ros2: updates to cmake and launch files to support build on macOS

Port to ROS 2

Signed-off-by: Ryan Friedman <[email protected]>

Get launch file running aside from resources

* Update docs
* Remove ROS1 cruft

Signed-off-by: Ryan Friedman <[email protected]>

- update gdal include path if __APPLE__
- consolidate cmake files and install executable
- update rviz to rviz2 in launch file
- add arguments and rename python launch file
- link directory workaround for yaml-cpp on aarch64.
- update launch files to use correct param name for tif_color_path.
- CMakeLists.txt improvements.
- remove target_include_directories for test_tif_loader.
- add dependency on yaml_cpp_vendor.
- restore namespace to tif_loader node in launch file.
- exclude executable from target exports and fix header install directory.

Signed-off-by: Rhys Mainwaring <[email protected]>

Co-authored-by: Ryan Friedman <[email protected]>
Co-authored-by: Rhys Mainwaring <[email protected]>

Author: 2 people

CMakeLists.txt

@@ -15,54 +15,91 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(GDAL 3 REQUIRED)
 find_package(ament_cmake REQUIRED)
+find_package(grid_map_msgs REQUIRED)
 find_package(grid_map_ros REQUIRED)
 find_package(grid_map_core REQUIRED)
+find_package(rclcpp REQUIRED)
+
 find_package(Eigen3 REQUIRED)
+find_package(GDAL 3 REQUIRED)
 
-add_library(${PROJECT_NAME})
-add_subdirectory(src)
-
-target_include_directories(${PROJECT_NAME}
-    PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-)
+find_package(yaml_cpp_vendor REQUIRED)
+link_directories(${yaml_cpp_vendor_LIBRARY_DIRS})
 
 # Reverse compatability for GDAL<3.5
 # https://gdal.org/development/cmake.html
 if(NOT TARGET GDAL::GDAL)
-    add_library(GDAL::GDAL ALIAS ${GDAL_LIBRARY})
+  add_library(GDAL::GDAL ALIAS ${GDAL_LIBRARY})
 endif()
 
-target_link_libraries(${PROJECT_NAME} Eigen3::Eigen GDAL::GDAL grid_map_core::grid_map_core)
+# Build
+add_library(${PROJECT_NAME}
+  src/grid_map_geo.cpp
+)
+
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
 
-ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
-ament_export_dependencies(GDAL)
+target_link_libraries(${PROJECT_NAME} Eigen3::Eigen GDAL::GDAL)
+
+ament_target_dependencies(${PROJECT_NAME} SYSTEM
+  grid_map_core
+  grid_map_ros
+)
+
+add_executable(test_tif_loader
+  src/test_tif_loader.cpp
+)
+
+target_link_libraries(test_tif_loader
+  ${PROJECT_NAME}
+)
 
+# Install
 install(
   DIRECTORY include/
-  DESTINATION include
+  DESTINATION include/${PROJECT_NAME}
 )
 
-install(DIRECTORY
-  launch
-  DESTINATION share/${PROJECT_NAME}/
+install(
+  TARGETS
+  ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib/${PROJECT_NAME}
+  LIBRARY DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin/${PROJECT_NAME}
 )
 
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(GDAL)
+
+# NOTE: if RUNTIME DESTINATION is set to bin/${PROJECT_NAME} the executable
+# is not found by ros2 launch:
+# 
+# Caught exception in launch (see debug for traceback): executable
+# 'test_tif_loader' not found on the libexec directory 
+# '<ws_path>/ros2-aerial/install/grid_map_geo/lib/grid_map_geo'
 install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT ${PROJECT_NAME}Targets
-  LIBRARY DESTINATION lib
-  ARCHIVE DESTINATION lib
-  RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
+  TARGETS
+  test_tif_loader
+  ARCHIVE DESTINATION lib/${PROJECT_NAME}
+  LIBRARY DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
 )
 
+# Test
 include(CTest)
 if(BUILD_TESTING)
-    add_subdirectory(test)
+  add_subdirectory(test)
 endif()
 
 ament_package()

include/grid_map_geo/grid_map_geo.hpp

@@ -39,11 +39,20 @@
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_core/iterators/GridMapIterator.hpp>
 
+#if __APPLE__
+#include <cpl_string.h>
+#include <gdal.h>
+#include <gdal_priv.h>
+#include <ogr_p.h>
+#include <ogr_spatialref.h>
+#else
 #include <gdal/cpl_string.h>
 #include <gdal/gdal.h>
 #include <gdal/gdal_priv.h>
 #include <gdal/ogr_p.h>
 #include <gdal/ogr_spatialref.h>
+#endif
+
 #include <iostream>
 struct Location {
   ESPG espg{ESPG::WGS84};

include/grid_map_geo/transform.hpp

@@ -34,10 +34,17 @@
 #ifndef GRID_MAP_GEO_TRANSFORM_H
 #define GRID_MAP_GEO_TRANSFORM_H
 
+#if __APPLE__
+#include <gdal.h>
+#include <gdal_priv.h>
+#include <ogr_p.h>
+#include <ogr_spatialref.h>
+#else
 #include <gdal/gdal.h>
 #include <gdal/gdal_priv.h>
 #include <gdal/ogr_p.h>
 #include <gdal/ogr_spatialref.h>
+#endif
 
 #include <Eigen/Dense>
 

launch/load_tif.launch.py

@@ -0,0 +1,84 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    """Generate a launch description."""
+
+    pkg_grid_map_geo = get_package_share_directory("grid_map_geo")
+
+    # static transform node
+    static_transform_publisher = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        name="world_map",
+        arguments=[
+            "--frame-id",
+            "world",
+            "--child-frame-id",
+            "map",
+        ],
+    )
+
+    # tif loader node
+    tif_loader = Node(
+        package="grid_map_geo",
+        namespace="grid_map_geo",
+        executable="test_tif_loader",
+        name="tif_loader",
+        parameters=[
+            {"tif_path": LaunchConfiguration("tif_path")},
+            {"tif_color_path": LaunchConfiguration("tif_color_path")},
+        ],
+        output="screen",
+        emulate_tty=True,
+    )
+
+    # rviz node
+    rviz = Node(
+        package="rviz2",
+        executable="rviz2",
+        arguments=["-d", os.path.join(pkg_grid_map_geo, "launch", "config.rviz")],
+        condition=IfCondition(LaunchConfiguration("rviz")),
+    )
+
+    default_location = "sargans"
+    default_tif_file = "sargans.tif"
+    default_tif_color_file = "sargans_color.tif"
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                "rviz", default_value="true", description="Open RViz."
+            ),
+            DeclareLaunchArgument(
+                "location",
+                default_value=default_location,
+                description="Location.",
+            ),
+            DeclareLaunchArgument(
+                "tif_path",
+                default_value=os.path.join(
+                    pkg_grid_map_geo, "resources", default_tif_file
+                ),
+                description="Full path to the elevation map file.",
+            ),
+            DeclareLaunchArgument(
+                "tif_color_path",
+                default_value=os.path.join(
+                    pkg_grid_map_geo, "resources", default_tif_color_file
+                ),
+                description="Full path to the elevation texture file.",
+            ),
+            static_transform_publisher,
+            tif_loader,
+            rviz,
+        ]
+    )

launch/load_tif_launch.xml

@@ -1,14 +1,14 @@
 <launch>
-    <arg name="visualization" default="true"/>
+    <arg name="rviz" default="true"/>
     <arg name="location" default="sargans"/>
     <node pkg="tf2_ros" exec="static_transform_publisher" name="world_map" args="--frame-id world --child-frame-id map"/>
 
     <node pkg="grid_map_geo" exec="test_tif_loader" name="test_tif_loader" output="screen">
-        <param name="tif_path" value="$(find-pkg-share grid_map_geo)/resources/sertig.tif"/>
-        <param name="color_path" value="$(find-pkg-share grid_map_geo)/resources/sertig_color.tif"/>
+        <param name="tif_path" value="$(find-pkg-share grid_map_geo)/resources/sargans.tif"/>
+        <param name="tif_color_path" value="$(find-pkg-share grid_map_geo)/resources/sargans_color.tif"/>
     </node>
 
-    <group if="$(var visualization)">
-        <node exec="rviz" name="rviz" pkg="rviz"  args="-d $(find-pkg-share grid_map_geo)/launch/config.rviz" />
+    <group if="$(var rviz)">
+        <node exec="rviz2" name="rviz2" pkg="rviz2"  args="-d $(find-pkg-share grid_map_geo)/launch/config.rviz" />
     </group>
 </launch>

launch/run.launch.py

@@ -18,6 +18,7 @@
   <depend>grid_map_ros</depend>
   <depend>libgdal-dev</depend>
   <depend>rclcpp</depend>
+  <depend>yaml_cpp_vendor</depend>
   <exec_depend>ros2launch</exec_depend>
 
   <export>

package.xml

@@ -55,6 +55,9 @@ class MapPublisher : public rclcpp::Node {
       std::string file_path = this->declare_parameter("tif_path", ".");
       std::string color_path = this->declare_parameter("tif_color_path", ".");
 
+      RCLCPP_INFO_STREAM(get_logger(), "file_path " << file_path);
+      RCLCPP_INFO_STREAM(get_logger(), "color_path " << color_path);
+
       map_ = std::make_shared<GridMapGeo>();
       map_->Load(file_path, false, color_path);
       timer_ = this->create_wall_timer(5s, std::bind(&MapPublisher::timer_callback, this));

src/CMakeLists.txt

@@ -1,13 +1,12 @@
 # Add gtest based cpp test target and link libraries
 find_package(ament_cmake_gtest)
 ament_add_gtest(${PROJECT_NAME}-test 
-    main.cpp
-    test_grid_map_geo.cpp
+  main.cpp
+  test_grid_map_geo.cpp
 )
 
-
 target_link_libraries(${PROJECT_NAME}-test
-    ${PROJECT_NAME}
-        # ${YAML_CPP_LIBRARIES}
-        # ${GDAL_LIBRARY}
+  ${PROJECT_NAME}
+  # ${YAML_CPP_LIBRARIES}
+  # ${GDAL_LIBRARY}
 )