Adding graph deserializer

Author: ayrton04

fuse_core/CMakeLists.txt

@@ -11,6 +11,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Werror -Wextra -Wpedantic)
 endif()
 
+set(CMAKE_BUILD_TYPE Release)
+
 find_package(Boost REQUIRED COMPONENTS serialization)
 find_package(Ceres REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -44,7 +46,7 @@ add_library(
 #    src/ceres_options.cpp
     src/constraint.cpp
     src/graph.cpp
-#    src/graph_deserializer.cpp
+    src/graph_deserializer.cpp
     src/loss.cpp
     src/serialization.cpp
 #    src/timestamp_manager.cpp
@@ -56,6 +58,7 @@ add_library(
 ament_target_dependencies(
   ${PROJECT_NAME}
     fuse_msgs
+    pluginlib
     rclcpp
     std_msgs
 )
@@ -64,10 +67,10 @@ target_include_directories(
   ${PROJECT_NAME} PUBLIC
     include
     ${Boost_INCLUDE_DIRS}
-    ${catkin_INCLUDE_DIRS}
     ${CERES_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${GLOG_INCLUDE_DIRS}
+    ${pluginlib_INCLUDE_DIRS}
 )
 target_link_libraries(
   ${PROJECT_NAME}
@@ -76,6 +79,7 @@ target_link_libraries(
     ${CERES_LIBRARIES}
     ${GLOG_LIBRARIES}
 )
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
 # fuse_echo executable
 # add_executable(fuse_echo

fuse_core/include/fuse_core/graph_deserializer.h

@@ -34,7 +34,7 @@
 #ifndef FUSE_CORE_GRAPH_DESERIALIZER_H
 #define FUSE_CORE_GRAPH_DESERIALIZER_H
 
-#include <fuse_msgs/msg/SerializedGraph.hpp>
+#include <fuse_msgs/msg/serialized_graph.hpp>
 #include <fuse_core/constraint.h>
 #include <fuse_core/graph.h>
 #include <fuse_core/variable.h>
@@ -47,7 +47,7 @@ namespace fuse_core
 /**
  * @brief Serialize a graph into a message
  */
-void serializeGraph(const fuse_core::Graph& graph, fuse_msgs::SerializedGraph& msg);
+void serializeGraph(const fuse_core::Graph& graph, fuse_msgs::msg::SerializedGraph& msg);
 
 /**
  * @brief Deserialize a graph
@@ -73,7 +73,7 @@ class GraphDeserializer
    * @param[in]  msg  The SerializedGraph message to be deserialized
    * @return          A unique_ptr to a derived Graph object
    */
-  fuse_core::Graph::UniquePtr deserialize(const fuse_msgs::SerializedGraph::ConstPtr& msg) const;
+  fuse_core::Graph::UniquePtr deserialize(const fuse_msgs::msg::SerializedGraph::ConstSharedPtr& msg) const;
 
   /**
    * @brief Deserialize a SerializedGraph message into a fuse Graph object.
@@ -84,7 +84,7 @@ class GraphDeserializer
    * @param[in]  msg  The SerializedGraph message to be deserialized
    * @return          A unique_ptr to a derived Graph object
    */
-  fuse_core::Graph::UniquePtr deserialize(const fuse_msgs::SerializedGraph& msg) const;
+  fuse_core::Graph::UniquePtr deserialize(const fuse_msgs::msg::SerializedGraph& msg) const;
 
 private:
   pluginlib::ClassLoader<fuse_core::Variable> variable_loader_;      //!< Pluginlib class loader for Variable types

fuse_core/src/graph_deserializer.cpp

@@ -34,15 +34,15 @@
 #include <fuse_core/graph_deserializer.h>
 
 #include <fuse_core/serialization.h>
-#include <fuse_msgs/SerializedGraph.h>
+#include <fuse_msgs/msg/serialized_graph.hpp>
 
 #include <boost/iostreams/stream.hpp>
 
 
 namespace fuse_core
 {
 
-void serializeGraph(const fuse_core::Graph& graph, fuse_msgs::SerializedGraph& msg)
+void serializeGraph(const fuse_core::Graph& graph, fuse_msgs::msg::SerializedGraph& msg)
 {
   // Serialize the graph into the msg.data field
   boost::iostreams::stream<fuse_core::MessageBufferStreamSink> stream(msg.data);
@@ -78,12 +78,12 @@ GraphDeserializer::GraphDeserializer() :
   }
 }
 
-fuse_core::Graph::UniquePtr GraphDeserializer::deserialize(const fuse_msgs::SerializedGraph::ConstPtr& msg) const
+fuse_core::Graph::UniquePtr GraphDeserializer::deserialize(const fuse_msgs::msg::SerializedGraph::ConstSharedPtr& msg) const
 {
   return deserialize(*msg);
 }
 
-fuse_core::Graph::UniquePtr GraphDeserializer::deserialize(const fuse_msgs::SerializedGraph& msg) const
+fuse_core::Graph::UniquePtr GraphDeserializer::deserialize(const fuse_msgs::msg::SerializedGraph& msg) const
 {
   // Create a Graph object using pluginlib. This will throw if the plugin name is not found.
   // The unique ptr returned by pluginlib has a custom deleter. This makes it annoying to return