Whycon package converted from ROS to ROS 2

.gitignore

@@ -1,14 +1 @@
-build
-include/whycon/config.h
-papers
-Calib_Results*
-whycon.config
-whycon.creator*
-whycon.includes
-whycon.files
-doc
-images
-*.m
-TODO
-videos
-wiki
+.vscode/

CMakeLists.txt

@@ -1,125 +1,101 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.8)
 project(whycon)
 
-# set some flags
-add_definitions(-std=c++11)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_RELEASE} -Wall -g -O4 -march=native -Wfatal-errors")
-#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_RELEASE} -Wall -O0 -g -Wfatal-errors")
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake-configs")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
 # set some options
-option(DISABLE_ROS "Do not build for ROS, but as standalone code" OFF)
 option(ENABLE_FULL_UNDISTORT "Undistort the whole frame" OFF)
 option(ENABLE_RANDOMIZED_THRESHOLD "Use rand() instead of binary-like search for threshold" OFF)
 option(ENABLE_VERBOSE "Enable verbose console messages during detection" OFF)
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake ${CMAKE_CURRENT_SOURCE_DIR}/include/whycon/config.h)
 
-#### ROS CONFIGURATION ####
-if(NOT DISABLE_ROS)
-  find_package(catkin REQUIRED COMPONENTS
-    cv_bridge
-    roscpp
-    sensor_msgs
-    std_msgs
-    camera_info_manager
-    message_generation
-    geometry_msgs
-    message_filters
-    image_geometry
-    image_transport
-    angles
-    visualization_msgs
-    tf
-    nodelet
-    std_srvs
-  )
-
-  add_message_files(
-    FILES
-    Projection.msg
-  )
-
-  generate_messages(
-    DEPENDENCIES geometry_msgs
-  )
-
-  catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES whycon
-    CATKIN_DEPENDS cv_bridge roscpp sensor_msgs std_msgs message_runtime geometry_msgs
-  )
-endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(camera_info_manager REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(image_geometry REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
 
 ### SYSTEM DEPENDENCIES ###
 find_package(OpenCV REQUIRED)
 message(STATUS "Using OpenCV version ${OpenCV_VERSION}")
-find_package(Boost COMPONENTS program_options thread system REQUIRED)
-
-find_package(PkgConfig)
-pkg_check_modules(YAML_CPP yaml-cpp)
 
 ### TARGETS ###
-include_directories(
-  ${catkin_INCLUDE_DIRS} ${YAML_CPP_INCLUDE_DIRS} include
-)
+include_directories(include)
 
 add_library(whycon SHARED src/lib/circle_detector.cpp src/lib/many_circle_detector.cpp src/lib/localization_system.cpp)
-target_link_libraries(whycon ${OpenCV_LIBS} ${Boost_LIBRARIES})
-
-if(NOT DISABLE_ROS)
-  add_executable(whycon-node src/ros/whycon_node.cpp src/ros/whycon_ros.cpp)
-  set_target_properties(whycon-node PROPERTIES OUTPUT_NAME whycon)
-
-  add_library(whycon_nodelet src/ros/whycon_nodelet.cpp src/ros/whycon_ros.cpp)
-
-  add_executable(set_axis src/ros/set_axis_node.cpp src/ros/set_axis.cpp)
-  #add_executable(triangulator src/ros/triangulator_node.cpp src/ros/triangulator.cpp)
-  add_executable(robot_pose_publisher src/ros/robot_pose_publisher.cpp src/ros/robot_pose_publisher_node.cpp)  
-  add_executable(transformer src/ros/transformer.cpp src/ros/transformer_node.cpp)
-
-  add_dependencies(whycon-node whycon_generate_messages_cpp)
-  add_dependencies(whycon_nodelet whycon_generate_messages_cpp)
-  add_dependencies(set_axis whycon_generate_messages_cpp)
-  #add_dependencies(triangulator whycon_generate_messages_cpp)
-  add_dependencies(robot_pose_publisher whycon_generate_messages_cpp)
-  add_dependencies(transformer whycon_generate_messages_cpp)
-
-  target_link_libraries(whycon-node ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} whycon)
-  target_link_libraries(whycon_nodelet ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} whycon)
-  target_link_libraries(set_axis ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} whycon)
-  target_link_libraries(transformer ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} whycon)
-  #target_link_libraries(triangulator ${catkin_LIBRARIES} whycon)
-  target_link_libraries(robot_pose_publisher ${catkin_LIBRARIES} whycon)
-else()
-  add_executable(whycon-main src/main.cpp)
-  set_target_properties(whycon-main PROPERTIES OUTPUT_NAME whycon)
-  target_link_libraries(whycon-main whycon)
-
-  add_executable(camera-calibrator src/camera_calibrator.cpp)
-  target_link_libraries(camera-calibrator ${OpenCV_LIBS})
-endif()
+target_link_libraries(whycon ${OpenCV_LIBS})
+
+add_executable(whycon-node src/ros2/whycon_node.cpp src/ros2/whycon_ros.cpp)
+set_target_properties(whycon-node PROPERTIES OUTPUT_NAME whycon)
+
+ament_target_dependencies(whycon-node 
+rclcpp 
+camera_info_manager 
+sensor_msgs 
+geometry_msgs 
+tf2_geometry_msgs 
+tf2 
+cv_bridge 
+image_transport 
+image_geometry 
+std_srvs 
+)
+
+target_link_libraries(whycon-node whycon)
 
 ### INSTALL ###
 
 ### Mark cpp header files for installation
-if(NOT DISABLE_ROS)
-  install(DIRECTORY include/${PACKAGE_NAME}
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  )
-  ## Mark executables and/or libraries for installation
-  install(TARGETS whycon whycon-node robot_pose_publisher #triangulator
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  )
-
-  ## Mark executables and/or libraries for installation
-  install(FILES nodelets.xml
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
-else()
-  install(TARGETS whycon DESTINATION lib)
-  install(TARGETS whycon-main camera-calibrator DESTINATION bin)
-  install(DIRECTORY include/whycon DESTINATION include)
-  install(FILES cmake-configs/FindWhyCon.cmake DESTINATION share/cmake/Modules)
-endif()
+
+install(DIRECTORY include/
+DESTINATION include/${PROJECT_NAME}
+)
+## Mark executables and/or libraries for installation
+install(TARGETS
+  whycon 
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS whycon-node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_export_dependencies(
+  cv_bridge
+  rclcpp
+  sensor_msgs
+  std_msgs
+  geometry_msgs
+  tf2_geometry_msgs
+  tf2
+)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+
+ament_export_include_directories(
+  include
+)
+
+ament_export_libraries(
+  whycon
+)
+
+ament_package()

README.md

@@ -46,73 +46,39 @@ Note that this .bib includes not only the references to the scientific works tha
 
 ## Installing WhyCon
 
-The code can be compiled either as a ROS package (shared library) or in a standalone version.
+The code can be compiled as a ROS 2 package
 
-**NOTE**: while the standalone version includes a demo application, this demo is not actively maintained anymore and will probably be removed soon. The reference application is provided as a series of ROS nodes, which utilize the _WhyCon_ shared library. For an example of how to implement your own standalone application, see the ROS node.
-
-Stable [releases](https://github.com/lrse/whycon/releases) are available periodically. Latest stable release can be downloaded by clicking [here](https://github.com/lrse/whycon/releases/latest). 
+Stable [releases](https://github.com/arunser/whycon2/releases) are available periodically. Latest stable release can be downloaded by clicking [here](https://github.com/arunser/whycon2/releases/latest). 
 
 For the latest development version (which should also work and may contain new experimental features) you can clone the repository directly.
 
-### ROS
+### ROS 2
 
-Only LTS versions are targeted. At the moment, Indigo and Kinetic are targeted.
+Only LTS versions are targeted. At the moment, only Humble is targeted.
 
 #### Dependencies
 
 It is recommended to install required dependencies using
 
-    rosdep install -y --from-path <path to whycon source package directory>
-
-**NOTE**: it is recommended to use OpenCV 3 since it is actually latest stable version. In ROS Kinetic this is installed by default.
-On ROS Indigo, you should install it by doing:
-
-    apt-get install ros-indigo-opencv3
+    sudo apt install ros-humble-usb-cam
+    sudo apt install ros-humble-image-view
 
 #### Compilation
 
-The main directory should be placed inside a catkin workspace source-space (e.g.: ~catkin_ws/src).
-It can then be compiled simply by:
-
-    catkin_make
-
-Or, if you are using catkin-tools
-
-    catkin build
-
-### Standalone
-
-**NOTE**: as previously mentioned, this version is not actively maintained and cannot provide support for it
-
-The standalone version requires you to take care of installing the correct dependencies: OpenCV and Boost. If you are on Ubuntu, simply perform the following:
-
-    sudo apt-get install libopencv-dev libboost-all-dev
-
-The installation process is really straightforward, as with any CMake based project.
-Inside the main directory do:
-
-    mkdir build
-    cd build
-    cmake -DDISABLE_ROS=ON ..
-    make
-
-The code can be installed to the system by doing:
-
-    make install
-
-Note the default CMake location is `/usr/local`, but you can redefine this by invoking cmake in this way instead:
+The main directory should be placed inside a colcon workspace source-space (e.g.: ~whycon_ws/src).
+It can then be build using:
+
+    cd ~whycon_ws/
+    colcon build
 
-    cmake -DDISABLE_ROS=ON -DCMAKE_INSTALL_PREFIX=/usr ..
 
 ## Using WhyCon
 
-Please refer to the [wiki](https://github.com/lrse/whycon/wiki).
+Please refer to the [wiki](https://github.com/arunser/whycon2/wiki).
 
 ----
 
 ### Acknowledgements
 
-The development of this work was supported by EU within its Seventh Framework Programme project ICT-600623 ``STRANDS''.
-The Czech Republic and Argentina have given support through projects 7AMB12AR022, ARC/11/11 and 13-18316P.