Merge pull request ika-rwth-aachen#38 from ika-rwth-aachen/feature/cp…

…m_utils

Adding CPM Access-Functions and RViz Plugin; and improve utils package for all message types

etsi_its_msgs_utils/CMakeLists.txt

@@ -13,6 +13,7 @@ if(${ROS_VERSION} EQUAL 2)
   find_package(etsi_its_msgs REQUIRED)
   find_package(GeographicLib REQUIRED)
   find_package(geometry_msgs REQUIRED)
+  find_package(tf2_geometry_msgs REQUIRED)
 
   add_library(${PROJECT_NAME} INTERFACE)
 
@@ -25,10 +26,11 @@ if(${ROS_VERSION} EQUAL 2)
     ${etsi_its_msgs_TARGETS}
     ${GeographicLib_LIBRARIES}
     ${geometry_msgs_TARGETS}
+    ${tf2_geometry_msgs_TARGETS}
   )
 
   ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
-  ament_export_dependencies(etsi_its_msgs geometry_msgs)
+  ament_export_dependencies(etsi_its_msgs geometry_msgs tf2_geometry_msgs)
 
   install(DIRECTORY include/
     DESTINATION include/${PROJECT_NAME}
@@ -44,39 +46,16 @@ if(${ROS_VERSION} EQUAL 2)
 
   if(BUILD_TESTING)
     find_package(ament_cmake_gtest REQUIRED)
-    ament_add_gtest(${PROJECT_NAME}-cam_test test/test_cam_access.ros2.cpp)
-    target_include_directories(${PROJECT_NAME}-cam_test PUBLIC
+    ament_add_gtest(${PROJECT_NAME}-test test/test_access.ros2.cpp)
+    target_include_directories(${PROJECT_NAME}-test PUBLIC test
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
     )
-    target_include_directories(${PROJECT_NAME}-cam_test PUBLIC test)
-    ament_target_dependencies(${PROJECT_NAME}-cam_test
-      etsi_its_msgs
-      GeographicLib
-      geometry_msgs
-    )
-    find_package(ament_cmake_gtest REQUIRED)
-    ament_add_gtest(${PROJECT_NAME}-cam_ts_test test/test_cam_ts_access.ros2.cpp)
-    target_include_directories(${PROJECT_NAME}-cam_ts_test PUBLIC
-      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-      $<INSTALL_INTERFACE:include>
-    )
-    target_include_directories(${PROJECT_NAME}-cam_ts_test PUBLIC test)
-    ament_target_dependencies(${PROJECT_NAME}-cam_ts_test
-      etsi_its_msgs
-      GeographicLib
-      geometry_msgs
-    )
-    ament_add_gtest(${PROJECT_NAME}-denm_test test/test_denm_access.ros2.cpp)
-    target_include_directories(${PROJECT_NAME}-denm_test PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-    )
-    target_include_directories(${PROJECT_NAME}-denm_test PUBLIC test)
-    ament_target_dependencies(${PROJECT_NAME}-denm_test
+    ament_target_dependencies(${PROJECT_NAME}-test
       etsi_its_msgs
       GeographicLib
       geometry_msgs
+      tf2_geometry_msgs
     )
   endif()
 
@@ -90,6 +69,7 @@ elseif(${ROS_VERSION} EQUAL 1)
   find_package(catkin REQUIRED COMPONENTS
     etsi_its_msgs
     geometry_msgs
+    tf2_geometry_msgs
   )
 
   find_package(GeographicLib REQUIRED)
@@ -100,6 +80,7 @@ elseif(${ROS_VERSION} EQUAL 1)
     CATKIN_DEPENDS
       etsi_its_msgs
       geometry_msgs
+      tf2_geometry_msgs
   )
 
   include_directories(
@@ -113,15 +94,10 @@ elseif(${ROS_VERSION} EQUAL 1)
   )
 
   if(CATKIN_ENABLE_TESTING)
-    catkin_add_gtest(${PROJECT_NAME}-cam_test test/test_cam_access.cpp)
-    catkin_add_gtest(${PROJECT_NAME}-denm_test test/test_denm_access.cpp)
-    if(TARGET ${PROJECT_NAME}-cam_test)
-      target_include_directories(${PROJECT_NAME}-cam_test PUBLIC test)
-      target_link_libraries(${PROJECT_NAME}-cam_test ${GeographicLib_LIBRARIES} ${catkin_LIBRARIES})
-    endif()
-    if(TARGET ${PROJECT_NAME}-denm_test)
-      target_include_directories(${PROJECT_NAME}-denm_test PUBLIC test)
-      target_link_libraries(${PROJECT_NAME}-denm_test ${GeographicLib_LIBRARIES} ${catkin_LIBRARIES})
+    catkin_add_gtest(${PROJECT_NAME}-test test/test_access.cpp)
+    if(TARGET ${PROJECT_NAME}-test)
+      target_include_directories(${PROJECT_NAME}-test PUBLIC test)
+      target_link_libraries(${PROJECT_NAME}-test ${GeographicLib_LIBRARIES} ${catkin_LIBRARIES})
     endif()
   endif()
 

etsi_its_msgs_utils/include/etsi_its_msgs_utils/cpm_ts_access.h

@@ -0,0 +1,48 @@
+/*
+=============================================================================
+MIT License
+
+Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+=============================================================================
+*/
+
+/**
+ * @file cpm_ts_access.h
+ * @brief Main CPM access header to include in ROS 1 projects
+ */
+
+#pragma once
+
+// Messages
+#include <etsi_its_cpm_ts_msgs/CollectivePerceptionMessage.h>
+#include <geometry_msgs/PointStamped.h>
+#include <geometry_msgs/Pose.h>
+#include <geometry_msgs/PoseWithCovariance.h>
+#include <geometry_msgs/Quaternion.h>
+#include <geometry_msgs/Vector3.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+namespace etsi_its_cpm_ts_msgs {
+namespace gm = geometry_msgs;
+}
+
+// Implementation
+#include <etsi_its_msgs_utils/impl/cpm/cpm_ts_access.h>

etsi_its_msgs_utils/include/etsi_its_msgs_utils/cpm_ts_access.hpp

@@ -0,0 +1,49 @@
+/*
+=============================================================================
+MIT License
+
+Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+=============================================================================
+*/
+
+/**
+ * @file cpm_ts_access.hpp
+ * @brief Main CPM access header to include in ROS 2 projects
+ */
+
+#pragma once
+
+// Messages
+#include <etsi_its_cpm_ts_msgs/msg/collective_perception_message.hpp>
+#include <geometry_msgs/msg/point_stamped.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+#include <geometry_msgs/msg/pose_with_covariance.hpp>
+#include <geometry_msgs/msg/quaternion.hpp>
+#include <geometry_msgs/msg/vector3.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+
+namespace etsi_its_cpm_ts_msgs {
+using namespace msg;
+namespace gm = geometry_msgs::msg;
+}  // namespace etsi_its_cpm_ts_msgs
+
+// Implementation
+#include <etsi_its_msgs_utils/impl/cpm/cpm_ts_access.h>

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cam/cam_access.h

@@ -29,6 +29,17 @@ SOFTWARE.
  * @brief Main CAM access implementation header
  */
 
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_GETTERS_COMMON_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_UTILS_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_CHECKS_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_SETTERS_COMMON_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V1_3_1_GETTERS_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V1_3_1_SETTERS_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_1_1_GETTERS_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_1_1_SETTERS_H
+
 #pragma once
 
 #include <cstring>
@@ -42,4 +53,4 @@ SOFTWARE.
 
 namespace etsi_its_cam_msgs::access {
 #include <etsi_its_msgs_utils/impl/cam/cam_utils.h>
-} // namespace etsi_its_cam_msgs::access
+}  // namespace etsi_its_cam_msgs::access

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cam/cam_getters.h

@@ -33,5 +33,6 @@ SOFTWARE.
 
 namespace etsi_its_cam_msgs::access {
 #include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
+
 #include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
-} // namespace etsi_its_cam_msgs::access
+}  // namespace etsi_its_cam_msgs::access