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: ""

.github/workflows/industrial_ci_action.yml

@@ -1,22 +1,17 @@
-# 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: melodic}
-          - {ROS_DISTRO: noetic}
-          - {ROS_DISTRO: kinetic, PRERELEASE: true}
-          - {ROS_DISTRO: melodic, PRERELEASE: true}
-          - {ROS_DISTRO: noetic, PRERELEASE: true}
+          - {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
     runs-on: ubuntu-latest

CMakeLists.txt

@@ -1,68 +1,66 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5z)
 project(octomap_rviz_plugins)
 
-find_package(catkin REQUIRED COMPONENTS octomap_msgs
-                                        roscpp
-                                        rviz
-                                        
-)
-
-find_package(octomap REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread )
+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(Qt5 COMPONENTS Core Widgets REQUIRED)
-set(QT_LIBRARIES Qt5::Widgets)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
+find_package(Qt5 REQUIRED COMPONENTS Widgets)
 set(CMAKE_AUTOMOC ON)
 
-add_definitions(-DQT_NO_KEYWORDS)
-
-catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS octomap_msgs
-                   roscpp
-                   rviz
-    DEPENDS OCTOMAP
+set(octomap_rviz_plugins_headers_to_moc
+  include/octomap_rviz_plugins/occupancy_grid_display.hpp
+  include/octomap_rviz_plugins/occupancy_map_display.hpp
 )
-
-
-include_directories(include 
-                    ${catkin_INCLUDE_DIRS} 
-                    ${Boost_INCLUDE_DIRS} 
-                    ${OCTOMAP_INCLUDE_DIRS})
-
-link_directories(${catkin_LIBRARY_DIRS}
-                 ${Boost_LIBRARY_DIRS}
-                 ${OCTOMAP_LIBRARY_DIRS}) 
 
+foreach(header "${octomap_rviz_plugins_headers_to_moc}")
+  qt5_wrap_cpp(octomap_rviz_plugins_moc_files "${header}")
+endforeach()
 
-set(SOURCE_FILES
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  ${octomap_rviz_plugins_moc_files}
   src/occupancy_grid_display.cpp
-  src/occupancy_map_display.cpp 
+  src/occupancy_map_display.cpp
 )
 
-set(HEADER_FILES
-  include/octomap_rviz_plugins/occupancy_grid_display.h
-  include/octomap_rviz_plugins/occupancy_map_display.h
+target_link_libraries(${PROJECT_NAME}
+  Qt5::Widgets
+  ${OCTOMAP_LIBRARIES}
 )
 
-add_library(${PROJECT_NAME} MODULE ${SOURCE_FILES} ${HEADER_FILES})
-target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${Boost_LIBRARIES} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
-target_compile_options(${PROJECT_NAME} PUBLIC "-Wno-register") # Avoid OGRE deprecaton warnings under C++17
-
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+target_include_directories(${PROJECT_NAME} PUBLIC
+  ${Qt5Widgets_INCLUDE_DIRS}
 )
 
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "OCTOMAP_RVIZ_PLUGINS_BUILDING_LIBRARY")
+
+# Check version of rclcpp to switch between features (message_lost_callback):
+#  - Foxy is on rclcpp 2.x
+#  - Galactic is on rclcpp 9.x
+#  - Rolling (currently) is on rclcpp 14.x
+if(${rclcpp_VERSION_MAJOR} VERSION_LESS "3.0.0")
+  target_compile_definitions(${PROJECT_NAME} PRIVATE "FOXY")
+endif()
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
-install(FILES plugin_description.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ament_auto_package(
+  INSTALL_TO_SHARE
+    icons
 )
 
 

CONTRIBUTING.md

@@ -0,0 +1,18 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
+
+~~~
+1. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

LICENSE

@@ -0,0 +1,30 @@
+BSD 3-Clause License
+
+Copyright (c) 2013, Willow Garage, Inc.
+Copyright (c) 2018, Bosch Software Innovations GmbH.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.