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Component (Draft) #132

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f2d0080
marker_publisher: component implementation
mhubii Apr 4, 2024
0b175a0
register node macro
mhubii Apr 4, 2024
7d76b45
simple single component
mhubii Apr 8, 2024
aff4aa7
alphabetic order
mhubii Apr 8, 2024
46c45eb
consistent member names: '*_'
mhubii Apr 8, 2024
fd791a7
bump version 5.0.4 -> 5.1.0
mhubii Apr 8, 2024
7c43636
parameter callback handle
mhubii Apr 8, 2024
7f93e0b
improved logging and parameters
mhubii Apr 8, 2024
85d8696
revert to default
mhubii Apr 8, 2024
cbaa6fb
formatting variables
mhubii Apr 8, 2024
1fd796f
add camera info sub
mhubii Apr 8, 2024
33e99da
consistent member names: '*_'
mhubii Apr 9, 2024
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2 changes: 1 addition & 1 deletion aruco/package.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="3">
<name>aruco</name>
<version>5.0.4</version>
<version>5.1.0</version>
<description>
The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain).
It provides real-time marker based 3D pose estimation using AR markers.
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2 changes: 1 addition & 1 deletion aruco_msgs/package.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="3">
<name>aruco_msgs</name>
<version>5.0.4</version>
<version>5.1.0</version>
<description>The aruco_msgs package</description>
<maintainer email="[email protected]">Sai Kishor Kothakota</maintainer>
<author email="[email protected]">Bence Magyar</author>
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50 changes: 36 additions & 14 deletions aruco_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,12 @@ project(aruco_ros)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# compile release by default
if(NOT CMAKE_BUILD_TYPE)
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@mhubii mhubii Apr 4, 2024

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default Release compile

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@saikishor saikishor Apr 5, 2024

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Nice 👍
Good one

set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type." FORCE)
endif()

set(CMAKE_CXX_STANDARD 11) # C++11...
set(CMAKE_CXX_STANDARD_REQUIRED ON) #...is required...
set(CMAKE_CXX_EXTENSIONS ON) #...with compiler extensions like gnu++11
Expand All @@ -14,6 +20,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
geometry_msgs
image_transport
rclcpp
rclcpp_components
rclpy
tf2
tf2_ros
Expand Down Expand Up @@ -44,19 +51,25 @@ target_include_directories(aruco_ros_utils
ament_target_dependencies(aruco_ros_utils ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(aruco_ros_utils ${OpenCV_LIBRARIES})

add_executable(single src/simple_single.cpp
src/aruco_ros_utils.cpp)
add_library(single_component
SHARED
src/simple_single.cpp
src/aruco_ros_utils.cpp)

target_include_directories(single
target_include_directories(single_component
PUBLIC
include)

target_include_directories(single
target_include_directories(single_component
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
)
ament_target_dependencies(single ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(single ${OpenCV_LIBRARIES})
ament_target_dependencies(single_component ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(single_component ${OpenCV_LIBRARIES})

rclcpp_components_register_node(single_component
PLUGIN aruco_ros::ArUcoSimple
EXECUTABLE single)

add_executable(double src/simple_double.cpp
src/aruco_ros_utils.cpp)
Expand All @@ -71,18 +84,25 @@ target_include_directories(double
ament_target_dependencies(double ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(double ${OpenCV_LIBRARIES})

add_executable(marker_publisher src/marker_publish.cpp
src/aruco_ros_utils.cpp)
target_include_directories(marker_publisher
add_library(marker_publisher_component
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@mhubii mhubii Apr 4, 2024

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marker_publisher_component

SHARED
src/marker_publish.cpp
src/aruco_ros_utils.cpp)

target_include_directories(marker_publisher_component
PUBLIC
include)

target_include_directories(marker_publisher
target_include_directories(marker_publisher_component
SYSTEM PUBLIC
${OpenCV_INCLUDE_DIRS}
)
ament_target_dependencies(marker_publisher ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(marker_publisher ${OpenCV_LIBRARIES})
ament_target_dependencies(marker_publisher_component ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_link_libraries(marker_publisher_component ${OpenCV_LIBRARIES})

rclcpp_components_register_node(marker_publisher_component
PLUGIN aruco_ros::ArUcoMarkerPublisher
EXECUTABLE marker_publisher)
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@mhubii mhubii Apr 4, 2024

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executable to maintain current behavior

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@saikishor saikishor Apr 5, 2024

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Yes, better to maintain current behaviour


if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
Expand All @@ -102,8 +122,10 @@ install(TARGETS aruco_ros_utils
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)

install(TARGETS marker_publisher single double
DESTINATION lib/${PROJECT_NAME})
install(TARGETS marker_publisher_component single_component double
LIBRARY DESTINATION lib
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@mhubii mhubii Apr 4, 2024

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library installation

RUNTIME DESTINATION lib/${PROJECT_NAME})


install(DIRECTORY include/
DESTINATION include
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11 changes: 6 additions & 5 deletions aruco_ros/package.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="3">
<name>aruco_ros</name>
<version>5.0.4</version>
<version>5.1.0</version>
<description>
The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain).
It provides real-time marker based 3D pose estimation using AR markers.
Expand All @@ -16,16 +16,17 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>aruco</depend>
<depend>aruco_msgs</depend>
<depend>cv_bridge</depend>
<depend>geometry_msgs</depend>
<depend>image_transport</depend>
<depend>rclcpp</depend>
<depend>rclcpp_component</depend>
<depend>sensor_msgs</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>tf2_geometry_msgs</depend>
<depend>aruco</depend>
<depend>aruco_msgs</depend>
<depend>sensor_msgs</depend>
<depend>tf2_ros</depend>
<depend>visualization_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
Expand Down
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