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[WIP] Testing of migration to ROS2 Humble #737
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,35 +1,21 @@ | ||
| cmake_minimum_required(VERSION 3.1.3) | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(neonavigation_common) | ||
| find_package(ament_cmake_auto REQUIRED) | ||
| ament_auto_find_build_dependencies() | ||
|
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| set(CATKIN_DEPENDS | ||
| roscpp | ||
| ) | ||
|
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| find_package(catkin REQUIRED COMPONENTS ${CATKIN_DEPENDS}) | ||
| catkin_package( | ||
| INCLUDE_DIRS include | ||
| CATKIN_DEPENDS ${CATKIN_DEPENDS} | ||
| ) | ||
|
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||
|
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| set(CMAKE_CXX_STANDARD 14) | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
|
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| include_directories(include ${catkin_INCLUDE_DIRS}) | ||
| include_directories(include) | ||
| ament_auto_add_library(neonavigation_common SHARED | ||
| src/neonavigation_node.cpp) | ||
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| if(CATKIN_ENABLE_TESTING) | ||
| find_package(rostest REQUIRED) | ||
| find_package(std_msgs REQUIRED) | ||
| find_package(std_srvs REQUIRED) | ||
| add_subdirectory(test) | ||
|
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| find_package(roslint REQUIRED) | ||
| roslint_cpp() | ||
| roslint_add_test() | ||
| if(BUILD_TESTING) | ||
| set(ament_cmake_copyright_FOUND TRUE) | ||
| set(ament_cmake_uncrustify_FOUND TRUE) | ||
| set(ament_cmake_cpplint_FOUND TRUE) | ||
| ament_auto_find_test_dependencies() | ||
| ament_lint_auto_find_test_dependencies() | ||
| endif() | ||
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| install(DIRECTORY include/${PROJECT_NAME}/ | ||
| DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| ) | ||
| ament_auto_package() |
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84 changes: 84 additions & 0 deletions
84
neonavigation_common/include/neonavigation_common/neonavigation_node.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,84 @@ | ||
| /* | ||
| * Copyright (c) 2024, the neonavigation authors | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the copyright holder nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| #ifndef NEONAVIGATION_COMMON__NEONAVIGATION_NODE_HPP_ | ||
| #define NEONAVIGATION_COMMON__NEONAVIGATION_NODE_HPP_ | ||
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| #include <string> | ||
| #include <variant> | ||
| #include <vector> | ||
| #include <unordered_map> | ||
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| #include <rclcpp/rclcpp.hpp> | ||
| #include <rcl_interfaces/msg/set_parameters_result.hpp> | ||
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| #include <neonavigation_common_msgs/srv/get_logger_levels.hpp> | ||
| #include <neonavigation_common_msgs/srv/set_logger_levels.hpp> | ||
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| namespace neonavigation_common | ||
| { | ||
| class NeonavigationNode : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit NeonavigationNode(const std::string& node_name, const rclcpp::NodeOptions& options); | ||
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| // Disable copy and move. declare_dynamic_parameter() will not work correctly if copied. | ||
| NeonavigationNode& operator=(const NeonavigationNode&) = delete; | ||
| NeonavigationNode(const NeonavigationNode&) = delete; | ||
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| protected: | ||
| OnSetParametersCallbackHandle::SharedPtr parameter_handler_; | ||
| bool parameter_handler_disabled_; | ||
| using ParamType = std::variant<int64_t*, double*, bool*, std::string*>; | ||
| std::unordered_map<std::string, ParamType> params_; | ||
| rclcpp::Service<neonavigation_common_msgs::srv::GetLoggerLevels>::SharedPtr get_loggers_service_; | ||
| rclcpp::Service<neonavigation_common_msgs::srv::SetLoggerLevels>::SharedPtr set_loggers_service_; | ||
|
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| template <typename T> | ||
| void declare_dynamic_parameter(const std::string& name, T* const param, const T& default_value) | ||
| { | ||
| // Disable cbParameter while declaring parameters | ||
| parameter_handler_disabled_ = true; | ||
| *param = declare_parameter(name, default_value); | ||
| params_[name] = param; | ||
| parameter_handler_disabled_ = false; | ||
| } | ||
|
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| void create_logger_services(); | ||
| rcl_interfaces::msg::SetParametersResult cbParameter(const std::vector<rclcpp::Parameter>& parameters); | ||
|
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| // This function is called after a parameter is updated. | ||
| virtual void onDynamicParameterUpdated(const std::vector<rclcpp::Parameter>&) | ||
| { | ||
| } | ||
| }; | ||
|
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| } // namespace neonavigation_common | ||
|
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| #endif // NEONAVIGATION_COMMON__NEONAVIGATION_NODE_HPP_ | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,8 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="2"> | ||
| <?xml-model | ||
| href="http://download.ros.org/schema/package_format3.xsd" | ||
| schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>neonavigation_common</name> | ||
| <version>0.17.1</version> | ||
| <description>Common headers for neonavigation meta-package</description> | ||
|
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@@ -8,11 +11,15 @@ | |
| <license>BSD</license> | ||
| <author email="[email protected]">Atsushi Watanabe</author> | ||
|
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| <buildtool_depend>catkin</buildtool_depend> | ||
| <buildtool_depend>ament_cmake</buildtool_depend> | ||
| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
| <depend>rclcpp</depend> | ||
| <depend>neonavigation_common_msgs</depend> | ||
|
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| <depend>roscpp</depend> | ||
| <test_depend>roslint</test_depend> | ||
| <test_depend>rostest</test_depend> | ||
| <test_depend>std_srvs</test_depend> | ||
| <test_depend>std_msgs</test_depend> | ||
| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>ament_lint_common</test_depend> | ||
|
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
| </export> | ||
| </package> | ||
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declare_dynamic_parameter()function is added to replacedynamic_reconfigure.