Merge pull request ros-industrial-attic#47 from schornakj/fix/remove-…

…ros2 Remove unused ROS2 code and support
drchrislewis · Sep 23, 2020 · 004892b · 004892b
2 parents f576541 + 9a1768c
commit 004892b
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Showing 7 changed files with 87 additions and 351 deletions.
diff --git a/yak_ros/CMakeLists.txt b/yak_ros/CMakeLists.txt
@@ -5,170 +5,105 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra)
-endif()
-
 find_package(yak REQUIRED)
 
 find_package(std_srvs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
-#find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(cv_bridge REQUIRED)
 
 find_package(Eigen3 REQUIRED)
 
-if ($ENV{ROS_VERSION} VERSION_EQUAL "1")
-    # Build as a Catkin package for ROS
-
-    find_package(catkin REQUIRED COMPONENTS
-         roscpp
-         pcl_ros
-         tf2
-         tf2_ros
-         tf2_eigen
-         cv_bridge
-         yak_ros_msgs)
-
-     catkin_package(
-       INCLUDE_DIRS
-       LIBRARIES
-         ${yak_LIBRARIES}
-         ${sensor_msgs_LIBRARIES}
-         ${tf2_LIBRARIES}
-         ${tf2_ros_LIBRARIES}
-         ${tf2_eigen_LIBRARIES}
-         ${cv_bridge_LIBRARIES}
-       CATKIN_DEPENDS
-         cv_bridge
-         geometry_msgs
-         pcl_ros
-         sensor_msgs
-         std_msgs
-         visualization_msgs
-         yak_ros_msgs
-       DEPENDS
-         yak
-         tf2_eigen
-         tf2)
-
-     add_library(${PROJECT_NAME}_visualizer_ros1 src/yak_ros1/visualizer_ros1.cpp)
-     add_dependencies(${PROJECT_NAME}_visualizer_ros1 ${catkin_EXPORTED_TARGETS})
-     target_link_libraries(${PROJECT_NAME}_visualizer_ros1 ${catkin_LIBRARIES})
-     target_include_directories(${PROJECT_NAME}_visualizer_ros1 PUBLIC
-         "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-         "$<INSTALL_INTERFACE:include>")
-     target_include_directories(${PROJECT_NAME}_visualizer_ros1 PUBLIC ${catkin_INCLUDE_DIRS})
-
-     add_executable(${PROJECT_NAME}_node
-         src/yak_ros1_node.cpp)
-     target_link_libraries(${PROJECT_NAME}_node
-         ${CATKIN_LIBRARIES}
-         ${sensor_msgs_LIBRARIES}
-         ${tf2_LIBRARIES}
-         ${tf2_ros_LIBRARIES}
-         ${tf2_eigen_LIBRARIES}
-         ${cv_bridge_LIBRARIES}
-         yak::yak
-         yak::yak_frontend
-         yak::yak_marching_cubes
-         ${PROJECT_NAME}_visualizer_ros1)
-     target_include_directories(${PROJECT_NAME}_node PUBLIC
-         "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-         "$<INSTALL_INTERFACE:include>")
-     target_include_directories(${PROJECT_NAME}_node PUBLIC
-       ${catkin_INCLUDE_DIRS}
-       ${gl_depth_sim_INCLUDE_DIRS})
-
-
-
-    if(DEFINED BUILD_DEMO)
-        find_package(gl_depth_sim REQUIRED)
-        find_package(image_transport REQUIRED)
-        add_executable(${PROJECT_NAME}_image_simulator
-          src/demo/sim_depth_image_pub_ros1.cpp)
-        target_link_libraries(${PROJECT_NAME}_image_simulator
-          ${CATKIN_LIBRARIES}
-          ${sensor_msgs_LIBRARIES}
-          ${cv_bridge_LIBRARIES}
-          ${gl_depth_sim_LIBRARIES}
-          ${image_transport_LIBRARIES}
-          Eigen3::Eigen)
-        target_include_directories(${PROJECT_NAME}_image_simulator PUBLIC
-          ${catkin_INCLUDE_DIRS}
-          ${gl_depth_sim_INCLUDE_DIRS}
-          ${image_transport_INCLUDE_DIRS}
-          ${sensor_msgs_INCLUDE_DIRS}
-        )
-    endif()
-
-
-else()
-    # Build as an Ament package for ROS2
-    find_package(ament_cmake REQUIRED)
-    find_package(rclcpp REQUIRED)
-
-    add_executable(${PROJECT_NAME}_node
-        src/yak_ros2_node.cpp)
-
-    target_include_directories(${PROJECT_NAME}_node PUBLIC
-      ${rclcpp_INCLUDE_DIRS})
-
-    target_link_libraries(${PROJECT_NAME}_node
-        ${rclcpp_LIBRARIES}
-        yak::yak
-        yak::yak_frontend
-        yak::yak_marching_cubes
-        ${sensor_msgs_LIBRARIES}
-        ${tf2_LIBRARIES}
-        ${tf2_ros_LIBRARIES}
-        ${tf2_eigen_LIBRARIES}
-        ${cv_bridge_LIBRARIES})
-
-    ament_target_dependencies(${PROJECT_NAME}_node
-                              "rclcpp"
-                              "yak"
-                              "std_srvs"
-                              "sensor_msgs"
-                              "geometry_msgs"
-                              "tf2"
-                              "tf2_ros"
-                              "tf2_eigen")
-
-    ament_export_include_directories(${rclcpp_INCLUDE_DIRS}
-                                     ${yak_INCLUDE_DIRS})
-
-    ament_export_dependencies(rclcpp yak tf2_eigen tf2)
-
-    ament_package()
+find_package(catkin REQUIRED COMPONENTS
+     roscpp
+     pcl_ros
+     tf2
+     tf2_ros
+     tf2_eigen
+     cv_bridge
+     yak_ros_msgs)
+
+ catkin_package(
+   INCLUDE_DIRS
+   LIBRARIES
+     ${yak_LIBRARIES}
+     ${sensor_msgs_LIBRARIES}
+     ${tf2_LIBRARIES}
+     ${tf2_ros_LIBRARIES}
+     ${tf2_eigen_LIBRARIES}
+     ${cv_bridge_LIBRARIES}
+   CATKIN_DEPENDS
+     cv_bridge
+     geometry_msgs
+     pcl_ros
+     sensor_msgs
+     std_msgs
+     visualization_msgs
+     yak_ros_msgs
+   DEPENDS
+     yak
+     tf2_eigen
+     tf2)
+
+ add_library(${PROJECT_NAME}_visualizer src/visualizer.cpp)
+ add_dependencies(${PROJECT_NAME}_visualizer ${catkin_EXPORTED_TARGETS})
+ target_link_libraries(${PROJECT_NAME}_visualizer ${catkin_LIBRARIES})
+ target_include_directories(${PROJECT_NAME}_visualizer PUBLIC
+     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+     "$<INSTALL_INTERFACE:include>")
+ target_include_directories(${PROJECT_NAME}_visualizer PUBLIC ${catkin_INCLUDE_DIRS})
+
+ add_executable(${PROJECT_NAME}_node
+     src/yak_node.cpp)
+ target_include_directories(${PROJECT_NAME}_node PUBLIC
+     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+     "$<INSTALL_INTERFACE:include>")
+ target_include_directories(${PROJECT_NAME}_node PUBLIC
+   ${catkin_INCLUDE_DIRS})
+ target_link_libraries(${PROJECT_NAME}_node
+     ${CATKIN_LIBRARIES}
+     ${sensor_msgs_LIBRARIES}
+     ${tf2_LIBRARIES}
+     ${tf2_ros_LIBRARIES}
+     ${tf2_eigen_LIBRARIES}
+     ${cv_bridge_LIBRARIES}
+     yak::yak
+     yak::yak_frontend
+     yak::yak_marching_cubes
+     ${PROJECT_NAME}_visualizer)
+
+if(BUILD_DEMO)
+    find_package(gl_depth_sim REQUIRED)
+    find_package(image_transport REQUIRED)
+    add_executable(${PROJECT_NAME}_image_simulator
+      src/demo/sim_depth_image_pub.cpp)
+    target_include_directories(${PROJECT_NAME}_image_simulator PUBLIC
+      ${catkin_INCLUDE_DIRS}
+      ${gl_depth_sim_INCLUDE_DIRS})
+    target_link_libraries(${PROJECT_NAME}_image_simulator
+      ${CATKIN_LIBRARIES}
+      ${sensor_msgs_LIBRARIES}
+      ${cv_bridge_LIBRARIES}
+      ${gl_depth_sim_LIBRARIES}
+      ${image_transport_LIBRARIES}
+      ${tf2_ros_LIBRARIES}
+      Eigen3::Eigen)
 endif()
 
-if ($ENV{ROS_VERSION} VERSION_EQUAL "1")
-    set(ROS_SHARE_DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}_visualizer
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-    install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}_visualizer_ros1
+if (DEFINED BUILD_DEMO)
+    install(TARGETS ${PROJECT_NAME}_image_simulator
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-    if (DEFINED BUILD_DEMO)
-        install(TARGETS ${PROJECT_NAME}_image_simulator
-            ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-            LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-    endif()
-else()
-    set(ROS_LIB_DESTINATION lib/${PROJECT_NAME})
-    set(ROS_SHARE_DESTINATION share/${PROJECT_NAME})
-
-    install(TARGETS ${PROJECT_NAME}_node
-            RUNTIME DESTINATION ${ROS_LIB_DESTINATION})
 endif()
 
-
 install(DIRECTORY launch demo
-        DESTINATION ${ROS_SHARE_DESTINATION})
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/yak_ros/package.xml b/yak_ros/package.xml
@@ -8,12 +8,9 @@
   <maintainer email="[email protected]">Joseph Schornak</maintainer>
   <license>Apache 2.0</license>
 
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
-
-  <depend condition="$ROS_VERSION == 1">roscpp</depend>
-  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
+  <buildtool_depend>catkin</buildtool_depend>
 
+  <depend>roscpp</depend>
 
   <depend>libpcl-all-dev</depend>
   <depend>eigen</depend>
@@ -36,8 +33,7 @@
   <depend condition="$BUILD_DEMO == True">gl_depth_sim</depend>
 
   <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+    <build_type>catkin</build_type>
   </export>
 
 </package>
diff --git a/...ros/src/demo/sim_depth_image_pub_ros1.cpp → yak_ros/src/demo/sim_depth_image_pub.cpp b/...ros/src/demo/sim_depth_image_pub_ros1.cpp → yak_ros/src/demo/sim_depth_image_pub.cpp
diff --git a/yak_ros/src/yak_ros1/visualizer_ros1.cpp → yak_ros/src/visualizer.cpp b/yak_ros/src/yak_ros1/visualizer_ros1.cpp → yak_ros/src/visualizer.cpp
diff --git a/yak_ros/src/yak_ros1_node.cpp → yak_ros/src/yak_node.cpp b/yak_ros/src/yak_ros1_node.cpp → yak_ros/src/yak_node.cpp