migrate ros2 devel (#50)

* Initial port to ros 2. Separated messages into separate package (urg_node_msgs). Ported code to support ros 2. Created initial example launch file with ros 2 python format. Updated to use time to header stamp functions. Updated to cmake 3.5. Fixing many mistakes to allow driver to function. Removed creation of private node handle which is not allowed in ROS 2. Removed use of SyncParameterClient until all ROS 2 nodes are launched with a parameter server. Replace boost:: with std:: wherever possible. Signed-off-by: Karsten Knese <[email protected]> Co-authored-by: Brett <[email protected]> Co-authored-by: Gu, Chao Jie <[email protected]> Co-authored-by: Aarush Gupta <[email protected]> Co-authored-by: aswinthomas <[email protected]> Co-authored-by: Marc-Antoine Testier <[email protected]> Co-authored-by: Zoe <[email protected]> Co-authored-by: Chris Lalancette <[email protected]>
ros-drivers · Jan 22, 2020 · e33674b · e33674b
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diff --git a/.travis.yml b/.travis.yml
@@ -1,36 +1,13 @@
-# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
-# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
-sudo: required
-dist: trusty
 services:
   - docker
-language: generic
-compiler:
-  - gcc
-notifications:
-  email:
-    on_success: always
-    on_failure: always
-    recipients:
-      - [email protected]
-env:
-  matrix:
-    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-    - ROS_DISTRO="indigo" PRERELEASE=true
-    - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-    - ROS_DISTRO="kinetic"   PRERELEASE=true
-    - ROS_DISTRO="lunar"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - ROS_DISTRO="lunar"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-    - ROS_DISTRO="lunar"   PRERELEASE=true
-matrix:
-  allow_failures:
-    - env: ROS_DISTRO="indigo"  PRERELEASE=true  # Run docker-based ROS prerelease test http://wiki.ros.org/bloom/Tutorials/PrereleaseTest Because we might not want to run prerelease test for all PRs, it's omitted from pass-fail criteria.
-    - env: ROS_DISTRO="kinetic" PRERELEASE=true
-    - env: ROS_DISTRO="lunar"   PRERELEASE=true
+
 install:
-  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
-script:
-  - source .ci_config/travis.sh
-#  - source ./travis.sh  # Enable this when you have a package-local script
+  - git clone --quiet --depth 1 https://github.com/mikaelarguedas/ros2ci.git .ros2ci
+  - cp additional_repos.repos .ros2ci/
+
+matrix:
+  include:
+    - env: JOB_TYPE=dashing
+      script: .ros2ci/travis.bash $JOB_TYPE
+    - env: JOB_TYPE=eloquent
+      script: .ros2ci/travis.bash $JOB_TYPE
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,84 +1,96 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(urg_node)
 
-find_package(catkin REQUIRED COMPONENTS
-  diagnostic_updater dynamic_reconfigure laser_proc message_generation
-  nodelet rosconsole roscpp sensor_msgs std_msgs std_srvs tf urg_c
-)
-set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11")
+find_package(ament_cmake REQUIRED)
 
-# Dynamic reconfigure support
-generate_dynamic_reconfigure_options(cfg/URG.cfg)
+if(WIN32)
+  message(WARNING "${PROJECT_NAME} is currently not supported on Windows")
+  ament_package()
+  return()
+endif()
 
-add_message_files(FILES
-  Status.msg
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-generate_messages(
-  DEPENDENCIES std_msgs
+# we currently still rely on boost for its `crc` component
+# unfortunately, I haven't found a way to incorporate only crc
+# as a single components, hence including `thread` here.
+find_package(Boost COMPONENTS thread REQUIRED)
+find_package(diagnostic_updater REQUIRED)
+find_package(laser_proc REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(urg_c REQUIRED)
+find_package(urg_node_msgs REQUIRED)
+
+add_library(urg_node SHARED
+  src/urg_c_wrapper.cpp
+  src/urg_node.cpp
 )
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES urg_c_wrapper urg_node_driver
-  CATKIN_DEPENDS dynamic_reconfigure laser_proc message_runtime nodelet rosconsole
-  roscpp sensor_msgs std_msgs std_srvs urg_c
-  DEPENDS
+target_include_directories(urg_node
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${Boost_INCLUDE_DIR}
 )
+target_link_libraries(urg_node ${Boost_LIBRARIES})
+ament_target_dependencies(urg_node
+  diagnostic_updater
+  laser_proc
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  std_srvs
+  urg_c
+  urg_node_msgs
+)
+rclcpp_components_register_node(urg_node
+  PLUGIN "urg_node::UrgNode"
+  EXECUTABLE urg_node_driver)
 
+add_executable(getID src/get_id.cpp)
+target_link_libraries(getID urg_node)
 
-include_directories(include ${catkin_INCLUDE_DIRS})
-
-## Declare a cpp library
-add_library(urg_c_wrapper src/urg_c_wrapper.cpp)
-target_link_libraries(urg_c_wrapper ${catkin_LIBRARIES})
-
-# Declare the cpp as a lib also
-add_library(urg_node_driver src/urg_node_driver.cpp)
-add_dependencies(urg_node_driver ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_gencpp)
-target_link_libraries(urg_node_driver urg_c_wrapper ${catkin_LIBRARIES})
-
-## Declare a cpp executable
-add_executable(urg_node src/urg_node.cpp)
-target_link_libraries(urg_node urg_node_driver ${catkin_LIBRARIES})
-
-## Declare getID tool
-add_executable(getID src/getID.cpp)
-target_link_libraries(getID urg_c_wrapper ${catkin_LIBRARIES})
-
-## Mark executables and/or libraries for installation
-install(TARGETS urg_c_wrapper urg_node urg_node_driver getID
-   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS urg_node getID
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-install(
-  DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+install(DIRECTORY include/
+  DESTINATION include
 )
 
-## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
-   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-   FILES_MATCHING PATTERN "*.h"
-   PATTERN ".svn" EXCLUDE
+install(PROGRAMS scripts/set_urg_ip.py
+  DESTINATION lib/${PROJECT_NAME}
 )
 
-## Install script to set IP addresses
-install(PROGRAMS
-   scripts/set_urg_ip.py
-   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
 )
 
-if(CATKIN_ENABLE_TESTING)
-  find_package(roslint)
-  # Ignore long -> int32_t warning, urg_c driver uses
-  # long, etc. Wrapper must also use these
-  set(ROSLINT_CPP_OPTS "--filter=-runtime/references,-runtime/int")
-  roslint_cpp()
-  roslint_add_test()
-
-  find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(launch/urg_lidar.launch)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
 endif()
+
+ament_export_dependencies(urg_node_msgs)
+ament_export_dependencies(
+  diagnostic_updater
+  laser_proc
+  rclcpp
+  sensor_msgs
+  std_srvs
+  urg_c
+)
+ament_export_include_directories(include)
+ament_export_libraries(urg_node)
+ament_package()
diff --git a/README.md b/README.md
@@ -1,4 +1,130 @@
 urg_node
 ===================
 
-ROS wrapper for the Hokuyo urg_c library.
+#### LaserScan Visualization
+
+Until the launch API is sorted out, there are two ways to view the laserscan in RViz:
+
+1) use the static_transform_publisher tool from tf2_ros to publish a static transform for a fixed frame simultaneously with rviz and urg_node.
+
+```
+ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"
+```
+
+where "laser" is the frame id, which you can set in your urg_node yaml file
+
+2) Run the robot_state_publisher along with a urdf file so that a fixed frame can be loaded in rviz
+
+```
+ros2 run robot_state_publisher robot_state_publisher <path to urdf file>
+```
+
+A urdf file is already included and if you have succesfully ran an `colcon build`, the path to urdf file will be:
+
+```
+<path to ros2_ws>/install/share/urg_node/launch/hokuyo_laser.urdf
+```
+
+
+#### Parameters
+
+A YAML file example is included in the launch folder, all the available parameters are listed in it.
+For example (note that the serial_port is commented because you can't set a param with an empty string):
+
+```
+urg_node:
+  ros__parameters:
+    ip_address: "192.168.0.10"
+    ip_port: 10940
+    #serial_port: ""
+    serial_baud: 115200
+    laser_frame_id: laser
+    angle_max: 3.14
+    angle_min: -3.14
+    publish_intensity: false
+    publish_multiecho: false
+    calibrate_time: false
+    default_user_latency: 0
+    diagnostics_tolerance: 0.05
+    diagnostics_window_time: 5.0
+    error_limit: 4
+    get_detailed_status: false
+    cluster: 0
+    skip: 1
+```
+
+To give parameters to urg_node :
+
+```
+ros2 run urg_node urg_node __params:=path/to/my/file.yaml
+```
+
+You can reconfigure parameters while the node is launched.
+For now, you can only reconfigure the following parameters:
+
+```
+laser_frame_id
+error_limit
+default_user_latency
+angle_max
+angle_min
+cluster
+skip
+```
+
+For example to reconfigure the cluster parameter using command line :
+```
+ros2 param set /urg_node cluster 1
+```
+
+#### How to use the ust-20lx (and other ethernet based laser)
+
+To use ust-20lx, you need to be on the same subnet as the laser.
+The ust-20lx default ip is 192.168.0.10, so you might need to change your ip, for something on the same subnet.
+
+On Ubuntu :
+- go to the network settings
+- settings of the wired connection
+- under IPv4, change the IPv4 method from automatic to Manual and under Addresses, set the values:
+
+```
+    Address : 192.168.0.15
+    Netmask : 255.255.255.0
+    Gateway : 192.168.0.1
+```
+
+- Turn off and on the connection or wait a bit for the change to apply
+- To check if it worked, open a terminal and type
+
+```
+ifconfig
+```
+
+- Under eth0 (or maybe something like enpxxxxx), your IP should be 192.168.0.15.
+You should now be able to ping the ust-20lx at its address (by default 192.168.0.10)
+
+```
+ping 192.168.0.10
+```
+
+If you don't receive any answer, you might have a connection problem or the IP of your laser might have been change, either find it and go on the same subnet or reset it.
+
+- Once you can ping the laser, you can launch the urg_node:
+
+```
+ros2 run urg_node urg_node __params:=path/to/my/file.yaml
+```
+
+then the static publisher:
+
+```
+ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"
+```
+
+and rviz:
+
+```
+ros2 run rviz2 rviz2
+```
+
+Add the laserScan topic, change the frame on rviz from map to world and you should be able to see the laser.
diff --git a/additional_repos.repos b/additional_repos.repos
@@ -0,0 +1,13 @@
+repositories:
+  urg_node_msgs:
+    type: git
+    url: https://github.com/ros-drivers/urg_node_msgs.git
+    version: master
+  urg_c:
+    type: git
+    url: https://github.com/ros-drivers/urg_c.git
+    version: ros2-devel
+  laser_proc:
+    type: git
+    url: https://github.com/ros-perception/laser_proc.git
+    version: ros2-devel
diff --git a/cfg/URG.cfg b/cfg/URG.cfg