Updates for building on ROS 2 Jazzy (#151)

* Updates for building on ROS2 Jazzy; built and tested

* Adjust CI for jazzy

---------

Co-authored-by: AndyZe <[email protected]>

Author: iconner22

.github/workflows/ci.yaml

@@ -6,59 +6,13 @@ name: CI
 on: [push, pull_request]
 
 jobs:
-  default:
+  industrial_ci:
     strategy:
-      fail-fast: false
       matrix:
         env:
-          - IMAGE: noetic
-            CATKIN_LINT: true
-            CCOV: true
-    env:
-      DOCKER_IMAGE: 'moveit/moveit:${{ matrix.env.IMAGE }}-release'
-      AFTER_RUN_TARGET_TEST: ${{ matrix.env.CCOV && './.ci.prepare_codecov' || '' }}
-      TARGET_CMAKE_ARGS: >
-        -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'RelWithDebInfo' || 'Release'}}
-        ${{ matrix.env.CCOV && '-DCMAKE_CXX_FLAGS="--coverage" --no-warn-unused-cli' || '' }}
-      CCACHE_DIR: "${{ github.workspace }}/.ccache"
-      BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}"
-      CLANG_TIDY_BASE_REF: "${{ github.base_ref || github.ref }}"
-
-    name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}"
-    runs-on: ubuntu-latest
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
-      - name: cache upstream_ws
-        uses: rhaschke/cache@main
-        with:
-          path: ${{ env.BASEDIR }}/upstream_ws
-          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.rosinstall') }}-${{ github.run_id }}
-          restore-keys: |
-            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.rosinstall') }}
-        env:
-          GHA_CACHE_SAVE: always
-      - name: cache ccache
-        uses: rhaschke/cache@main
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
-        env:
-          GHA_CACHE_SAVE: always
-      - name: industrial_ci
-        uses: ros-industrial/industrial_ci@master
-        env: ${{ matrix.env }}
-      - name: upload test artifacts (on failure)
-        uses: actions/upload-artifact@v4
-        if: failure()
-        with:
-          name: test-results
-          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
-      - name: upload codecov report
-        uses: codecov/codecov-action@v4
-        if: ${{ matrix.env.CCOV }}
-        with:
-          files: ${{ env.BASEDIR }}/coverage.info
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.4.0
+    rev: v4.4.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -29,7 +29,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 22.3.0
+    rev: 23.3.0
     hooks:
       - id: black
 
@@ -38,10 +38,10 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-10
+        entry: clang-format
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
-        args: ['-fallback-style=none', '-i']
+        args: ["-fallback-style=none", "-i"]
 
   - repo: local
     hooks:
@@ -51,11 +51,3 @@ repos:
         language: pygrep
         entry: Moveit|MoveIt!
         exclude: .pre-commit-config.yaml|README.md
-
-      - id: catkin_lint
-        name: catkin_lint
-        description: Check package.xml and cmake files
-        entry: catkin_lint .
-        language: system
-        always_run: true
-        pass_filenames: false

README.md

@@ -2,21 +2,32 @@
 
 *Tools for robot arm hand-eye calibration.*
 
-| **Warning to Melodic users** |
-| --- |
-| OpenCV 3.2, which is the version in Ubuntu 18.04, has a buggy ArUco board pose detector. Do not expect adequate results if you are using an ArUco board with OpenCV 3.2. |
-
 MoveIt Calibration supports ArUco boards and ChArUco boards as calibration targets. Experiments have demonstrated that a
 ChArUco board gives more accurate results, so it is recommended.
 
-This repository has been developed and tested on ROS Melodic and Noetic. It has not been tested on earlier ROS versions.
-When building `moveit_calibration` on ROS Melodic, `rviz_visual_tools` must also be built from source.
-
 This package was originally developed by Dr. Yu Yan at Intel, and was originally submitted as a PR to the core MoveIt
 repository. For background, see this [Github discussion](https://github.com/ros-planning/moveit/issues/1070).
 
+## Instructions
+
+### Build from Source
+
+```sh
+mkdir -p ws_moveit/src
+cd ws_moveit
+git clone https://github.com/ros-planning/moveit_calibration.git -b ros2 src/moveit_calibration
+vcs import src < src/moveit_calibration/moveit_calibration.repos --skip-existing
+rosdep install -r --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+### Example
+
+<!-- TODO: Update tutorial link for website once available -->
+For examples, please follow [Hand-Eye Calibration tutorial](https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/examples/hand_eye_calibration/hand_eye_calibration_tutorial.rst) from [moveit2_tutorials](https://github.com/ros-planning/moveit2_tutorials).
+
 ## GitHub Actions - Continuous Integration
 
-[![Format](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml?branch=master)
-[![BuildAndTest](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml?branch=master)
-[![codecov](https://codecov.io/gh/ros-planning/moveit_calibration/branch/master/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit_calibration)
+[![Format](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml/badge.svg?branch=ros2)](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml?branch=ros2)
+[![BuildAndTest](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml/badge.svg?branch=ros2)](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml?branch=ros2)
+[![codecov](https://codecov.io/gh/ros-planning/moveit_calibration/branch/ros2/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit_calibration)

moveit_calibration_gui/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package moveit_calibration_gui
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.1.0 (forthcoming)
+2.0.0 (forthcoming)
+-----------
+* First public release for ROS 2
+
+0.1.1
+-----------
+* Calculate and report reprojection error
+
+0.1.0
 -----------
 * First public release for Noetic

moveit_calibration_gui/CMakeLists.txt

@@ -1,83 +1,59 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.10.2)
+
+# Silence CMP0167 warnings from downstream packages (MoveIt, geometric_shapes, etc.)
+if(POLICY CMP0167)
+  cmake_policy(SET CMP0167 OLD)
+endif()
+
 project(moveit_calibration_gui)
 
-find_package(catkin REQUIRED COMPONENTS
-  class_loader
+# Common cmake code applied to all moveit packages
+find_package(moveit_common REQUIRED)
+moveit_package()
+
+# find dependencies
+find_package(ament_cmake_ros REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
+find_package(image_geometry REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(moveit_calibration_plugins REQUIRED)
+find_package(moveit_ros_visualization REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rviz_common REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+find_package(tf2_eigen REQUIRED)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
   cv_bridge
-  geometric_shapes
+  Eigen3
   image_geometry
+  image_transport
   moveit_calibration_plugins
-  moveit_core
-  moveit_ros_perception
-  moveit_ros_planning
-  moveit_ros_planning_interface
   moveit_ros_visualization
+  moveit_ros_planning_interface
   moveit_visual_tools
   pluginlib
-  rosconsole
-  roscpp
-  rviz
+  rclcpp
+  rviz_common
   rviz_visual_tools
   tf2_eigen
 )
 
-find_package(Eigen3 REQUIRED)
-
-moveit_build_options()
-
-# Qt Stuff
-if(rviz_QT_VERSION VERSION_LESS "5")
-	find_package(Qt4 ${rviz_QT_VERSION} REQUIRED QtCore QtGui)
-	include(${QT_USE_FILE})
-  macro(qt_wrap_ui)
-    qt4_wrap_ui(${ARGN})
-  endmacro()
-else()
-	find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
-	set(QT_LIBRARIES Qt5::Widgets)
-  macro(qt_wrap_ui)
-    qt5_wrap_ui(${ARGN})
-  endmacro()
-endif()
-
-set(CMAKE_INCLUDE_CURRENT_DIR ON)
-set(CMAKE_AUTOMOC ON)
-add_definitions(-DQT_NO_KEYWORDS)
-
-catkin_package(
-  LIBRARIES
-    moveit_handeye_calibration_rviz_plugin_core
-  INCLUDE_DIRS
-    handeye_calibration_rviz_plugin/include
-  CATKIN_DEPENDS
-    moveit_calibration_plugins
-    moveit_core
-    moveit_ros_perception
-    moveit_ros_planning
-    moveit_ros_planning_interface
-    moveit_visual_tools
-    roscpp
-    rviz
-    rviz_visual_tools
-  DEPENDS
-    EIGEN3
-)
-
-include_directories(
-                    handeye_calibration_rviz_plugin/include
-                    ${Boost_INCLUDE_DIRS}
-                    ${catkin_INCLUDE_DIRS})
-
-include_directories(SYSTEM
-                    ${EIGEN3_INCLUDE_DIRS}
-                    ${QT_INCLUDE_DIR})
-
+# Add project sub-libraries
 add_subdirectory(handeye_calibration_rviz_plugin)
 
-install(FILES
+# Export plugin descriptions to register with pluginlib
+pluginlib_export_plugin_description_file(
+  rviz_common
   handeye_calibration_rviz_plugin_description.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+)
 
-if (CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
-endif()
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

moveit_calibration_gui/handeye_calibration_rviz_plugin/CMakeLists.txt

@@ -1,37 +1,72 @@
-find_package(OpenCV REQUIRED)
-
+set(MOVEIT_LIB_NAME moveit_handeye_calibration_rviz_plugin)
 set(HEADERS
   include/moveit/handeye_calibration_rviz_plugin/handeye_calibration_display.h
   include/moveit/handeye_calibration_rviz_plugin/handeye_calibration_frame.h
-  include/moveit/handeye_calibration_rviz_plugin/handeye_target_widget.h
   include/moveit/handeye_calibration_rviz_plugin/handeye_context_widget.h
   include/moveit/handeye_calibration_rviz_plugin/handeye_control_widget.h
+  include/moveit/handeye_calibration_rviz_plugin/handeye_target_widget.h
 )
-
-#catkin_lint: ignore_once missing_directory
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-
-# Plugin Source
-set(SOURCE_FILES
+set(SOURCE_FILES_CORE
   src/handeye_calibration_display.cpp
   src/handeye_calibration_frame.cpp
-  src/handeye_target_widget.cpp
   src/handeye_context_widget.cpp
   src/handeye_control_widget.cpp
+  src/handeye_target_widget.cpp
+)
+set(SOURCE_FILES_PLUGINS
+  src/plugin_init.cpp
 )
 
-set(MOVEIT_LIB_NAME moveit_handeye_calibration_rviz_plugin)
-add_library(${MOVEIT_LIB_NAME}_core ${SOURCE_FILES} ${HEADERS})
+# Qt Stuff
+find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+macro(qt_wrap_ui)
+  qt5_wrap_ui(${ARGN})
+endmacro()
+
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+add_definitions(-DQT_NO_KEYWORDS)
+
+# Core library
+# TODO: Remove headers from moveit_handeye_calibration_rviz_plugin library compilation
+add_library(${MOVEIT_LIB_NAME}_core SHARED ${SOURCE_FILES_CORE} ${HEADERS})
 set_target_properties(${MOVEIT_LIB_NAME}_core PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-target_link_libraries(${MOVEIT_LIB_NAME}_core
-  ${catkin_LIBRARIES} ${OpenCV_LIBS} ${rviz_DEFAULT_PLUGIN_LIBRARIES} ${OGRE_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${MOVEIT_LIB_NAME}_core ${OpenCV_LIBS})
+target_include_directories(${MOVEIT_LIB_NAME}_core PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(
+  ${MOVEIT_LIB_NAME}_core
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
 
-add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
+# Plugin library
+add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCE_FILES_PLUGINS})
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core)
+target_include_directories(${MOVEIT_LIB_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(
+  ${MOVEIT_LIB_NAME}
+  pluginlib
+)
 
-install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+install(DIRECTORY include/ DESTINATION include)
+install(
+  TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
 
-install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  {MOVEIT_LIB_NAME}_core {MOVEIT_LIB_NAME}
+)