Port to ROS2

Signed-off-by: Francisco Martin Rico <[email protected]>

Author: fmrico

darknet_ros/CMakeLists.txt

@@ -1,9 +1,8 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.5)
 project(darknet_ros)
 
-# Set c++11 cmake flags
-set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
-set(CMAKE_C_FLAGS "-Wall -Wno-unused-result -Wno-unknown-pragmas -Wno-unused-variable -Wfatal-errors -fPIC ${CMAKE_C_FLAGS}")
+set(CMAKE_CXX_STANDARD 17)
+
 
 # Define path of darknet folder here.
 find_path(DARKNET_PATH
@@ -45,46 +44,40 @@ if ( X11_FOUND )
 endif ( X11_FOUND )
 
 # Find rquired packeges
-find_package(Boost REQUIRED COMPONENTS thread)
 find_package(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})
-find_package(catkin REQUIRED
-  COMPONENTS
-    cv_bridge
-    roscpp
-    rospy
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(darknet_ros_msgs REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+
+set(dependencies
+    rclcpp
+    rclpy
+    rclcpp_action
     std_msgs
-    actionlib
-    darknet_ros_msgs
     image_transport
+    cv_bridge
+    sensor_msgs
+    darknet_ros_msgs
+    ament_index_cpp
 )
 
 # Enable OPENCV in darknet
 add_definitions(-DOPENCV)
 add_definitions(-O4 -g)
 
-catkin_package(
-  INCLUDE_DIRS
-    include
-  LIBRARIES
-    ${PROJECT_NAME}_lib
-  CATKIN_DEPENDS
-    cv_bridge
-    roscpp
-    actionlib
-    rospy
-    std_msgs
-    darknet_ros_msgs
-    image_transport
-  DEPENDS
-    Boost
-)
-
 include_directories(
   ${DARKNET_PATH}/src
   ${DARKNET_PATH}/include
   include
-  ${Boost_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -145,6 +138,8 @@ if (CUDA_FOUND)
     ${PROJECT_LIB_FILES} ${DARKNET_CORE_FILES}
     ${DARKNET_CUDA_FILES}
   )
+  
+  ament_target_dependencies(${PROJECT_NAME}_lib ${dependencies})
 
   target_link_libraries(${PROJECT_NAME}_lib
     cuda
@@ -156,24 +151,27 @@ if (CUDA_FOUND)
   cuda_add_executable(${PROJECT_NAME}
     src/yolo_object_detector_node.cpp
   )
+  
+  ament_target_dependencies(${PROJECT_NAME} ${dependencies})
 
 else()
 
   add_library(${PROJECT_NAME}_lib
     ${PROJECT_LIB_FILES} ${DARKNET_CORE_FILES}
   )
+  ament_target_dependencies(${PROJECT_NAME}_lib ${dependencies})
 
   add_executable(${PROJECT_NAME}
     src/yolo_object_detector_node.cpp
   )
+  ament_target_dependencies(${PROJECT_NAME} ${dependencies})
 
 endif()
 
 target_link_libraries(${PROJECT_NAME}_lib
   m
   pthread
   stdc++
-  ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${catkin_LIBRARIES}
   ${OpenCV_LIBS}
@@ -183,23 +181,17 @@ target_link_libraries(${PROJECT_NAME}
   ${PROJECT_NAME}_lib
 )
 
-add_dependencies(${PROJECT_NAME}_lib
-  darknet_ros_msgs_generate_messages_cpp
-)
 
-install(TARGETS ${PROJECT_NAME}_lib
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-install(TARGETS ${PROJECT_NAME}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
 
 install(
-  DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DIRECTORY include/
+  DESTINATION include/
   FILES_MATCHING PATTERN "*.h"
 )
 
@@ -220,11 +212,14 @@ if (NOT EXISTS "${FILE}")
   execute_process(COMMAND wget http://pjreddie.com/media/files/yolov3.weights -P ${PATH})
 endif()
 
+install(DIRECTORY yolo_network_config/cfg yolo_network_config/weights DESTINATION share/${PROJECT_NAME}/yolo_network_config/)
+install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME}/)
+
 #############
 ## Testing ##
 #############
 
-if(CATKIN_ENABLE_TESTING)
+if(BUILD_TESTING)
   # Download yolov2.weights
   set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/yolo_network_config/weights")
   set(FILE "${PATH}/yolov2.weights")
@@ -234,15 +229,24 @@ if(CATKIN_ENABLE_TESTING)
     execute_process(COMMAND wget http://pjreddie.com/media/files/yolov2.weights -P ${PATH})
   endif()
 
-  find_package(rostest REQUIRED)
-
-  # Object detection in images.
-  add_rostest_gtest(${PROJECT_NAME}_object_detection-test
-    test/object_detection.test
-    test/test_main.cpp
-    test/ObjectDetection.cpp
-  )
-  target_link_libraries(${PROJECT_NAME}_object_detection-test
-    ${catkin_LIBRARIES}
-  )
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  
+  #ament_add_gtest(${PROJECT_NAME}_object_detection-test
+  #  test/object_detection.test
+  #  test/test_main.cpp
+  #  test/ObjectDetection.cpp
+  #)
+  #target_link_libraries(${PROJECT_NAME}_object_detection-test
+  #  ${PROJECT_NAME}_lib
+  #)
 endif()
+
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME}_lib)
+ament_export_dependencies(${dependencies})
+
+ament_package()

darknet_ros/config/ros.yaml

@@ -1,33 +1,26 @@
-subscribers:
-
-  camera_reading:
-    topic: /camera/rgb/image_raw
-    queue_size: 1
-
-actions:
-
-  camera_reading:
-    name: /darknet_ros/check_for_objects
-
-publishers:
-
-  object_detector:
-    topic: /darknet_ros/found_object
-    queue_size: 1
-    latch: false
-
-  bounding_boxes:
-    topic: /darknet_ros/bounding_boxes
-    queue_size: 1
-    latch: false
-
-  detection_image:
-    topic: /darknet_ros/detection_image
-    queue_size: 1
-    latch: true
-
-image_view:
-
-  enable_opencv: true
-  wait_key_delay: 1
-  enable_console_output: true
+darknet_ros:
+  ros__parameters:
+    subscribers:
+      camera_reading:
+        topic: /camera/rgb/image_raw
+        queue_size: 1
+    actions:
+      camera_reading:
+        topic: /darknet_ros/check_for_objects
+    publishers:
+      object_detector:
+        topic: /darknet_ros/found_object
+        queue_size: 1
+        latch: false
+      bounding_boxes:
+        topic: /darknet_ros/bounding_boxes
+        queue_size: 1
+        latch: false
+      detection_image:
+        topic: /darknet_ros/detection_image
+        queue_size: 1
+        latch: true
+    image_view:
+      enable_opencv: true
+      wait_key_delay: 3
+      enable_console_output: true

darknet_ros/config/yolov2-tiny-voc.yaml

@@ -1,30 +1,33 @@
-yolo_model:
-
-  config_file:
-    name: yolov2-tiny-voc.cfg
-  weight_file:
-    name: yolov2-tiny-voc.weights
-  threshold:
-    value: 0.3
-  detection_classes:
-    names:
-      - aeroplane
-      - bicycle
-      - bird
-      - boat
-      - bottle
-      - bus
-      - car
-      - cat
-      - chair
-      - cow
-      - diningtable
-      - dog
-      - horse
-      - motorbike
-      - person
-      - pottedplant
-      - sheep
-      - sofa
-      - train
-      - tvmonitor
+darknet_ros:
+  ros__parameters:
+    yolo_model:
+    
+      config_file:
+        name: yolov2-tiny-voc.cfg
+      weight_file:
+        name: yolov2-tiny-voc.weights
+      threshold:
+        value: 0.3
+      detection_classes:
+        names:
+          - aeroplane
+          - bicycle
+          - bird
+          - boat
+          - bottle
+          - bus
+          - car
+          - cat
+          - chair
+          - cow
+          - diningtable
+          - dog
+          - horse
+          - motorbike
+          - person
+          - pottedplant
+          - sheep
+          - sofa
+          - train
+          - tvmonitor
+