Add git action to build package

.github/workflows/build.yaml

@@ -0,0 +1,30 @@
+name: Build ROS package
+
+on:
+  push:
+    branches: [ main ]
+
+jobs:
+  build-package:
+    runs-on: ubuntu-20.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: noetic
+      - run: |
+              sudo add-apt-repository ppa:inivation-ppa/inivation
+              sudo apt update
+              sudo apt install libcaer-dev
+              git clone https://github.com/raultapia/openev
+              mkdir -p openev/build
+              cd openev/build
+              cmake ..
+              make
+              sudo make install
+      - uses: ros-tooling/[email protected]
+        with:
+          package-name: asap
+          target-ros1-distro: noetic
+          vcs-repo-file-url: https://raw.githubusercontent.com/raultapia/asap/main/dependencies.yaml

CMakeLists.txt

@@ -13,10 +13,10 @@ add_service_files(FILES Configuration.srv)
 add_service_files(FILES Roi.srv)
 generate_messages(DEPENDENCIES sensor_msgs std_msgs)
 generate_dynamic_reconfigure_options(config/parameters.cfg)
-catkin_package(CATKIN_DEPENDS message_runtime sensor_msgs std_msgs)
+catkin_package(CATKIN_DEPENDS dynamic_reconfigure message_runtime sensor_msgs std_msgs)
 
 add_executable(asap src/asap_node.cpp src/configuration.cpp src/main_thread.cpp src/publishers.cpp src/services.cpp)
-add_dependencies(asap asap_gencfg)
+add_dependencies(asap ${asap_EXPORTED_TARGETS})
 target_link_libraries(asap ${catkin_LIBRARIES})
 target_link_libraries(asap ${OpenCV_LIBRARIES})
 target_link_libraries(asap openev)

config/parameters.cfg

@@ -7,6 +7,9 @@ from dynamic_reconfigure.parameter_generator_catkin import double_t
 from dynamic_reconfigure.parameter_generator_catkin import int_t
 from dynamic_reconfigure.parameter_generator_catkin import str_t
 
+PACKAGE_NAME = "asap"
+NODE_NAME = "asap"
+PREFIX = "parameters"
 INIT_YAML = os.path.realpath(__file__).replace('parameters.cfg', 'asap.yaml')
 
 try:
@@ -35,4 +38,4 @@ else:
     dvs.add("dvs_size", int_t, 0, "help", data['dvs']['size'], 1, 10000)
     imu.add("imu_enabled", bool_t, 0, "help", data['imu']['enabled'])
 
-    exit(gen.generate("asap", "asap", "asap"))
+    exit(gen.generate(PACKAGE_NAME, NODE_NAME, PREFIX))

dependencies.yaml

@@ -0,0 +1,5 @@
+repositories:
+  rpg_dvs_ros:
+    type: git
+    url: https://github.com/uzh-rpg/rpg_dvs_ros
+    version: master

include/asap/asap.hpp

@@ -4,7 +4,7 @@
 #include <asap/Configuration.h>
 #include <asap/Feedback.h>
 #include <asap/Roi.h>
-#include <asap/asapConfig.h>
+#include <asap/parametersConfig.h>
 #include <cv_bridge/cv_bridge.h>
 #include <dvs_msgs/EventArray.h>
 #include <dynamic_reconfigure/server.h>
@@ -28,6 +28,7 @@ constexpr size_t EVENT_RATE_QUEUE_MAX_SIZE = 500;
 constexpr size_t DVS_BUFFER_WARNING_SIZE = 1e8;
 constexpr size_t APS_BUFFER_WARNING_SIZE = 50;
 constexpr size_t IMU_BUFFER_WARNING_SIZE = 300;
+constexpr int THREAD_SLEEP_TIME_NSEC = 10;
 
 constexpr int APS_DEFAULT_EXPOSURE = 6500;
 constexpr double APS_DEFAULT_RATE = 50;
@@ -36,34 +37,29 @@ constexpr double DVS_DEFAULT_RATE = 50;
 constexpr int DVS_DEFAULT_SIZE = 1000;
 constexpr Mode DVS_DEFAULT_MODE = Mode::SIZE;
 
-constexpr int DVS_CONFIGURATION_ALIGNED = 32;
-constexpr int APS_CONFIGURATION_ALIGNED = 16;
-constexpr int CONFIGURATION_ALIGNED = 128;
-constexpr int THREAD_SLEEP_TIME_NSEC = 10;
-
-using DvsConfiguration = struct {
+struct DvsConfiguration {
   bool enabled{true};
   Mode mode{DVS_DEFAULT_MODE};
   int size{DVS_DEFAULT_SIZE};
   double rate{DVS_DEFAULT_RATE};
   double gamma{DVS_DEFAULT_GAMMA};
-} __attribute__((aligned(DVS_CONFIGURATION_ALIGNED)));
+} __attribute__((aligned(32)));
 
-using ApsConfiguration = struct {
+struct ApsConfiguration {
   bool enabled{true};
   double rate{APS_DEFAULT_RATE};
   int exposure{APS_DEFAULT_EXPOSURE};
-} __attribute__((aligned(APS_CONFIGURATION_ALIGNED)));
+} __attribute__((aligned(16)));
 
-using ImuConfiguration = struct {
+struct ImuConfiguration {
   bool enabled{true};
 };
 
-using Configuration = struct {
+struct Configuration {
   DvsConfiguration dvs;
   ApsConfiguration aps;
   ImuConfiguration imu;
-} __attribute__((aligned(CONFIGURATION_ALIGNED)));
+} __attribute__((aligned(128)));
 
 class Asap {
 public:
@@ -87,7 +83,7 @@ class Asap {
   std::thread dvsThread_, apsThread_, imuThread_, cameraInfoThread_;
   ros::Publisher dvsPub_{}, apsPub_{}, imuPub_{}, cameraInfoPub_{};
   ros::ServiceServer feedbackSrv_{}, configurationSrv_{}, roiSrv_{};
-  dynamic_reconfigure::Server<asap::asapConfig> server_{};
+  dynamic_reconfigure::Server<asap::parametersConfig> server_{};
   std::array<double, 3> autoModeRecall_{0, 0, 0};
   std::queue<double> timeQueue_{};
   double gammaMax_{};
@@ -111,7 +107,7 @@ class Asap {
   bool feedbackCallback(asap::Feedback::Request &, asap::Feedback::Response &);
   bool setConfigurationCallback(asap::Configuration::Request &, asap::Configuration::Response &);
   bool setRoiCallback(asap::Roi::Request &, asap::Roi::Response &);
-  void dynamicReconfigureCallback(asap::asapConfig &config, uint32_t level);
+  void dynamicReconfigureCallback(asap::parametersConfig &config, uint32_t level);
 };
 
 inline double saturation(const double x, const double xmax, const double xmin) {

package.xml

@@ -7,6 +7,7 @@
   <license>GPLv3</license>
   <buildtool_depend>catkin</buildtool_depend>
   <depend>dvs_msgs</depend>
+  <depend>dynamic_reconfigure</depend>
   <depend>roscpp</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>

src/services.cpp

@@ -62,7 +62,7 @@ bool Asap::setRoiCallback(asap::Roi::Request &req, asap::Roi::Response &res) {
   return res.success;
 }
 
-void Asap::dynamicReconfigureCallback(asap::asapConfig &config, uint32_t level) {
+void Asap::dynamicReconfigureCallback(asap::parametersConfig &config, uint32_t level) {
   if(static_cast<int>(level) < 0) {
     return;
   }