ROS2 Migration

.github/workflows/build_and_test.yml

@@ -0,0 +1,53 @@
+name: ROS2 CI
+
+on:
+  pull_request:
+    branches:
+      - 'ros2'
+
+jobs:
+  test_environment:
+    runs-on: [ubuntu-latest]
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - foxy
+          - galactic
+          - rolling
+        include:
+          # Foxy Fitzroy (June 2020 - May 2023)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
+            ros_distribution: foxy
+            ros_version: 2
+          # Galactic Geochelone (May 2021 - November 2022)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
+            ros_distribution: galactic
+            ros_version: 2
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 2
+
+      - name: Search packages in this repository
+        id: list_packages
+        run: |
+          echo ::set-output name=package_list::$(colcon list --names-only)
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.2
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          package-name: ${{ steps.list_packages.outputs.package_list }}
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: build_depends.repos

.github/workflows/industrial_ci_action.yml

@@ -1,29 +1,24 @@
-# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
-# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
-
-name: CI
-
-# This determines when this workflow is run
+name: Industrial-CI
 on: [push, pull_request] # on all pushes and PRs
 
 jobs:
   CI:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: kinetic}
-          - {ROS_DISTRO: kinetic, PRERELEASE: true}
-          - {ROS_DISTRO: melodic}
-          - {ROS_DISTRO: melodic, PRERELEASE: true}
-          - {ROS_DISTRO: noetic}
-          - {ROS_DISTRO: noetic, PRERELEASE: true}
-          - {ROS_DISTRO: noetic, OS_NAME: debian, OS_CODE_NAME: buster}
+          - {ROS_DISTRO: foxy}
+          - {ROS_DISTRO: galactic}
+          - {ROS_DISTRO: rolling}
+          - {ROS_DISTRO: foxy, PRERELEASE: true}
+          - {ROS_DISTRO: galactic, PRERELEASE: true}
+          - {ROS_DISTRO: rolling, PRERELEASE: true}
     env:
-      CCACHE_DIR: /github/home/.ccache # Enable ccache
-      PARALLEL_BUILDS: 4
+      CCACHE_DIR: /github/home/.ccache             # Enable ccache
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
+        with:
+          submodules: recursive
       # This step will fetch/store the directory used by ccache before/after the ci run
       - uses: actions/cache@v2
         with:

README.md

@@ -3,4 +3,4 @@ octomap_mapping ![CI](https://github.com/OctoMap/octomap_mapping/workflows/CI/ba
 
 ROS stack for mapping with OctoMap, contains the `octomap_server` package.
 
-The main branch for ROS Kinetic and newer is `kinetic-devel`.
+The main branch for ROS2 and newer is `ros2`.

build_depends.repos

@@ -0,0 +1,5 @@
+repositories:
+  octomap_ros:
+    type: git
+    url: https://github.com/OctoMap/octomap_ros.git
+    version: ros2

octomap_mapping/CMakeLists.txt

@@ -1,4 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(octomap_mapping)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

octomap_mapping/package.xml

@@ -1,21 +1,26 @@
-<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>octomap_mapping</name>
   <version>0.6.6</version>
   <description>
     Mapping tools to be used with the <a href="https://octomap.github.io/">OctoMap library</a>, implementing a 3D occupancy grid mapping.
   </description>
-  <author>Armin Hornung</author>
   <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
   <license>BSD</license>
-
   <url>http://ros.org/wiki/octomap_mapping</url>
   <url type="bugtracker">https://github.com/OctoMap/octomap_mapping/issues</url>
   <url type="repository">https://github.com/OctoMap/octomap_mapping</url>
+  <author>Armin Hornung</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>octomap_server</exec_depend>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <run_depend>octomap_server</run_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
   <export>
-    <metapackage/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

octomap_server/CMakeLists.txt

@@ -1,105 +1,120 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(octomap_server)
 
-set(PACKAGE_DEPENDENCIES
-  roscpp
-  visualization_msgs
-  sensor_msgs
-  pcl_ros
-  pcl_conversions
-  nav_msgs
-  std_msgs
-  std_srvs
-  octomap_ros
-  octomap_msgs
-  dynamic_reconfigure
-  nodelet
-)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(PCL REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
 
-find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
-find_package(octomap REQUIRED)
-add_definitions(-DOCTOMAP_NODEBUGOUT)
+ament_auto_add_library(octomap_server_static SHARED
+  src/octomap_server_static.cpp
+)
 
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${OCTOMAP_INCLUDE_DIRS}
+target_link_libraries(octomap_server_static
+  ${OCTOMAP_LIBRARIES}
+  ${PCL_LIBRARIES}
 )
 
-generate_dynamic_reconfigure_options(cfg/OctomapServer.cfg)
+rclcpp_components_register_node(octomap_server_static
+  PLUGIN "octomap_server::OctomapServerStatic"
+  EXECUTABLE octomap_server_static_node
+)
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS ${PACKAGE_DEPENDENCIES}
-  DEPENDS OCTOMAP
+ament_auto_add_library(octomap_server SHARED
+  src/octomap_server.cpp
 )
 
-set(LINK_LIBS
+target_link_libraries(octomap_server
   ${OCTOMAP_LIBRARIES}
-  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
 )
 
-add_library(${PROJECT_NAME} src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp)
-target_link_libraries(${PROJECT_NAME} ${LINK_LIBS})
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
+rclcpp_components_register_node(octomap_server
+  PLUGIN "octomap_server::OctomapServer"
+  EXECUTABLE octomap_server_node
+)
 
-add_library(${PROJECT_NAME}_color src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp)
-target_link_libraries(${PROJECT_NAME}_color ${LINK_LIBS})
-add_dependencies(${PROJECT_NAME}_color ${PROJECT_NAME}_gencfg)
-target_compile_definitions(${PROJECT_NAME}_color PUBLIC COLOR_OCTOMAP_SERVER)
+ament_auto_add_library(octomap_server_multilayer SHARED
+  src/octomap_server.cpp
+  src/octomap_server_multilayer.cpp
+)
 
-add_executable(octomap_server_node src/octomap_server_node.cpp)
-target_link_libraries(octomap_server_node ${PROJECT_NAME} ${LINK_LIBS})
+target_link_libraries(octomap_server_multilayer
+  ${OCTOMAP_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
 
-add_executable(octomap_color_server_node src/octomap_server_node.cpp)
-target_link_libraries(octomap_color_server_node ${PROJECT_NAME}_color ${LINK_LIBS})
+rclcpp_components_register_node(octomap_server_multilayer
+  PLUGIN "octomap_server::OctomapServerMultilayer"
+  EXECUTABLE octomap_server_multilayer_node
+)
 
-add_executable(octomap_server_static src/octomap_server_static.cpp)
-target_link_libraries(octomap_server_static ${PROJECT_NAME} ${LINK_LIBS})
+ament_auto_add_library(tracking_octomap_server SHARED
+  src/octomap_server.cpp
+  src/tracking_octomap_server.cpp
+)
 
-add_executable(octomap_server_multilayer src/octomap_server_multilayer.cpp)
-target_link_libraries(octomap_server_multilayer ${PROJECT_NAME} ${LINK_LIBS})
+target_link_libraries(tracking_octomap_server
+  ${OCTOMAP_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
 
-add_executable(octomap_saver src/octomap_saver.cpp)
-target_link_libraries(octomap_saver ${PROJECT_NAME} ${LINK_LIBS})
+rclcpp_components_register_node(tracking_octomap_server
+  PLUGIN "octomap_server::TrackingOctomapServer"
+  EXECUTABLE tracking_octomap_server_node
+)
 
-add_executable(octomap_tracking_server_node src/octomap_tracking_server_node.cpp)
-target_link_libraries(octomap_tracking_server_node ${PROJECT_NAME} ${LINK_LIBS})
+ament_auto_add_library(color_octomap_server SHARED
+  src/octomap_server.cpp
+)
 
-# Nodelet
-add_library(octomap_server_nodelet src/octomap_server_nodelet.cpp)
-target_link_libraries(octomap_server_nodelet ${PROJECT_NAME} ${LINK_LIBS})
+target_link_libraries(color_octomap_server
+  ${OCTOMAP_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
 
-add_library(octomap_color_server_nodelet src/octomap_server_nodelet.cpp)
-target_link_libraries(octomap_color_server_nodelet ${PROJECT_NAME}_color ${LINK_LIBS})
+rclcpp_components_register_node(color_octomap_server
+  PLUGIN "octomap_server::ColorOctomapServer"
+  EXECUTABLE color_octomap_server_node
+)
 
-# install targets:
-install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_color
-  octomap_server_node
-  octomap_color_server_node
-  octomap_server_static
-  octomap_server_multilayer
-  octomap_saver
-  octomap_tracking_server_node
-  octomap_server_nodelet
-  octomap_color_server_nodelet
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+target_compile_definitions(color_octomap_server PUBLIC COLOR_OCTOMAP_SERVER)
+
+ament_auto_add_library(octomap_saver SHARED
+  src/octomap_saver.cpp
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+target_link_libraries(octomap_saver
+  ${OCTOMAP_LIBRARIES}
 )
 
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+rclcpp_components_register_node(octomap_saver
+  PLUGIN "octomap_server::OctomapSaver"
+  EXECUTABLE octomap_saver_node
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+    launch
+    params
 )
 
-install(FILES 
-  nodelet_plugins.xml
-  color_nodelet_plugins.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(PROGRAMS
+  scripts/octomap_eraser_cli.py
+  DESTINATION lib/${PROJECT_NAME}
 )