTIES OUTPUT_NAME ros_examp
target_link_libraries(${PROJECT_NAME}_ros_orbit
${PROJECT_NAME}
${PROJECT_NAME}_interfaces
${catkin_LIBRARIES}
)

# Example showing sweeping laser scan with point cloud publishing in ROS
add_executable(${PROJECT_NAME}_laser_example src/laser_example.cpp)
set_target_properties(${PROJECT_NAME}_laser_example PROPERTIES OUTPUT_NAME laser_example PREFIX "")
target_link_libraries(${PROJECT_NAME}_laser_example
${PROJECT_NAME}_sim_laser_scanner
${catkin_LIBRARIES}
)

# Install targets
install(
TARGETS
${PROJECT_NAME}
Expand All @@ -128,23 +126,16 @@ install(
${PROJECT_NAME}_orbit
${PROJECT_NAME}_ros_orbit
${PROJECT_NAME}_laser_example
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
install(DIRECTORY include/
DESTINATION include/${PROJECT_NAME})

install(DIRECTORY launch test
DESTINATION share/${PROJECT_NAME}/
)

#############
## Testing ##
#############
#if(CATKIN_ENABLE_TESTING)
# find_package(rostest REQUIRED)
# catkin_add_gtest(utest_node test/utest.cpp)
# target_link_libraries(utest_node
# ${catkin_LIBRARIES}
# ${PROJECT_NAME}_sim_laser_scanner
# )
#endif()
ament_package()
4 changes: 2 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ This scene shows the classic Stanford Dragon seen by a depth camera orbiting aro

You can run this example in ROS by building this package in your workspace and running:
```
rosrun gl_depth_sim ros_example _mesh:=<PATH_TO_YOUR_MESH>
ros2 run gl_depth_sim ros_example _mesh:=<PATH_TO_YOUR_MESH>
```

You can also set the `_z` and `_radius` parameters.
Expand All @@ -37,7 +37,7 @@ Various properties of the laser scanner, such as minimum and maximum range and a

You can run this example in ROS by building this package in your workspace and running:
```
roslaunch gl_depth_sim laser_example.launch
ros2 launch gl_depth_sim laser_example.launch.py
```

## Usage
Expand Down
14 changes: 0 additions & 14 deletions launch/laser_example.launch
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This file was deleted.

48 changes: 48 additions & 0 deletions launch/laser_example.launch.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,48 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
import os
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
rviz_config = LaunchConfiguration('rviz_config')
mesh_filename = LaunchConfiguration('mesh_filename')

return LaunchDescription([
DeclareLaunchArgument(
'rviz_config',
default_value=os.path.join(
get_package_share_directory('gl_depth_sim'),
'launch', 'laser_example.rviz'
),
description='Path to the RViz config file'
),
DeclareLaunchArgument(
'mesh_filename',
default_value=os.path.join(
get_package_share_directory('gl_depth_sim'),
'test', 'stanford_dragon.stl'
),
description='Path to the mesh file'
),
Node(
package='gl_depth_sim',
executable='laser_example',
name='laser_example',
output='screen',
parameters=[{
'mesh_filename': mesh_filename,
'min_range': 0.1,
'max_range': 30.0,
'angular_resolution': 0.001
}]
),
Node(
package='rviz2',
executable='rviz2',
name='rviz',
output='screen',
arguments=['-d', rviz_config]
)
])
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