consai_visualizer_msgs->crane_visualization_interfaces

crane_visualization_interfaces/CMakeLists.txt

@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 3.8)
+project(crane_visualization_interfaces)
+
+add_compile_options(-g)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(proto2ros REQUIRED)
+
+find_package(Protobuf REQUIRED)
+
+add_subdirectory(proto)
+
+### proto -> ROS msg
+proto2ros_generate(
+    ${PROJECT_NAME}_messages_gen
+    PROTOS proto/ObjectsArray.proto
+    IMPORT_DIRS proto
+    INTERFACES_OUT_VAR ros_messages
+    PYTHON_OUT_VAR py_sources
+    CPP_OUT_VAR cpp_sources
+    INCLUDE_OUT_VAR cpp_include_dir
+    APPEND_PYTHONPATH "${CMAKE_CURRENT_BINARY_DIR}/proto"
+    DEPENDS ${PROJECT_NAME}_proto_gen
+)
+
+## ROS msg -> C++ / Python
+rosidl_generate_interfaces(
+    ${PROJECT_NAME} ${ros_messages}
+    DEPENDENCIES builtin_interfaces proto2ros
+)
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_messages_gen)
+
+##　変換ライブラリ
+add_library(${PROJECT_NAME}_conversions SHARED ${cpp_sources} src/manual_conversions.cpp)
+target_include_directories(${PROJECT_NAME}_conversions PUBLIC
+    "$<BUILD_INTERFACE:${cpp_include_dir}>"
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/proto>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
+rosidl_get_typesupport_target(${PROJECT_NAME}_cpp_msgs ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(${PROJECT_NAME}_conversions
+    ${${PROJECT_NAME}_cpp_msgs} ${PROJECT_NAME}_proto protobuf::libprotobuf)
+ament_target_dependencies(${PROJECT_NAME}_conversions
+    builtin_interfaces proto2ros rclcpp)
+
+rosidl_generated_python_package_add(
+    ${PROJECT_NAME}_additional_modules
+    MODULES ${proto_py_sources} ${py_sources}
+    PACKAGES ${PROJECT_NAME}
+    DESTINATION ${PROJECT_NAME}
+)
+
+# C++ファイルインストール
+set(cpp_headers ${cpp_sources} ${proto_cpp_sources})
+list(FILTER cpp_headers INCLUDE REGEX ".*\.(hpp|h)$")
+install(
+    FILES ${cpp_headers}
+    DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME}/
+)
+
+#install(
+#    FILES ${CMAKE_CURRENT_BINARY_DIR}/proto/ObjectsArray.pb.h
+#    DESTINATION include/${PROJECT_NAME}/
+#)
+
+# ライブラリインストール
+install(
+    TARGETS
+    ${PROJECT_NAME}_proto
+    ${PROJECT_NAME}_conversions
+    EXPORT ${PROJECT_NAME}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+)
+ament_export_dependencies(builtin_interfaces proto2ros rclcpp)
+ament_export_targets(${PROJECT_NAME})
+
+ament_package()

consai_ros2/consai_visualizer_msgs/package.xml → crane_visualization_interfaces/package.xml

@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>consai_visualizer_msgs</name>
+  <name>crane_visualization_interfaces</name>
   <version>0.1.0</version>
   <description>Message types for CON-SAI visualization</description>
-  <maintainer email="macakasit@gmail.com">shotaak</maintainer>
-  <license>Apache License 2.0</license>
+  <maintainer email="ibis.ssl.team@gmail.com">ibis-ssl</maintainer>
+  <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>

consai_ros2/consai_visualizer_msgs/proto/CMakeLists.txt → crane_visualization_interfaces/proto/CMakeLists.txt

@@ -1,26 +1,26 @@
 find_package(Protobuf REQUIRED)
 
 protobuf_generate(
-        LANGUAGE python
-        OUT_VAR proto_py_sources
-        PROTOS ObjectsArray.proto
+    LANGUAGE python
+    OUT_VAR proto_py_sources
+    PROTOS ObjectsArray.proto
 )
 
 protobuf_generate(
-        LANGUAGE cpp
-        OUT_VAR proto_cpp_sources
-        PROTOS ObjectsArray.proto
+    LANGUAGE cpp
+    OUT_VAR proto_cpp_sources
+    PROTOS ObjectsArray.proto
 )
 
-add_library(${PROJECT_NAME}_proto SHARED ${proto_cpp_sources} )
+add_library(${PROJECT_NAME}_proto SHARED ${proto_cpp_sources})
 #target_include_directories(${PROJECT_NAME}_proto PUBLIC "${CMAKE_CURRENT_BINARY_DIR}")
 target_compile_options(${PROJECT_NAME}_proto PUBLIC -Wno-deprecated-declarations)
 target_link_libraries(${PROJECT_NAME}_proto protobuf::libprotobuf)
 
 add_custom_target(
-        ${PROJECT_NAME}_proto_gen ALL DEPENDS
-        ${proto_py_sources}
-        ${proto_cpp_sources}
+    ${PROJECT_NAME}_proto_gen ALL DEPENDS
+    ${proto_py_sources}
+    ${proto_cpp_sources}
 )
 
 set(PROTO_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}" PARENT_SCOPE)

consai_ros2/consai_visualizer_msgs/proto/ObjectsArray.proto → crane_visualization_interfaces/proto/ObjectsArray.proto

@@ -1,3 +1,5 @@
+// This proto schema is based on https://github.com/SSL-Roots/consai_ros2/tree/main/consai_visualizer_msgs/msg
+
 syntax = "proto3";
 
 package visualizer;