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First cut at ROS1-ROS2 hybrid
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‎.drone.yml‎

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‎.github/dependabot.yml‎

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version: 2
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updates:
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- package-ecosystem: github-actions
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directory: "/"
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schedule:
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interval: "weekly"

‎.github/mergify.yml‎

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pull_request_rules:
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- name: ask to resolve conflict
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conditions:
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- conflict
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- author!=mergify[bot]
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actions:
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comment:
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message: This pull request is in conflict. Could you fix it @{{author}}?
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- name: development targets main branch
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conditions:
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- base!=main
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- author!=mergify[bot]
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actions:
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comment:
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message: |
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Please target the `main` branch for development, we will backport the changes to {{base}} for you if approved and if they don't break API.

‎.github/workflows/ci.yaml‎

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name: ROS Industrial CI
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on:
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push:
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branches:
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- main
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pull_request:
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workflow_dispatch:
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jobs:
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industrial-ci:
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name: Run Industrial CI
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strategy:
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fail-fast: false
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matrix:
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ros_distro: ["noetic", "jazzy", "rolling"]
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: Run ROS Industrial CI
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uses: ros-industrial/industrial_ci@master
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environment:
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CI_ROS_DISTRO: ${{ matrix.ros_distro }}
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UPSTREAM_WORKSPACE: liboculus.repos

‎.github/workflows/format.yaml‎

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name: Formatting (pre-commit)
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on:
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pull_request:
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push:
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branches:
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- main
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workflow_dispatch:
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jobs:
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pre-commit:
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name: Format
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runs-on: ubuntu-latest
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Setup Python
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uses: actions/setup-python@v5
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with:
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python-version: "3.10"
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- name: Install clang-format-14
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run: sudo apt-get install clang-format-14
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- name: Run pre-commit
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uses: pre-commit/[email protected]
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id: precommit
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- name: Upload pre-commit changes
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if: failure() && steps.precommit.outcome == 'failure'
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uses: rhaschke/upload-git-patch-action@main
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with:
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name: pre-commit

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(liboculus)
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# == Code common to all builds =======================================
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list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
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if( FIPS_CONFIG AND NOT FIPS_IMPORT )
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get_filename_component(FIPS_ROOT_DIR "../fips" ABSOLUTE)
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include("${FIPS_ROOT_DIR}/cmake/fips.cmake")
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fips_setup()
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else()
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find_package(catkin QUIET)
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endif()
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# == Code common to all builds =======================================
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list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
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find_package( Boost REQUIRED COMPONENTS system )
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find_package(g3log REQUIRED)
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# Actually not using full SDK, just the header files
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# in thirdparty/Oculus
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#find_package( OculusSDK REQUIRED )
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find_package( Boost REQUIRED COMPONENTS system )
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find_package( g3log REQUIRED)
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if (FIPS_CONFIG)
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#== fips-specific section ==========================================
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add_compile_options(-std=c++17)
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@@ -47,8 +38,25 @@ if (FIPS_CONFIG)
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fips_finish()
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else()
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# == ament/ROS2 section =================================
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if(NOT FIPS_CONFIG)
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# ROS build, determine which version...
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find_package(ros_environment REQUIRED)
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set(ROS_VERSION $ENV{ROS_VERSION})
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set(oculus_SRCS
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lib/DataRx.cpp
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lib/SonarConfiguration.cpp
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lib/SonarStatus.cpp
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lib/StatusRx.cpp
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lib/SonarPlayer.cpp
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lib/OculusMessageHandler.cpp
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lib/SimpleFireMessage.cpp
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lib/IoServiceThread.cpp )
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if(${ROS_VERSION} EQUAL 2)
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# == ament/ROS2 section =================================
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find_package(ament_cmake REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system)
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find_package(g3log_ros REQUIRED)
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include_directories(
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include
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thirdparty
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${CMAKE_INSTALL_PREFIX}/include/g3log
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)
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set(oculus_SRCS
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lib/DataRx.cpp
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lib/SonarConfiguration.cpp
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lib/SonarStatus.cpp
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lib/StatusRx.cpp
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lib/SonarPlayer.cpp
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lib/OculusMessageHandler.cpp
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lib/SimpleFireMessage.cpp
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lib/IoServiceThread.cpp
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)
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add_library(oculus SHARED ${oculus_SRCS})
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target_link_libraries(oculus
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Boost::system
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g3log_ros::g3log_ros
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g3log
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g3log_ros::g3log
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)
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ament_target_dependencies(oculus Boost g3log_ros)
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install(
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TARGETS oculus
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EXPORT oculus
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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PATTERN ".git" EXCLUDE
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)
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ament_export_targets(oculus HAS_LIBRARY_TARGET)
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_include_directories(include)
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ament_export_libraries(oculus)
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ament_package()
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return()
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elseif(${ROS_VERSION} EQUAL 1)
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# Catkin/ROS1 section =====
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find_package( catkin REQUIRED COMPONENTS
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g3log_ros )
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find_package( Boost REQUIRED COMPONENTS system)
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catkin_package(
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CATKIN_DEPENDS g3log_ros
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INCLUDE_DIRS include thirdparty
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LIBRARIES liboculus
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)
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add_compile_options(-std=c++14)
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add_library(liboculus
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${oculus_SRCS})
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include_directories(liboculus
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include
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thirdparty
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${catkin_INCLUDE_DIRS}
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)
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target_link_libraries(liboculus
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${catkin_LIBRARIES}
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)
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install(TARGETS liboculus
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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## Install headers
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install(DIRECTORY include/${PROJECT_NAME}/ thirdparty/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.hpp" PATTERN "*.h"
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PATTERN ".git" EXCLUDE)
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if (CATKIN_ENABLE_TESTING)
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add_definitions(-DTEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/test/data")
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include_directories( test/data/ )
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file(GLOB oculus_test_SRCS
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test/unit/*cpp )
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catkin_add_gtest(oculus_test ${oculus_test_SRCS})
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target_link_libraries(oculus_test ${catkin_LIBRARIES}
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liboculus
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Boost::system )
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endif()
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else()
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message("Unsure what sort of build to do. Not in a FIPS, ROS1 or ROS2 environment")
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endif()
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endif()
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endif()

‎README.md‎

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- Decoding and parsing fields from the resulting ping messages from the sonar.
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- Loading and parsing sonar data recorded as either:
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- Raw streams of binary packets.
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- **Note:** This repo includes scaffold code for reading `.oculus` files saved from the Blueprint GUI, but that format is proprietary and undocumented **we cannot parse `.oculus` files.**
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- **Note:** This repo includes scaffold code for reading `.oculus` files saved from the Blueprint GUI, but that format is proprietary and undocumented. **We cannot parse `.oculus` files!!**
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The library contains no special provisions for *saving* sonar data,
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but it's straightforward to write packets as a raw binary stream
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This is a hybrid repository:
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* We primarily build using catkin, though there are no ROS dependencies in the code. We hope the code is still useful for others looking to talk to the Oculus.
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* We primarily build in ROS1 or ROS2, though there are no ROS dependencies in the code. We hope the code is still useful for others looking to talk to the Oculus. It is implemented as a hybrid package which should build successfully in either a ROS1 "catkin" or ROS2 "colcon" workspace.
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* Historically, the repo has also supported the [fips](http://floooh.github.io/fips/) C++ dependency management tool. To build with fips: `./fips build`
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The primary dependency is on [g3log](https://github.com/KjellKod/g3log).
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* If using catkin, there are two options:
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* If using ROS1 or ROS2, there are two options:
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* clone [g3log_ros](https://gitlab.com/apl-ocean-engineering/g3log_ros) into your workspace's `src/` directory
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* use the provided `liboculus.rosinstall` file: `cd <catkin_ws>/src`; `vcs import --input liboculus/liboculus.repos`
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* It will be handled automagically if using fips.
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This code is released under the [BSD 3-clause license](LICENSE).
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This repository contains one file provided by Blueprint as part of their free "Oculus Viewer" sample application ([thirdparty/Oculus/Oculus.h](thirdpart/Oculus/Oculus.h)), which describes their protocol and data formats. This file is distributed under [GPLv3](https://www.gnu.org/licenses/gpl-3.0.en.html).
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This repository contains one file provided by Blueprint as part of their free "Oculus Viewer" sample application: ([thirdparty/Oculus/Oculus.h](thirdpart/Oculus/Oculus.h)). It describes their protocol and data formats. This file is distributed under [GPLv3](https://www.gnu.org/licenses/gpl-3.0.en.html).

‎include/liboculus/DataRx.h‎

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}; // class DataRx
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template <typename FireMsg_t = OculusSimpleFireMessage2>
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template <typename FireMsg_t>
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void DataRx::sendSimpleFireMessage(const SonarConfiguration &config) {
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if (!isConnected()) {
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LOG(WARNING) << "Can't send to sonar, not connected";

‎liboculus.repos‎

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repositories:
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g3log_ros:
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type: git
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url: https://gitlab.com/apl-ocean-engineering/g3log_ros.git
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version: main

‎liboculus.rosinstall‎

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