Added camera component
This commit is contained in:
Roman Andrianov
parent
1177140a0c
commit
209e99a4b3
9 changed files with 168 additions and 8 deletions
68
env_components/camera_component/CMakeLists.txt
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68
env_components/camera_component/CMakeLists.txt
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@ -0,0 +1,68 @@
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cmake_minimum_required(VERSION 3.5)
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project(camera_component)
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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set(CMAKE_CXX_STANDARD_REQUIRED True)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_ros REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(ros_gz_bridge REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(env_manager REQUIRED)
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find_package(ignition-transport11 REQUIRED)
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set(GZ_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})
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find_package(ignition-msgs8 REQUIRED)
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set(GZ_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
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set(GZ_TARGET_PREFIX ignition)
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add_library(ign_camera_component SHARED
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src/ign_camera_component.cpp)
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target_compile_definitions(ign_camera_component
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PRIVATE "COMPOSITION_BUILDING_DLL")
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target_link_libraries(ign_camera_component
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${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
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${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
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)
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ament_target_dependencies(ign_camera_component
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"image_transport"
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"ros_gz_bridge"
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"rclcpp"
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"rclcpp_components"
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"sensor_msgs"
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"env_manager")
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rclcpp_components_register_nodes(ign_camera_component "camera_component::IgnCameraComponent")
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set(node_plugins "${node_plugins}camera_component::IgnCameraComponent;$<TARGET_FILE:camera_component>\n")
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install(TARGETS ign_camera_component
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DESTINATION lib)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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30
env_components/camera_component/package.xml
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30
env_components/camera_component/package.xml
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@ -0,0 +1,30 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>camera_component</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="rom.andrianov1984@gmail.com">splinter1984</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>pkg-config</buildtool_depend>
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<depend>image_transport</depend>
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<depend>ros_gz_bridge</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>sensor_msgs</depend>
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<depend>env_manager</depend>
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<depend condition="$GZ_VERSION == fortress or $IGNITION_VERSION == fortress">ignition-msgs8</depend>
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<depend condition="$GZ_VERSION == fortress or $IGNITION_VERSION == fortress">ignition-transport11</depend>
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<depend condition="$GZ_VERSION == '' and $IGNITION_VERSION == ''">ignition-msgs8</depend>
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<depend condition="$GZ_VERSION == '' and $IGNITION_VERSION == ''">ignition-transport11</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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42
env_components/camera_component/src/ign_camera_component.cpp
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42
env_components/camera_component/src/ign_camera_component.cpp
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@ -0,0 +1,42 @@
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#include <component_manager/publisher_component.hpp>
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#include <iostream>
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#include <memory>
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#include <string>
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#include <vector>
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#include <ignition/transport/Node.hh>
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#include <rclcpp/rclcpp.hpp>
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#include <image_transport/image_transport.hpp>
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#include <ros_gz_bridge/convert.hpp>
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#include <sensor_msgs/msg/image.hpp>
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namespace camera_component
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{
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class IgnCameraComponent: public env_manager::component_manager::PublisherComponent<sensor_msgs::msg::Image>
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{
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public:
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explicit IgnCameraComponent(const rclcpp::NodeOptions &options)
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: env_manager::component_manager::PublisherComponent<sensor_msgs::msg::Image>(options)
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{
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auto topic_name = "/camera";
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_ign_node = std::make_shared<ignition::transport::Node>();
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_ign_node->Subscribe(topic_name, &IgnCameraComponent::on_image, this);
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}
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private:
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void on_image(const ignition::msgs::Image& img)
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{
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sensor_msgs::msg::Image rimg;
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ros_gz_bridge::convert_gz_to_ros(img, rimg);
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populate_publication(rimg);
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}
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std::shared_ptr<ignition::transport::Node> _ign_node;
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};
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} // namespace pub_component
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#include "rclcpp_components/register_node_macro.hpp"
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RCLCPP_COMPONENTS_REGISTER_NODE(camera_component::IgnCameraComponent)
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@ -6,7 +6,7 @@ if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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@ -31,7 +31,7 @@ find_package(rcutils REQUIRED)
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find_package(glog 0.4.0 REQUIRED)
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find_package(Lua 5.3 REQUIRED)
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add_library(env_manager STATIC
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add_library(env_manager SHARED
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src/component_manager/component_manager.cpp
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src/config/config_file_resolver.cpp
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src/config/lua_file_resolver.cpp
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@ -79,7 +79,7 @@ ament_target_dependencies(
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rclcpp
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glog
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Lua
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)
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)
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install(DIRECTORY config DESTINATION config)
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@ -9,7 +9,7 @@ include "environments/ground_true.lua"
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-- env_manager configuration
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ENV_MANAGER = {
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environments = {
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SIMULATOR, GROUND_TRUE
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GROUND_TRUE
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},
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nodes = NODES
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}
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@ -2,6 +2,7 @@
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GROUND_TRUE = {
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namespace = "ground_true",
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components = {
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--[[
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talker_node = {
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lib = "libpub_component.so",
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class = "pub_component::Publisher",
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@ -9,6 +10,10 @@ GROUND_TRUE = {
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service_node = {
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lib = "libsrv_component.so",
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class = "srv_component::Service"
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}
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},]]--
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camera_node = {
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lib = "libign_camera_component.so",
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class = "camera_component::IgnCameraComponent"
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},
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}
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}
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@ -2,6 +2,7 @@
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SIMULATOR = {
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namespace = "simulator_env",
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components = {
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--[[
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talker_node = {
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lib = "libpub_component.so",
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class = "pub_component::Publisher",
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@ -9,6 +10,10 @@ SIMULATOR = {
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service_node = {
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lib = "libsrv_component.so",
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class = "srv_component::Service"
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}
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},]]--
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camera_node = {
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lib = "libign_camera_component.so",
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class = "camera_component::IgnCameraComponent"
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},
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}
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}
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@ -1,4 +1,5 @@
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NODES = {
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--[[
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talker_node = {
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name = "talker",
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type = "Publisher",
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@ -8,5 +9,10 @@ NODES = {
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name = "add_two_ints",
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type = "Service",
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msg_type = "example_interfaces/AddTwoInts"
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}
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},]]--
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camera_node = {
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name = "camera_node",
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type = "Publisher",
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msg_type = "sensor_msgs/Image"
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},
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}
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behavior_tree:
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type: git
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url: https://github.com/solid-sinusoid/behavior_tree.git
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version: master
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version: master
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ros_gz:
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type: git
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url: https://github.com/gazebosim/ros_gz.git
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version: humble
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