Add Basic ROS2 Support

.clang-format

@@ -51,7 +51,7 @@ SpaceAfterCStyleCast: false
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
+BraceWrapping:
     AfterClass: 'true'
     AfterControlStatement: 'true'
     AfterEnum : 'true'
@@ -62,5 +62,4 @@ BraceWrapping: {
     BeforeCatch : 'true'
     BeforeElse : 'true'
     IndentBraces : 'false'
-}
 ...

.github/workflows/format.yaml

@@ -0,0 +1,17 @@
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - ros2
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/[email protected]

.gitignore

@@ -1,3 +1,8 @@
 *.bin
 *.ppm
 *.bag
+
+# Ignore build artifacts
+build/*
+install/*
+log/*

.pre-commit-config.yaml

@@ -0,0 +1,72 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-yaml
+        args: ["--unsafe"] # Fixes errors parsing custom YAML constructors like ur_description's !degrees
+        exclude: 'src/moveit_studio_web/pnpm-lock.yaml'
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: fix-byte-order-marker
+
+  - repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+      - id: black
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.0.0
+    hooks:
+      - id: codespell
+        args: ["--write-changes", "-L", "atleast,inout,ether"] # Provide a comma-separated list of misspelled words that codespell should ignore (for example: '-L', 'word1,word2,word3').
+        exclude: (\.(svg|pyc|stl|dae|asc)|pnpm-lock.yaml)$
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+      - id: clang-format
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|m|proto|vert)$
+        # -i arg is included by default by the hook
+        args: ["-fallback-style=none"]
+
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.27.1
+    hooks:
+      - id: yamllint
+        args:
+          [
+            "--no-warnings",
+            "--config-data",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}}}",
+          ]
+        types: [text]
+        files: \.(yml|yaml)$
+        exclude: 'src/moveit_studio_web/pnpm-lock.yaml'
+
+  - repo: https://github.com/tcort/markdown-link-check
+    rev: v3.10.3
+    hooks:
+      - id: markdown-link-check
+        args:
+          - "-c"
+          - "markdown-link-check-config.json"

CMakeLists.txt

@@ -1,60 +1,90 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.14)
 
 project(kinova_vision)
 
-# System Dependencies
-find_package(PkgConfig)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
 
-pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0)
-pkg_check_modules(GST_APP REQUIRED gstreamer-app-1.0)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra)
+endif()
 
-# Use Catkin
-find_package(catkin REQUIRED
-  COMPONENTS roscpp image_transport sensor_msgs nodelet
-  camera_calibration_parsers camera_info_manager tf
-  )
+# Ament System Dependencies
+find_package(ament_cmake REQUIRED)
+find_package(camera_calibration_parsers REQUIRED)
+find_package(camera_info_manager REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES KinovaVision
-  CATKIN_DEPENDS roscpp nodelet image_transport sensor_msgs
- camera_calibration_parsers camera_info_manager
-  DEPENDS GSTREAMER GST_APP
-  )
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  ament_cmake
+  camera_calibration_parsers
+  camera_info_manager
+  cv_bridge
+  image_transport
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  tf2
+  tf2_ros
+)
 
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${GLIB_INCLUDE_DIRS}
-  ${GST_APP_INCLUDE_DIRS})
-
-add_library(KinovaVision src/vision.cpp)
-target_link_libraries(KinovaVision
-  ${catkin_LIBRARIES}
-  ${GSTREAMER_LIBRARIES}
-  ${GST_APP_LIBRARIES})
-
-add_executable(KinovaVision_node src/vision_node.cpp)
-target_link_libraries(KinovaVision_node KinovaVision
-  ${catkin_LIBRARIES}
-  ${GSTREAMER_LIBRARIES}
-  ${GST_APP_LIBRARIES})
-set_target_properties(KinovaVision_node PROPERTIES OUTPUT_NAME kinova_vision)
+# Other Dependencies
+find_package(PkgConfig)
+pkg_check_modules(GSTREAMER REQUIRED
+  gstreamer-1.0
+  gstreamer-app-1.0
+)
+
+# Define targets
+include_directories(include)
+include_directories(${GSTREAMER_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME} SHARED src/vision.cpp)
+ament_target_dependencies(${PROJECT_NAME}
+  ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(${PROJECT_NAME}
+  "${GSTREAMER_LIBRARIES}")
+
+add_executable(${PROJECT_NAME}_node src/vision_node.cpp)
+ament_target_dependencies(${PROJECT_NAME}_node
+  ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME})
 
 # Install directives
-install(TARGETS KinovaVision KinovaVision_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS ${PROJECT_NAME} 
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib
 )
 
-install(DIRECTORY include/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  PATTERN ".svn" EXCLUDE)
+install(TARGETS ${PROJECT_NAME}_node
+  ARCHIVE DESTINATION lib/${PROJECT_NAME}
+  LIBRARY DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
 
-install(DIRECTORY launch/calibration
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-  FILES_MATCHING PATTERN "*.ini"
-  )
+# Include additional settings if needed
+set(CMAKE_CXX_FLAGS "-fpermissive")
 
-set(CMAKE_CXX_FLAGS "-fpermissive")
+## EXPORTS
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+ament_export_dependencies(
+)
+ament_package()