ROS CppStyleGuide formatting and catkin_lint fixes

CMakeLists.txt

@@ -1,16 +1,24 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(gpd_ros)
 
+add_compile_options(-std=c++14)
+
 ## 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 cmake_modules eigen_conversions message_generation roscpp rospy sensor_msgs std_msgs)
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  cmake_modules
+  eigen_conversions
+  geometry_msgs
+  message_generation
+  pcl_conversions
+  roscpp
+  sensor_msgs
+  std_msgs
+  visualization_msgs
+)
 
 # PCL
 find_package(PCL REQUIRED)
-include_directories(${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
 
 ## System dependencies are found with CMake's conventions
 find_library(GPD_LIB NAMES gpd PATHS /usr/local/lib PATH_SUFFIXES lib NO_DEFAULT_PATH)
@@ -22,11 +30,15 @@ endif()
 include_directories(${GPD_LIB_INCLUDE_DIR})
 message(STATUS "gpd_include_dir: ${GPD_LIB_INCLUDE_DIR}")
 
-set(CMAKE_CXX_FLAGS "-O3 -fopenmp -fPIC -Wno-deprecated -Wenum-compare -Wno-ignored-attributes -std=c++14")
-
 ## Generate messages in the 'msg' folder
-add_message_files(FILES CloudIndexed.msg CloudSamples.msg CloudSources.msg GraspConfig.msg GraspConfigList.msg
-  SamplesMsg.msg)
+add_message_files(FILES
+  CloudIndexed.msg
+  CloudSamples.msg
+  CloudSources.msg
+  GraspConfig.msg
+  GraspConfigList.msg
+  SamplesMsg.msg
+)
 
 ## Generate services in the 'srv' folder
 add_service_files(FILES detect_grasps.srv)
@@ -44,11 +56,22 @@ generate_messages(DEPENDENCIES geometry_msgs sensor_msgs std_msgs)
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-INCLUDE_DIRS include
-CATKIN_DEPENDS cmake_modules eigen_conversions geometry_msgs message_runtime roscpp sensor_msgs std_msgs
-DEPENDS PCL
-# CATKIN_DEPENDS cmake_modules eigen_conversions geometry_msgs message_runtime roscpp sensor_msgs std_msgs
-# DEPENDS Eigen OpenCV PCL
+  INCLUDE_DIRS include
+  LIBRARIES
+    ${PROJECT_NAME}_grasp_messages
+    ${PROJECT_NAME}_grasp_plotter
+  CATKIN_DEPENDS
+    cmake_modules
+    eigen_conversions
+    geometry_msgs
+    message_generation
+    message_runtime
+    pcl_conversions
+    roscpp
+    sensor_msgs
+    std_msgs
+    visualization_msgs
+  DEPENDS PCL
 )
 
 ###########
@@ -61,9 +84,11 @@ include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
 
 ## Declare a C++ library
 add_library(${PROJECT_NAME}_grasp_messages src/${PROJECT_NAME}/grasp_messages.cpp)
-add_dependencies(${PROJECT_NAME}_grasp_messages ${catkin_EXPORTED_TARGETS})
 add_library(${PROJECT_NAME}_grasp_plotter src/${PROJECT_NAME}/grasp_plotter.cpp)
 
+## Add cmake target dependencies of the library (message generation needs to be built before libraries)
+add_dependencies(${PROJECT_NAME}_grasp_messages ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
 ## Declare a C++ executable
 add_executable(${PROJECT_NAME}_detect_grasps src/gpd_ros/grasp_detection_node.cpp)
 add_executable(${PROJECT_NAME}_detect_grasps_server src/gpd_ros/grasp_detection_server.cpp)
@@ -91,3 +116,36 @@ target_link_libraries(${PROJECT_NAME}_grasp_plotter
 target_link_libraries(${PROJECT_NAME}_grasp_messages
                       ${GPD_LIB}
                       ${catkin_LIBRARIES})
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executables and/or libraries for installation
+install(TARGETS
+  ${PROJECT_NAME}_detect_grasps
+  ${PROJECT_NAME}_detect_grasps_server
+  ${PROJECT_NAME}_grasp_messages
+  ${PROJECT_NAME}_grasp_plotter
+
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN "*.git" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  PATTERN ".git" EXCLUDE
+)

include/gpd_ros/grasp_detection_node.h

@@ -75,21 +75,20 @@ typedef pcl::PointCloud<pcl::PointNormal> PointCloudPointNormal;
  * \brief A ROS node that can detect grasp poses in a point cloud.
  *
  * This class is a ROS node that handles all the ROS topics.
- *
-*/
+ */
 class GraspDetectionNode
 {
 public:
 
   /**
    * \brief Constructor.
    * \param node the ROS node
-  */
+   */
   GraspDetectionNode(ros::NodeHandle& node);
 
   /**
    * \brief Destructor.
-  */
+   */
   ~GraspDetectionNode()
   {
     delete cloud_camera_;
@@ -100,16 +99,15 @@ class GraspDetectionNode
 
   /**
    * \brief Run the ROS node. Loops while waiting for incoming ROS messages.
-  */
+   */
   void run();
 
   /**
    * \brief Detect grasp poses in a point cloud received from a ROS topic.
    * \return the list of grasp poses
-  */
+   */
   std::vector<std::unique_ptr<gpd::candidate::Hand>> detectGraspPoses();
 
-
 private:
 
   /**
@@ -118,25 +116,25 @@ class GraspDetectionNode
    * \param centroid the centroid of the ball
    * \param radius the radius of the ball
    * \return the indices of the points in the point cloud that lie within the ball
-  */
+   */
   std::vector<int> getSamplesInBall(const PointCloudRGBA::Ptr& cloud, const pcl::PointXYZRGBA& centroid, float radius);
 
   /**
    * \brief Callback function for the ROS topic that contains the input point cloud.
    * \param msg the incoming ROS message
-  */
+   */
   void cloud_callback(const sensor_msgs::PointCloud2& msg);
 
   /**
    * \brief Callback function for the ROS topic that contains the input point cloud and a list of indices.
    * \param msg the incoming ROS message
-  */
+   */
   void cloud_indexed_callback(const gpd_ros::CloudIndexed& msg);
 
   /**
    * \brief Callback function for the ROS topic that contains the input point cloud and a list of (x,y,z) samples.
    * \param msg the incoming ROS message
-  */
+   */
   void cloud_samples_callback(const gpd_ros::CloudSamples& msg);
 
   /**
@@ -148,7 +146,7 @@ class GraspDetectionNode
   /**
    * \brief Callback function for the ROS topic that contains the input samples.
    * \param msg the incoming ROS message
-  */
+   */
   void samples_callback(const gpd_ros::SamplesMsg& msg);
 
   Eigen::Matrix3Xd fillMatrixFromFile(const std::string& filename, int num_normals);
@@ -171,7 +169,7 @@ class GraspDetectionNode
   std::vector<double> workspace_; ///< workspace limits
 
   gpd::GraspDetector* grasp_detector_; ///< used to run the GPD algorithm
-//gpd::SequentialImportanceSampling* importance_sampling_; ///< sequential importance sampling variation of GPD algorithm
+//  gpd::SequentialImportanceSampling* importance_sampling_; ///< sequential importance sampling variation of GPD algorithm
   GraspPlotter* rviz_plotter_; ///< used to plot detected grasps in rviz
 
   /** constants for input point cloud types */

include/gpd_ros/grasp_detection_server.h

@@ -29,11 +29,9 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-
 #ifndef GRASP_DETECTION_SERVER_H_
 #define GRASP_DETECTION_SERVER_H_
 
-
 // ROS
 #include <eigen_conversions/eigen_msg.h>
 #include <pcl_conversions/pcl_conversions.h>
@@ -66,12 +64,12 @@ class GraspDetectionServer
   /**
    * \brief Constructor.
    * \param node the ROS node
-  */
+   */
   GraspDetectionServer(ros::NodeHandle& node);
 
   /**
    * \brief Destructor.
-  */
+   */
   ~GraspDetectionServer()
   {
     delete cloud_camera_;
@@ -86,7 +84,6 @@ class GraspDetectionServer
    */
   bool detectGrasps(gpd_ros::detect_grasps::Request& req, gpd_ros::detect_grasps::Response& res);
 
-
 private:
 
   ros::Publisher grasps_pub_; ///< ROS publisher for grasp list messages

include/gpd_ros/grasp_messages.h

@@ -41,9 +41,10 @@
 
 namespace GraspMessages
 {
-  gpd_ros::GraspConfigList createGraspListMsg(const std::vector<std::unique_ptr<gpd::candidate::Hand>>& hands, const std_msgs::Header& header);
+gpd_ros::GraspConfigList createGraspListMsg(const std::vector<std::unique_ptr<gpd::candidate::Hand>>& hands,
+                                            const std_msgs::Header& header);
 
-  gpd_ros::GraspConfig convertToGraspMsg(const gpd::candidate::Hand& hand);
-};
+gpd_ros::GraspConfig convertToGraspMsg(const gpd::candidate::Hand& hand);
+}
 
 #endif /* GRASP_MESSAGES_H_ */

include/gpd_ros/grasp_plotter.h

@@ -29,7 +29,6 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-
 #ifndef GRASP_PLOTTER_H_
 #define GRASP_PLOTTER_H_
 
@@ -43,13 +42,11 @@
 #include <gpd/candidate/hand.h>
 #include <gpd/candidate/hand_geometry.h>
 
-
 /** GraspPlotter class
  *
  * \brief Draw grasps in rviz.
  *
  * This class provides functions to draw grasps in rviz.
- *
  */
 class GraspPlotter
 {
@@ -58,7 +55,7 @@ class GraspPlotter
   /**
    * \brief Constructor.
    * \param node the ROS node
-  */
+   */
   GraspPlotter(ros::NodeHandle& node, const gpd::candidate::HandGeometry& params);
 
   /**
@@ -73,8 +70,8 @@ class GraspPlotter
    * \param hands list of grasps
    * \param frame_id the name of the frame that the grasp is in
    */
-  visualization_msgs::MarkerArray convertToVisualGraspMsg(const std::vector<std::unique_ptr<gpd::candidate::Hand>>& hands,
-    const std::string& frame_id);
+  visualization_msgs::MarkerArray convertToVisualGraspMsg(
+      const std::vector<std::unique_ptr<gpd::candidate::Hand>>& hands, const std::string& frame_id);
 
   /**
    * \brief Convert a list of grasps to a ROS message that can be published to rviz.
@@ -87,7 +84,7 @@ class GraspPlotter
    * \param frame_id the name of the frame that the grasp is in
    */
   visualization_msgs::Marker createFingerMarker(const Eigen::Vector3d& center, const Eigen::Matrix3d& rot,
-    const Eigen::Vector3d& lwh, int id, const std::string& frame_id);
+                                                const Eigen::Vector3d& lwh, int id, const std::string& frame_id);
 
   /**
    * \brief Convert a list of grasps to a ROS message that can be published to rviz.
@@ -96,8 +93,8 @@ class GraspPlotter
    * \param frame_id the name of the frame that the grasp is in
    */
   visualization_msgs::Marker createHandBaseMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end,
-    const Eigen::Matrix3d& frame, double length, double height, int id, const std::string& frame_id);
-
+                                                  const Eigen::Matrix3d& frame, double length, double height, int id,
+                                                  const std::string& frame_id);
 
 private:
 

launch/ur5.launch

@@ -2,9 +2,7 @@
   <node name="detect_grasps" pkg="gpd_ros" type="detect_grasps" output="screen">
 
     <!-- If sequential importance sampling is used (default: false) -->
-<!--
-    <param name="use_importance_sampling" value="false" />
--->
+    <!-- <param name="use_importance_sampling" value="false" /> -->
 
     <!-- What type of point cloud is used and what ROS topic it comes from -->
     <param name="cloud_type" value="2" /> <!-- 0: PointCloud2, 1: CloudIndexed, 2: CloudSamples -->
@@ -18,7 +16,5 @@
     <param name="config_file" value="/home/ur5/projects/gpd/cfg/ros_vino_params.cfg" />
 
     <param name="rviz_topic" value="plot_grasps" />
-
   </node>
-
 </launch>