From bd4ceb5613a514760989cf5c158c7e759a0a8d67 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Tue, 9 Apr 2024 11:09:29 +0200 Subject: [PATCH 1/3] Add geo_map_msgs for custom messages (#62) * Encapsulate grid_map_geo package * Add gridmap geo messages * Ported to ROS 2 --- CMakeLists.txt => grid_map_geo/CMakeLists.txt | 0 .../include}/grid_map_geo/grid_map_geo.hpp | 0 .../include}/grid_map_geo/transform.hpp | 0 .../launch}/load_multiple_tif_launch.xml | 0 .../launch}/load_tif.launch.py | 0 .../launch}/load_tif_launch.xml | 0 package.xml => grid_map_geo/package.xml | 0 .../resources}/.gitkeep | 0 {rviz => grid_map_geo/rviz}/config.rviz | 0 {rviz => grid_map_geo/rviz}/multi_config.rviz | 0 {src => grid_map_geo/src}/grid_map_geo.cpp | 0 {src => grid_map_geo/src}/test_tif_loader.cpp | 0 {src => grid_map_geo/src}/transform.cpp | 0 .../test}/export/CMakeLists.txt | 0 {test => grid_map_geo/test}/export/main.cpp | 0 .../test}/unit/CMakeLists.txt | 0 {test => grid_map_geo/test}/unit/main.cpp | 0 .../test}/unit/test_grid_map_geo.cpp | 0 grid_map_geo_msgs/CMakeLists.txt | 15 +++++++++++ grid_map_geo_msgs/include/dummy | 0 grid_map_geo_msgs/msg/GeographicMapInfo.msg | 26 +++++++++++++++++++ grid_map_geo_msgs/package.xml | 23 ++++++++++++++++ 22 files changed, 64 insertions(+) rename CMakeLists.txt => grid_map_geo/CMakeLists.txt (100%) rename {include => grid_map_geo/include}/grid_map_geo/grid_map_geo.hpp (100%) rename {include => grid_map_geo/include}/grid_map_geo/transform.hpp (100%) rename {launch => grid_map_geo/launch}/load_multiple_tif_launch.xml (100%) rename {launch => grid_map_geo/launch}/load_tif.launch.py (100%) rename {launch => grid_map_geo/launch}/load_tif_launch.xml (100%) rename package.xml => grid_map_geo/package.xml (100%) rename {resources => grid_map_geo/resources}/.gitkeep (100%) rename {rviz => grid_map_geo/rviz}/config.rviz (100%) rename {rviz => grid_map_geo/rviz}/multi_config.rviz (100%) rename {src => grid_map_geo/src}/grid_map_geo.cpp (100%) rename {src => grid_map_geo/src}/test_tif_loader.cpp (100%) rename {src => grid_map_geo/src}/transform.cpp (100%) rename {test => grid_map_geo/test}/export/CMakeLists.txt (100%) rename {test => grid_map_geo/test}/export/main.cpp (100%) rename {test => grid_map_geo/test}/unit/CMakeLists.txt (100%) rename {test => grid_map_geo/test}/unit/main.cpp (100%) rename {test => grid_map_geo/test}/unit/test_grid_map_geo.cpp (100%) create mode 100644 grid_map_geo_msgs/CMakeLists.txt create mode 100644 grid_map_geo_msgs/include/dummy create mode 100644 grid_map_geo_msgs/msg/GeographicMapInfo.msg create mode 100644 grid_map_geo_msgs/package.xml diff --git a/CMakeLists.txt b/grid_map_geo/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to grid_map_geo/CMakeLists.txt diff --git a/include/grid_map_geo/grid_map_geo.hpp b/grid_map_geo/include/grid_map_geo/grid_map_geo.hpp similarity index 100% rename from include/grid_map_geo/grid_map_geo.hpp rename to grid_map_geo/include/grid_map_geo/grid_map_geo.hpp diff --git a/include/grid_map_geo/transform.hpp b/grid_map_geo/include/grid_map_geo/transform.hpp similarity index 100% rename from include/grid_map_geo/transform.hpp rename to grid_map_geo/include/grid_map_geo/transform.hpp diff --git a/launch/load_multiple_tif_launch.xml b/grid_map_geo/launch/load_multiple_tif_launch.xml similarity index 100% rename from launch/load_multiple_tif_launch.xml rename to grid_map_geo/launch/load_multiple_tif_launch.xml diff --git a/launch/load_tif.launch.py b/grid_map_geo/launch/load_tif.launch.py similarity index 100% rename from launch/load_tif.launch.py rename to grid_map_geo/launch/load_tif.launch.py diff --git a/launch/load_tif_launch.xml b/grid_map_geo/launch/load_tif_launch.xml similarity index 100% rename from launch/load_tif_launch.xml rename to grid_map_geo/launch/load_tif_launch.xml diff --git a/package.xml b/grid_map_geo/package.xml similarity index 100% rename from package.xml rename to grid_map_geo/package.xml diff --git a/resources/.gitkeep b/grid_map_geo/resources/.gitkeep similarity index 100% rename from resources/.gitkeep rename to grid_map_geo/resources/.gitkeep diff --git a/rviz/config.rviz b/grid_map_geo/rviz/config.rviz similarity index 100% rename from rviz/config.rviz rename to grid_map_geo/rviz/config.rviz diff --git a/rviz/multi_config.rviz b/grid_map_geo/rviz/multi_config.rviz similarity index 100% rename from rviz/multi_config.rviz rename to grid_map_geo/rviz/multi_config.rviz diff --git a/src/grid_map_geo.cpp b/grid_map_geo/src/grid_map_geo.cpp similarity index 100% rename from src/grid_map_geo.cpp rename to grid_map_geo/src/grid_map_geo.cpp diff --git a/src/test_tif_loader.cpp b/grid_map_geo/src/test_tif_loader.cpp similarity index 100% rename from src/test_tif_loader.cpp rename to grid_map_geo/src/test_tif_loader.cpp diff --git a/src/transform.cpp b/grid_map_geo/src/transform.cpp similarity index 100% rename from src/transform.cpp rename to grid_map_geo/src/transform.cpp diff --git a/test/export/CMakeLists.txt b/grid_map_geo/test/export/CMakeLists.txt similarity index 100% rename from test/export/CMakeLists.txt rename to grid_map_geo/test/export/CMakeLists.txt diff --git a/test/export/main.cpp b/grid_map_geo/test/export/main.cpp similarity index 100% rename from test/export/main.cpp rename to grid_map_geo/test/export/main.cpp diff --git a/test/unit/CMakeLists.txt b/grid_map_geo/test/unit/CMakeLists.txt similarity index 100% rename from test/unit/CMakeLists.txt rename to grid_map_geo/test/unit/CMakeLists.txt diff --git a/test/unit/main.cpp b/grid_map_geo/test/unit/main.cpp similarity index 100% rename from test/unit/main.cpp rename to grid_map_geo/test/unit/main.cpp diff --git a/test/unit/test_grid_map_geo.cpp b/grid_map_geo/test/unit/test_grid_map_geo.cpp similarity index 100% rename from test/unit/test_grid_map_geo.cpp rename to grid_map_geo/test/unit/test_grid_map_geo.cpp diff --git a/grid_map_geo_msgs/CMakeLists.txt b/grid_map_geo_msgs/CMakeLists.txt new file mode 100644 index 0000000..1b754df --- /dev/null +++ b/grid_map_geo_msgs/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.5) +project(grid_map_geo_msgs) + +find_package(ament_cmake REQUIRED) +find_package(std_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/GeographicMapInfo.msg" + DEPENDENCIES std_msgs +) + +ament_export_dependencies(rosidl_default_runtime) + +ament_package() diff --git a/grid_map_geo_msgs/include/dummy b/grid_map_geo_msgs/include/dummy new file mode 100644 index 0000000..e69de29 diff --git a/grid_map_geo_msgs/msg/GeographicMapInfo.msg b/grid_map_geo_msgs/msg/GeographicMapInfo.msg new file mode 100644 index 0000000..6bad139 --- /dev/null +++ b/grid_map_geo_msgs/msg/GeographicMapInfo.msg @@ -0,0 +1,26 @@ +# Geomap Message +# + +std_msgs/Header header + + +# ESPG of the coordinate the map is in +uint16 geo_coordinate + +# Size of the map in pixels +uint16 width +uint16 height + + +# Resolution of the map +float64 x_resolution +float64 y_resolution + +# x value in the specified geocoordinate system +float64 origin_x + +# y value in the specified geocoordinate system +float64 origin_y + +# Altitude in the specified vertical datum +float64 origin_altitude diff --git a/grid_map_geo_msgs/package.xml b/grid_map_geo_msgs/package.xml new file mode 100644 index 0000000..efe8784 --- /dev/null +++ b/grid_map_geo_msgs/package.xml @@ -0,0 +1,23 @@ + + + + grid_map_geo_msgs + 0.0.1 + + geomap_msgs includes the definition for custom services and messages for the grid_map_geo package. + + + Jaeyoung Lim + BSD + + ament_cmake + + std_msgs + rosidl_default_generators + + rosidl_interface_packages + + + ament_cmake + + From e6e01097a51bd8a71d35d115057fb9aa094d0354 Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Thu, 28 Nov 2024 23:36:07 -0700 Subject: [PATCH 2/3] Remove dummy include folder Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- grid_map_geo_msgs/include/dummy | 0 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 grid_map_geo_msgs/include/dummy diff --git a/grid_map_geo_msgs/include/dummy b/grid_map_geo_msgs/include/dummy deleted file mode 100644 index e69de29..0000000 From 2d28f2bbeeb0020e354a33ed23c8c83845ab87cd Mon Sep 17 00:00:00 2001 From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> Date: Thu, 28 Nov 2024 23:42:04 -0700 Subject: [PATCH 3/3] Make CI build all packages and handle moved tests Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com> --- .github/workflows/build_test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml index 173351b..0ff1b89 100644 --- a/.github/workflows/build_test.yml +++ b/.github/workflows/build_test.yml @@ -30,13 +30,13 @@ jobs: - name: Colcon Build (Release) run: | source /opt/ros/${{matrix.config.rosdistro}}/setup.bash - colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to grid_map_geo + colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release shell: bash - name: Verify Export run: | source /opt/ros/${{matrix.config.rosdistro}}/setup.bash source install/setup.bash - cd src/grid_map_geo/test/export + cd src/grid_map_geo/grid_map_geo/test/export colcon build ./build/grid_map_export_test/main shell: bash