ROS2 port

.github/workflows/main.yml

@@ -2,8 +2,8 @@ name: CI
 
 on:
   push:
-    branches:
-      - master
+#    branches:
+#      - master
   pull_request:
     branches:
       - master
@@ -14,24 +14,12 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - {CI_NAME: xenial,
-             OS_NAME: ubuntu,
-             OS_CODE_NAME: xenial,
-             ROS_DISTRO: kinetic,
-             ROS_REPO: main,
-             DOCKER_IMAGE: "ros:kinetic"}
-          - {CI_NAME: bionic,
-             OS_NAME: ubuntu,
-             OS_CODE_NAME: bionic,
-             ROS_DISTRO: melodic,
-             ROS_REPO: main,
-             DOCKER_IMAGE: "ros:melodic"}
           - {CI_NAME: focal,
              OS_NAME: ubuntu,
              OS_CODE_NAME: focal,
-             ROS_DISTRO: noetic,
+             ROS_DISTRO: foxy,
              ROS_REPO: main,
-             DOCKER_IMAGE: "ros:noetic"}
+             DOCKER_IMAGE: "ros:foxy"}
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2

CMakeLists.txt

@@ -5,33 +5,15 @@ set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-find_package(catkin REQUIRED COMPONENTS
-  rviz
-  pluginlib
-  pcl_ros
-)
+cmake_policy(SET CMP0057 NEW)
 
+find_package(ament_cmake REQUIRED)
 find_package(Eigen3 REQUIRED)
-
-catkin_package(
-  INCLUDE_DIRS
-    include
-  LIBRARIES
-    tool_cursor
-  CATKIN_DEPENDS
-    rviz
-    pluginlib
-    pcl_ros
-)
-
-###########
-## Build ##
-###########
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-)
+find_package(PCL REQUIRED COMPONENTS common io geometry)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rviz_common REQUIRED)
+find_package(rviz_rendering REQUIRED)
 
 # QT
 find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
@@ -42,42 +24,65 @@ qt5_wrap_cpp(MOC_FILES
   src/mesh_tool_cursor.h
 )
 
-add_library(tool_cursor
+add_library(${PROJECT_NAME} SHARED
   src/${PROJECT_NAME}/rviz_tool_cursor.cpp
+  src/${PROJECT_NAME}/get_point_on_plane.cpp
   src/circle_tool_cursor.cpp
   src/mesh_tool_cursor.cpp
   ${MOC_FILES}
 )
-target_link_libraries(tool_cursor
-  ${catkin_LIBRARIES}
+target_link_libraries(${PROJECT_NAME}
   Qt5::Widgets
-)
+  ${rclcpp_LIBRARIES}
+  ${rviz_common_LIBRARIES}
+  ${rviz_rendering_LIBRARIES}
+  ${pluginlib_LIBRARIES}
+  Eigen3::Eigen
+  ${PCL_LIBRARIES})
+target_include_directories(${PROJECT_NAME}
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  PUBLIC $<INSTALL_INTERFACE:include>)
+target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+  ${PCL_INCLUDE_DIRS})
+target_include_directories(${PROJECT_NAME} PUBLIC
+    ${pluginlib_INCLUDE_DIRS}
+    ${rviz_common_INCLUDE_DIRS}
+    ${rviz_rendering_INCLUDE_DIRS}
+
+    )
+target_compile_definitions(${PROJECT_NAME} PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
-#############
-## Install ##
-#############
+pluginlib_export_plugin_description_file(rviz_common plugin_description.xml)
 
 # Mark executables and/or libraries for installation
-install(TARGETS tool_cursor
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
 )
 
 # Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+install(DIRECTORY include/
+  DESTINATION include
 )
 
 # Mark other files for installation (e.g. launch and bag files, etc.)
 install(FILES plugin_description.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION share/${PROJECT_NAME}
 )
 install(DIRECTORY resources
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION share/${PROJECT_NAME}
 )
 
-#############
-## Testing ##
-#############
+ament_export_include_directories(include)
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(${PROJECT_NAME}
+    rclcpp
+    rviz_common
+    rviz_rendering
+    pluginlib)
 
+ament_package()

include/rviz_tool_cursor/get_point_on_plane.hpp

@@ -0,0 +1,16 @@
+#pragma once
+
+#include <OgrePrerequisites.h>
+
+namespace rviz_rendering
+{
+/** @brief Given a viewport and an x,y position in window-pixel coordinates,
+ *  find the point on a plane directly behind it, if any.
+ * @return true if the intersection exists, false if it does not. */
+bool getPointOnPlaneFromWindowXY(Ogre::Viewport* viewport,
+                                 Ogre::Plane& plane,
+                                 int window_x,
+                                 int window_y,
+                                 Ogre::Vector3& intersection_out);
+
+}

include/rviz_tool_cursor/rviz_tool_cursor.h

@@ -1,27 +1,36 @@
-#ifndef RVIZ_TOOL_CURSOR_RVIZ_TOOL_CURSOR_H
-#define RVIZ_TOOL_CURSOR_RVIZ_TOOL_CURSOR_H
+#pragma once
 
-#include <rviz/tool.h>
-#include <ros/node_handle.h>
-#include <ros/publisher.h>
+#include <rviz_common/tool.hpp>
+#include <rclcpp/clock.hpp>
+#include <rclcpp/publisher.hpp>
+#include <geometry_msgs/msg/pose_stamped.hpp>
 
 namespace Ogre
 {
   class SceneNode;
   class MovableObject;
 }
 
-namespace rviz
+namespace rviz_common
+{
+  class RenderPanel;
+}
+
+namespace rviz_common
+{
+namespace properties
 {
   class StringProperty;
   class IntProperty;
   class ColorProperty;
+  class FloatProperty;
+}
 }
 
 namespace rviz_tool_cursor
 {
 
-class ToolCursor : public rviz::Tool
+class ToolCursor : public rviz_common::Tool
 {
 Q_OBJECT
 public:
@@ -36,7 +45,7 @@ Q_OBJECT
 
   virtual void deactivate() override;
 
-  virtual int processMouseEvent(rviz::ViewportMouseEvent& event) override;
+  virtual int processMouseEvent(rviz_common::ViewportMouseEvent& event) override;
 
 public Q_SLOTS:
 
@@ -58,17 +67,15 @@ public Q_SLOTS:
 
   Ogre::MovableObject* movable_obj_;
 
-  ros::NodeHandle nh_;
+  rclcpp::Clock::SharedPtr clock_;
 
-  ros::Publisher pub_;
+  rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pub_;
 
-  rviz::StringProperty* topic_property_;
+  rviz_common::properties::StringProperty* topic_property_;
 
-  rviz::IntProperty* patch_size_property_;
+  rviz_common::properties::IntProperty* patch_size_property_;
 
-  rviz::ColorProperty* color_property_;
+  rviz_common::properties::ColorProperty* color_property_;
 };
 
 } // namespace rviz_tool_cursor
-
-#endif // RVIZ_TOOL_CURSOR_RVIZ_TOOL_CURSOR_H

package.xml

@@ -9,12 +9,13 @@
 
   <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>rviz</depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>libpcl-all-dev</depend>
   <depend>pluginlib</depend>
-  <depend>pcl_ros</depend>
+  <depend>rviz_common</depend>
+  <depend>rviz_rendering</depend>
 
   <export>
-    <rviz plugin="${prefix}/plugin_description.xml"/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

plugin_description.xml

@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
-<library path="lib/libtool_cursor">
-  <class name="rviz_tool_cursor/CircleToolCursor" type="rviz_tool_cursor::CircleToolCursor" base_class_type="rviz::Tool">
+<library path="rviz_tool_cursor">
+  <class name="rviz_tool_cursor/CircleToolCursor" type="rviz_tool_cursor::CircleToolCursor" base_class_type="rviz_common::Tool">
     <description>
       A cursor representing a circular tool that follows the geometry of mesh surfaces
     </description>
   </class>
-  <class name="rviz_tool_cursor/MeshToolCursor" type="rviz_tool_cursor::MeshToolCursor" base_class_type="rviz::Tool">
+  <class name="rviz_tool_cursor/MeshToolCursor" type="rviz_tool_cursor::MeshToolCursor" base_class_type="rviz_common::Tool">
     <description>
       A cursor representing an input mesh that follows the geometry of mesh surfaces
     </description>

src/circle_tool_cursor.cpp

@@ -1,11 +1,12 @@
 #include <OgreManualObject.h>
 #include <OgreMovableObject.h>
 #include <OgreSceneManager.h>
+#include <OgreSceneNode.h>
 
 #include <pluginlib/class_list_macros.h>
 
-#include <rviz/properties/color_property.h>
-#include <rviz/properties/float_property.h>
+#include <rviz_common/properties/color_property.hpp>
+#include <rviz_common/properties/float_property.hpp>
 
 #include "circle_tool_cursor.h"
 
@@ -17,7 +18,7 @@ namespace rviz_tool_cursor
 CircleToolCursor::CircleToolCursor()
   : ToolCursor()
 {
-  radius_property_ = new rviz::FloatProperty("Tool Radius", 0.210f,
+  radius_property_ = new rviz_common::properties::FloatProperty("Tool Radius", 0.210f,
                                              "The radius of the tool circle display",
                                              getPropertyContainer(), SLOT(updateToolVisualization()), this);
 }
@@ -77,4 +78,4 @@ void CircleToolCursor::updateToolVisualization()
 
 } // namespace rviz_tool_cursor
 
-PLUGINLIB_EXPORT_CLASS(rviz_tool_cursor::CircleToolCursor, rviz::Tool)
+PLUGINLIB_EXPORT_CLASS(rviz_tool_cursor::CircleToolCursor, rviz_common::Tool)

src/circle_tool_cursor.h

@@ -1,13 +1,7 @@
-#ifndef RVIZ_TOOL_CURSOR_CIRCLE_TOOL_CURSOR_H
-#define RVIZ_TOOL_CURSOR_CIRCLE_TOOL_CURSOR_H
+#pragma once
 
 #include <rviz_tool_cursor/rviz_tool_cursor.h>
 
-namespace rviz
-{
-  class FloatProperty;
-}
-
 namespace Ogre
 {
   class ManualObject;
@@ -33,11 +27,9 @@ public Q_SLOTS:
 
   virtual Ogre::MovableObject* createToolVisualization() override;
 
-  rviz::FloatProperty* radius_property_;
+  rviz_common::properties::FloatProperty* radius_property_;
 
   const std::string object_name_ = "circle_tool_cursor";
 };
 
 } // namespace rviz_tool_cursor
-
-#endif // RVIZ_TOOL_CURSOR_CIRCLE_TOOL_CURSOR_H