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Port stereo_image_proc to ROS 2 #486

Merged
merged 21 commits into from
Dec 17, 2019
Merged

Port stereo_image_proc to ROS 2 #486

merged 21 commits into from
Dec 17, 2019

Commits on Dec 17, 2019

  1. Rename source files 

    More descriptive names that will match the classes contained inside.
Also moved all source files associated with the library into a directory of the same name.

Signed-off-by: Jacob Perron <[email protected]>
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  2. Get stereo_image_proc compiling with ROS 2 

    Made some minimum changes required for compilation. Not feature-complete yet.

Signed-off-by: Jacob Perron <[email protected]>
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  3. Add launch test for disparity node 

    The test simply checks if the disparity node publishes to the expected topic when it received input.
Made some fixes added to CMakeLists.txt to get node to run probably and pass the test.

Signed-off-by: Jacob Perron <[email protected]>
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  4. Add launch test for PointCloudNode 

    Similar to the test for the disparity node.
Fix bug in PointCloudNode.

Signed-off-by: Jacob Perron <[email protected]>
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  5. Remove unused files 

    Signed-off-by: Jacob Perron <[email protected]>
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  6. Add Python launch file 

    Replaces the old ROS 1 XML launch file.

Signed-off-by: Jacob Perron <[email protected]>
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  7. Remove standalone executable 

    This form of manual composition seems redundant to me and can be done with a launch file.
The only thing it appeared to add was the 'advertisement checker', which was not ported.

If there is strong objection to removing this executable, we can add it back.

Signed-off-by: Jacob Perron <[email protected]>
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  8. Add linter tests and lint 

    There are a few cases where we discard the const-qualifier for the image data.
This happens because OpenCV won't accend const pointers to data.
Rather than changing the API, I've introduced a const_cast instead.

Signed-off-by: Jacob Perron <[email protected]>
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  9. Remove OpenCV 2 support 

    Signed-off-by: Jacob Perron <[email protected]>
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  10. Expand macros 

    Signed-off-by: Jacob Perron <[email protected]>
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  11. Enable uncrustify test 

    Fix lint error.

Signed-off-by: Jacob Perron <[email protected]>
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  12. Remove dead code and add TODO 

    The code removed was never being used.
Added a TODO regarding the use of an unset variable. This has been here since the ROS 1 implementation,
I'm not sure what the logic is intended to do so I've left it for now.

Signed-off-by: Jacob Perron <[email protected]>
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  13. Update package.xml version 

    Signed-off-by: Jacob Perron <[email protected]>
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  14. Minor refactor 

    Signed-off-by: Jacob Perron <[email protected]>
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  15. Fix typo 

    Signed-off-by: Jacob Perron <[email protected]>
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  16. Minor: update include syntax and order for consistency 

    Signed-off-by: Jacob Perron <[email protected]>
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  17. Fix rosdep key typo 

    Signed-off-by: Jacob Perron <[email protected]>
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  18. Move inline implementation into class 

    Save on some vertical space.

Signed-off-by: Jacob Perron <[email protected]>
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  19. Avoid extra computation if there are no matching subscriptions 

    Remove commented code related to subscriber status since this may look different in ROS 2.

Signed-off-by: Jacob Perron <[email protected]>
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  20. Refactor tests for compatbility with Dashing 

    Now the launch tests should work for both Dashing and Eloquent.
I left some TODO's where we can simplify once we diverge from Dashing.

Signed-off-by: Jacob Perron <[email protected]>
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  21. Use default context 

    Signed-off-by: Jacob Perron <[email protected]>
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