Remove ROS

Removal of all ROS related stuff from the PCL

Work in progress

Issues

• https://github.com/PointCloudLibrary/pcl/pull/164 (replaces https://github.com/PointCloudLibrary/pcl/pull/110)
• https://github.com/ros-perception/perception_pcl/issues/21

ROS conversions

• https://github.com/ros-perception/pcl_conversions

3rd Party conversion

TODO: Add rename from/toROSMSg and conversions.h move

To help with the migration process, you can use the following interactive script. Replace DIFF_CMD and EDIT_CMD with your favorite diff and editing tools, and run

./remove_ros_3rdparty.sh path/to/my/project

This will only modify files once you've explicitly accepted the diffs with "(y)". Til then, the proposed changes are stored in .tomerge files. To break out of this, simply Ctrl+C and run

find path/to/my/project -name "*.tomerge" | xargs rm

remove_ros_3rdparty.sh

#!/bin/bash
if [ -z "$1" ]; then
  echo "Usage: $0 path/to/project/directory"
  exit 1
fi
PROJECT_ROOT=$1
DIFF_CMD="diff" #input your favorite diff viewer. Examples:
#DIFF_CMD="colordiff" 
#DIFF_CMD="git diff --color-words --no-index"
EDIT_CMD="vim" #input your favorite editor

# Use sed to find and replace classes and namespaces
#Namespaces
PATTERNS="sensor_msgs:pcl std_msgs:pcl"
#Classes
PATTERNS="${PATTERNS} PointField:PCLPointField PointCloud2:PCLPointCloud2 Image:PCLImage Header:PCLHeader"
#Functions
PATTERNS="${PATTERNS} toROSMsg:toPCLPointCloud2 fromROSMsg:fromPCLPointCloud2"
#Moved files
PATTERNS="${PATTERNS} pcl\/ros\/conversions.h:pcl\/conversions.h"

CFILES=`find ${PROJECT_ROOT} -regextype posix-egrep -regex '.*\.h$|.*\.hpp$|.*\.c$|.*\.cpp$'`

for PATTERN in $PATTERNS; do
  OLD=`echo ${PATTERN} | sed "s/:.*//g"`
  NEW=`echo ${PATTERN} | sed "s/.*://g"`_CHANGEDWITHSED
  echo "Going from ${OLD} to ${NEW}"
  FILES=`grep -l ${OLD} ${CFILES} | grep -v build`
  for f in ${FILES}; do
    echo "Replacing ${OLD} to ${NEW} in ${f}"
    tmpfile=${f}.tomerge
    if [ ! -e ${tmpfile} ]; then
      cp ${f} ${tmpfile}
    fi
    sed -i "s/${OLD}/${NEW}/g" ${tmpfile}
    sed -i "s/\([a-zA-Z0-9_]\)${NEW}/\\1${OLD}/g" ${tmpfile} #fix broken prefixes
    sed -i "s/${NEW}\([a-zA-Z0-9_]\)/${OLD}\\1/g" ${tmpfile} #fix broken suffixes
    sed -i "s/_CHANGEDWITHSED//g" ${tmpfile}
  done
done
# View all proposed changes
for tmpfile in `find ${PROJECT_ROOT} -name "*.tomerge"`; do
  f=${tmpfile%.tomerge}
  if [ `diff ${f} ${tmpfile} | wc -l` -gt 0 ]; then
    while [ 1 ]; do
      echo ${DIFF_CMD} ${f} ${tmpfile}
      ${DIFF_CMD} ${f} ${tmpfile}
      echo -n "Hit (y) to accept, (n) to reject, (e) to edit, (m) to mark for later: "
      read -n 1 answer
      echo
      if [ "$answer" == "y" ]; then
        mv ${tmpfile} ${f}
        echo MERGED
        break;
      elif [ "$answer" == "n" ]; then
        echo IGNORED
        break;
      elif [ "$answer" == "m" ]; then
        mv ${tmpfile} ${f}.toreview
        echo Proposed change saved to ${f}.toreview
        break;
      elif [ "$answer" == "e" ]; then
        ${EDIT_CMD} ${tmpfile}
      else
        echo "Not a valid option: " $answer
      fi
    done
  fi
  rm -f ${tmpfile}
done