Port stereo_image_proc to ROS 2

stereo_image_proc/CMakeLists.txt

@@ -1,57 +1,110 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.5)
 project(stereo_image_proc)
 
-find_package(catkin REQUIRED cv_bridge dynamic_reconfigure image_geometry image_proc image_transport message_filters nodelet sensor_msgs stereo_msgs)
-find_package(Boost REQUIRED COMPONENTS thread)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-if(cv_bridge_VERSION VERSION_GREATER "1.12.0")
-  add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Dynamic reconfigure support
-generate_dynamic_reconfigure_options(cfg/Disparity.cfg)
+find_package(cv_bridge REQUIRED)
+find_package(image_geometry REQUIRED)
+find_package(image_proc REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(message_filters REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(stereo_msgs REQUIRED)
 
-catkin_package(
-  CATKIN_DEPENDS image_geometry image_proc sensor_msgs stereo_msgs
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
+include_directories(
+  include
+  ${OpenCV_INCLUDE_DIRS}
 )
 
-include_directories(include)
-
-find_package(OpenCV REQUIRED)
-include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
-
 # See note in image_proc/CMakeLists.txt
-add_definitions(-DOPENCV_TRAITS_ENABLE_DEPRECATED)
+# add_definitions(-DOPENCV_TRAITS_ENABLE_DEPRECATED)
 
-# Nodelet library
-add_library(${PROJECT_NAME} src/libstereo_image_proc/processor.cpp src/nodelets/disparity.cpp src/nodelets/point_cloud2.cpp)
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}
-                                      ${OpenCV_LIBRARIES}
+add_library(${PROJECT_NAME} SHARED
+  src/${PROJECT_NAME}/stereo_processor.cpp
+  src/${PROJECT_NAME}/disparity_node.cpp
+  src/${PROJECT_NAME}/point_cloud_node.cpp
 )
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
-install(TARGETS ${PROJECT_NAME}
-        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+target_link_libraries(${PROJECT_NAME}
+  ${OpenCV_LIBRARIES}
 )
-install(FILES nodelet_plugins.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ament_target_dependencies(${PROJECT_NAME}
+  cv_bridge
+  image_geometry
+  image_proc
+  image_transport
+  message_filters
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  stereo_msgs
 )
 
-# Standalone node
-add_executable(stereoimageproc_exe src/nodes/stereo_image_proc.cpp)
-target_link_libraries(stereoimageproc_exe stereo_image_proc)
-SET_TARGET_PROPERTIES(stereoimageproc_exe PROPERTIES OUTPUT_NAME stereo_image_proc)
-install(TARGETS stereoimageproc_exe
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "stereo_image_proc::DisparityNode"
+  EXECUTABLE disparity_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "stereo_image_proc::PointCloudNode"
+  EXECUTABLE point_cloud_node
+)
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
-# install the launch file
 install(DIRECTORY launch
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
+  DESTINATION share/${PROJECT_NAME}
 )
 
-# install the include directory
-install(DIRECTORY include/${PROJECT_NAME}/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+install(DIRECTORY include/
+  DESTINATION include
 )
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(python_cmake_module REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
+
+  set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+  if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
+  endif()
+
+  # Test DisparityNode in launch test
+  add_launch_test("test/test_disparity_node.py"
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+  )
+  # TODO(jacobperron): As of Eloquent, they're just plain pytests
+  # ament_add_pytest_test("test_disparity_node" test/test_disparity_node.py
+  #   PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+  # )
+
+  # Test PointCloudNode in launch test
+  add_launch_test("test/test_point_cloud_node.py"
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+  )
+  # ament_add_pytest_test("test_point_cloud_node" test/test_point_cloud_node.py
+  #   PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+  # )
+
+  set(PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}")
+endif()
+
+ament_package()