consai_visualizer_msgs->crane_visualization_interfaces (#661)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

consai_ros2/consai_visualizer/package.xml

@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>ament_index_python</exec_depend>
-  <exec_depend>consai_visualizer_msgs</exec_depend>
+  <exec_depend>crane_visualization_interfaces</exec_depend>
   <exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>rqt_gui</exec_depend>

consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py

@@ -19,9 +19,9 @@
 import math
 from typing import Dict
 
-from consai_visualizer_msgs.msg import Color as VisColor
-from consai_visualizer_msgs.msg import Objects as VisObjects
-from consai_visualizer_msgs.msg import (
+from crane_visualization_interfaces.msg import Color as VisColor
+from crane_visualization_interfaces.msg import Objects as VisObjects
+from crane_visualization_interfaces.msg import (
     ShapeAnnotation,
     ShapeArc,
     ShapeCircle,

consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py

@@ -24,8 +24,8 @@
 
 from ament_index_python.resources import get_resource
 from consai_visualizer.field_widget import FieldWidget
-from consai_visualizer_msgs.msg import ObjectsArray
 from crane_msgs.msg import PingStatusArray, RobotFeedbackArray
+from crane_visualization_interfaces.msg import ObjectsArray
 from python_qt_binding import loadUi
 from python_qt_binding.QtCore import QPointF, Qt, QTimer
 from python_qt_binding.QtWidgets import QTreeWidgetItem, QWidget

crane_game_analyzer/package.xml

@@ -10,9 +10,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>closest_point_vendor</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>

crane_local_planner/package.xml

@@ -11,9 +11,9 @@
 
   <depend>backward_ros</depend>
   <depend>closest_point_vendor</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>rvo2_vendor</depend>

crane_play_switcher/package.xml

@@ -9,9 +9,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>robocup_ssl_msgs</depend>

crane_robot_receiver/package.xml

@@ -10,9 +10,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>boost</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
 

crane_robot_skills/package.xml

@@ -10,11 +10,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>boost</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_basics</depend>
   <depend>crane_game_analyzer</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>magic_enum</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

crane_sender/package.xml

@@ -9,10 +9,10 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_basics</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>libboost-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

crane_simple_ai/package.xml

@@ -9,10 +9,10 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
   <depend>crane_robot_skills</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>

crane_visualization_interfaces/CMakeLists.txt

@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 3.8)
+project(crane_visualization_interfaces)
+
+# Default to C++20
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 20)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -g)
+endif()
+
+# find dependencies
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+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} ${PROJECT_NAME}_messages_gen)
+
+##　変換ライブラリ
+ament_auto_add_library(${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)
+
+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}/
+)
+
+ament_auto_package()

crane_visualization_interfaces/README.md

@@ -0,0 +1,6 @@
+# crane_visualization_interfaces
+
+Boston Dynamicsの`proto2ros`を使ってprotoファイルからROSメッセージと相互変換関数を生成するパッケージ
+
+生成されるメッセージの内容は以下とほぼ同じです。
+<https://github.com/SSL-Roots/consai_ros2/tree/main/consai_visualizer_msgs/msg>

crane_visualization_interfaces/include/crane_visualization_interfaces/manual_conversions.hpp

@@ -0,0 +1,12 @@
+// Copyright (c) 2024 ibis-ssl
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file or at
+// https://opensource.org/licenses/MIT.
+
+#ifndef CRANE_VISUALIZATION_INTERFACES__MANUAL_CONVERSIONS_HPP_
+#define CRANE_VISUALIZATION_INTERFACES__MANUAL_CONVERSIONS_HPP_
+
+// IMPLEMENT MANUAL CONVERSIONS HERE
+
+#endif  // CRANE_VISUALIZATION_INTERFACES__MANUAL_CONVERSIONS_HPP_

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

@@ -1,13 +1,14 @@
 <?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>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>builtin_interfaces</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;

consai_ros2/consai_visualizer_msgs/src/manual_conversions.cpp → crane_visualization_interfaces/src/manual_conversions.cpp

@@ -4,5 +4,6 @@
 // license that can be found in the LICENSE file or at
 // https://opensource.org/licenses/MIT.
 
-// NOTE: 名前もmanual_conversions.cppで固定
-#include <consai_visualizer_msgs/manual_conversions.hpp>
+#include <crane_visualization_interfaces/manual_conversions.hpp>
+
+// IMPLEMENT MANUAL CONVERSIONS HERE

crane_world_model_publisher/include/crane_world_model_publisher/visualization_data_handler.hpp

@@ -18,15 +18,15 @@
 #include <robocup_ssl_msgs/ssl_vision_geometry.pb.h>
 #include <robocup_ssl_msgs/ssl_vision_wrapper_tracked.pb.h>
 
-#include <consai_visualizer_msgs/msg/objects_array.hpp>
+#include <crane_visualization_interfaces/msg/objects_array.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <robocup_ssl_msgs/msg/referee.hpp>
 
 namespace crane
 {
 
-using VisualizerObjects = consai_visualizer_msgs::msg::Objects;
-using VisualizerObjectsArray = consai_visualizer_msgs::msg::ObjectsArray;
+using VisualizerObjects = crane_visualization_interfaces::msg::Objects;
+using VisualizerObjectsArray = crane_visualization_interfaces::msg::ObjectsArray;
 using Referee = robocup_ssl_msgs::msg::Referee;
 
 class VisualizationDataHandler