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Port to ros2 #1

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414e891
port visionary ros1 driver to ros2
stffnb May 13, 2025
dd5eb72
add step-based acquisition
stffnb May 15, 2025
c5d5a6a
remove pcl dep
stffnb May 16, 2025
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92 changes: 38 additions & 54 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,78 +4,62 @@ project(sick_visionary_ros
VERSION 1.1.2
LANGUAGES CXX)

find_package(catkin REQUIRED COMPONENTS
cv_bridge
diagnostic_updater
pcl_conversions
pcl_ros
image_transport
roscpp
roslaunch
)

find_package(Boost REQUIRED COMPONENTS system)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
# find package for header message type
find_package(std_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(image_transport REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(diagnostic_updater REQUIRED)
find_package(OpenCV REQUIRED)
find_package(PCL 1.3 REQUIRED)

catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS pcl_conversions pcl_ros roscpp
)

### COMPILER FLAGS ###
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()

set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_FLAGS "-Wall -Wextra")
set(CMAKE_CXX_FLAGS_DEBUG "-g")
set(CMAKE_CXX_FLAGS_RELEASE "-O3")
find_package(Threads REQUIRED)
find_package(Boost 1.41 REQUIRED COMPONENTS thread system)

### BUILD ###
include_directories(
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
include
sick_visionary_cpp_shared
)

add_subdirectory(sick_visionary_cpp_shared)

add_executable(sick_visionary_t_mini_node src/visionary_t_mini.cpp)
add_executable(sick_visionary_s_node src/visionary_s.cpp)
## ignore visionary_s for ROS2 port

ament_target_dependencies(sick_visionary_t_mini_node
rclcpp
sensor_msgs
std_msgs
builtin_interfaces
image_transport
cv_bridge
diagnostic_updater
OpenCV)
# link against the local shared library built in sick_visionary_cpp_shared
target_link_libraries(sick_visionary_t_mini_node
sick_visionary_cpp_shared
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PCL_LIBRARY}
)

target_link_libraries(sick_visionary_s_node
sick_visionary_cpp_shared
${catkin_LIBRARIES}
${OpenCV_LIBS}
${PCL_LIBRARY}
Threads::Threads
Boost::thread
Boost::system
)

add_definitions(${PCL_DEFINITIONS})

### TEST ###
if(CATKIN_ENABLE_TESTING)
roslaunch_add_file_check(launch)
endif()
## skip visionary_s

### INSTALL ###
install(TARGETS sick_visionary_t_mini_node sick_visionary_s_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# install executable
install(TARGETS sick_visionary_t_mini_node
RUNTIME DESTINATION lib/${PROJECT_NAME})

install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
DESTINATION share/${PROJECT_NAME}/launch
)

install(FILES launch/sick_visionary-t_mini.launch
DESTINATION share/${PROJECT_NAME}/launch
RENAME sick_visionary-t_mini.launch.xml
)

# ament package directive
ament_package()
5 changes: 2 additions & 3 deletions launch/sick_visionary-t_mini.launch
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Original file line number Diff line number Diff line change
@@ -1,9 +1,8 @@
<!-- Entry point for using OpenNI devices -->
<launch>

<arg name="camera" default="sick_visionary_t_mini" />

<node pkg="sick_visionary_ros" type="sick_visionary_t_mini_node" name="$(arg camera)" output="screen">
<!-- ROS2 launch format -->
<node pkg="sick_visionary_ros" exec="sick_visionary_t_mini_node" name="sick_visionary_t_mini" output="screen">
<!-- IP address of the Visionary-T Mini device, default: 192.168.1.10 -->
<param name="remote_device_ip" value="192.168.1.10" />
<param name="frame_id" value="camera" />
Expand Down
31 changes: 10 additions & 21 deletions package.xml
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Original file line number Diff line number Diff line change
@@ -1,32 +1,21 @@
<?xml version="1.0"?>
<package format="2">
<package format="3">
<name>sick_visionary_ros</name>
<version>1.1.2</version>
<description>Open source drivers for the SICK Visionary-S 3D camera and Visionary-T Mini 3D-ToF camera.</description>
<description>Open source drivers for the SICK Visionary-T Mini 3D-ToF camera.</description>
<license>Unlicense</license>
<maintainer email="[email protected]">SICK AG TechSupport 3D Snapshot</maintainer>
<author email="[email protected]">SICK AG TechSupport 3D Snapshot</author>
<buildtool_depend>catkin</buildtool_depend>
<depend>libpcl-all-dev</depend>
<depend>pcl_conversions</depend>
<depend>pcl_ros</depend>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>sensor_msgs</depend>
<depend>std_msgs</depend>
<depend>builtin_interfaces</depend>
<depend>image_transport</depend>
<depend>cv_bridge</depend>
<depend>diagnostic_updater</depend>
<depend>image_transport</depend>
<depend>roscpp</depend>
<depend>roslaunch</depend>
<depend>sensor_msgs</depend>
<depend>libopencv-dev</depend>
<export>
<rosindex>
<tags>
<tag>SICK</tag>
<tag>Visionary-S</tag>
<tag>Visionary-T Mini</tag>
<tag>3D snapshot</tag>
<tag>3D vision</tag>
<tag>stereo</tag>
<tag>time-of-flight</tag>
</tags>
</rosindex>
<build_type>ament_cmake</build_type>
</export>
</package>
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