[Build] Import dummy ROS2 publisher

This is Work-in-Progress to integrate ROS2 code into the existing ROS1
code and make them buildable with both CMake and Colcon. The imported
code is from [1] and will be removed.

[1] https://github.com/ros2/examples/tree/eloquent/rclcpp/minimal_publisher

Signed-off-by: Wook Song <[email protected]>

CMakeLists.txt

@@ -1,17 +1,35 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 
 PROJECT(nnstreamer-ros C CXX)
 
 OPTION(TIZEN "Enable Tizen build mode" OFF)
 OPTION(ENABLE_TEST "Enable tests" ON)
 
+SET(ROS_DISTROS "kinetic" "melodic" "noextic" )
+SET(ROS2_DISTROS "eloquent" "foxy")
+
 SET(NNS_VERSION "1.6.0")
 ADD_DEFINITIONS(-DNNS_VERSION="${NNS_VERSION}")
 
 IF(NOT ROS_VERSION)
   SET(ROS_VERSION "melodic")
 ENDIF (NOT ROS_VERSION)
 
+LIST(FIND ROS_DISTROS ${ROS_VERSION} ROS_DISTRO_IDX)
+LIST(FIND ROS2_DISTROS ${ROS_VERSION} ROS2_DISTRO_IDX)
+
+IF(${ROS_DISTRO_IDX} GREATER -1)
+  SET(WITH_ROS1 TRUE)
+  SET(WITH_ROS2 FALSE)
+  ADD_DEFINITIONS(-DWITH_ROS1)
+ELSEIF(${ROS2_DISTRO_IDX} GREATER -1)
+  SET(WITH_ROS1 FALSE)
+  SET(WITH_ROS2 TRUE)
+  ADD_DEFINITIONS(-DWITH_ROS2)
+ELSE()
+  message(FATAL_ERROR "Invalid or Not Supported ROS_DISTRO: ${ROS_VERSION}")
+ENDIF(${ROS_DISTRO_IDX} GREATER -1)
+
 IF(NOT ROS_BASE_PREFIX)
   SET(ROS_BASE_PREFIX "/opt/ros/${ROS_VERSION}")
 ENDIF(NOT ROS_BASE_PREFIX)
@@ -28,7 +46,10 @@ SET(ROS_INSTALL_INCLUDEDIR "include")
 
 ## Override CMake Variables
 SET(CMAKE_PREFIX_PATH "${ROS_BASE_PREFIX}")
-SET(CMAKE_INSTALL_PREFIX "${ROS_INSTALL_PREFIX}")
+STRING(FIND ${CMAKE_INSTALL_PREFIX} ${CMAKE_CURRENT_SOURCE_DIR} BUILD_IN_WORKSPACE)
+IF(BUILD_IN_WORKSPACE EQUAL -1)
+  SET(CMAKE_INSTALL_PREFIX ${ROS_INSTALL_PREFIX})
+ENDIF(BUILD_IN_WORKSPACE EQUAL -1)
 SET(CMAKE_INSTALL_LIBDIR "${ROS_INSTALL_LIBDIR}")
 SET(CMAKE_INSTALL_BINDIR "${ROS_INSTALL_BINDIR}")
 SET(CMAKE_INSTALL_INCLUDEDIR "${ROS_INSTALL_INCLUDEDIR}")
@@ -55,19 +76,34 @@ ENDIF(TIZEN)
 PKG_CHECK_MODULES(PKGS_COMMON REQUIRED ${PKG_COMMON_MODULES})
 
 INCLUDE_DIRECTORIES(
-  ./common/include
+  ${PROJECT_SOURCE_DIR}/include
   ${PKGS_COMMON_INCLUDE_DIRS}
   ${ROS_BASE_INCLUDE_DIR}
   )
 
-SET(c_flags -Wall -Werror -fPIC -g -std=c89)
-SET(cxx_flags -Wall -Werror -fPIC -g -std=c++11)
+  # Default to C99
+IF(NOT CMAKE_C_STANDARD)
+  SET(CMAKE_C_STANDARD 99)
+ENDIF()
+
+# Default to C++14
+IF(NOT CMAKE_CXX_STANDARD)
+  SET(CMAKE_CXX_STANDARD 14)
+ENDIF()
+
+SET(EXTRA_CFLAGS -Wall -Werror -fPIC -g)
+SET(EXTRA_CXXFLAGS -Wall -Werror -fPIC -g)
+
 ADD_COMPILE_OPTIONS(
-  "$<$<COMPILE_LANGUAGE:C>:${c_flags}>"
-  "$<$<COMPILE_LANGUAGE:CXX>:${cxx_flags}>"
+  "$<$<COMPILE_LANGUAGE:C>:${EXTRA_CFLAGS}>"
+  "$<$<COMPILE_LANGUAGE:CXX>:${EXTRA_CXXFLAGS}>"
 )
 
-ADD_SUBDIRECTORY(common)
+IF(WITH_ROS1)
+    ADD_SUBDIRECTORY(ros)
+ELSEIF(WITH_ROS2)
+    ADD_SUBDIRECTORY(ros2)
+ENDIF()
 ADD_SUBDIRECTORY(gst)
 
 IF(ENABLE_TEST)

gst/CMakeLists.txt

@@ -1,2 +1,4 @@
-ADD_SUBDIRECTORY(tensor_ros_sink)
-ADD_SUBDIRECTORY(tensor_ros_src)
+IF(WITH_ROS1)
+  ADD_SUBDIRECTORY(tensor_ros_sink)
+  ADD_SUBDIRECTORY(tensor_ros_src)
+ENDIF(WITH_ROS1)

common/CMakeLists.txt → ros/CMakeLists.txt

@@ -124,18 +124,17 @@ generate_messages(
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-  INCLUDE_DIRS include
   LIBRARIES nns_ros_bridge
   CATKIN_DEPENDS roscpp rosbag std_msgs message_runtime
   DEPENDS ${PKGS_COMMON}
 )
 
 SET(CXX_SRC_FILES_NNS_ROS_PUBLISHER
- ./node/nns_ros_publisher.cc
+  ./node/nns_ros_publisher.cc
 )
 
 SET(CXX_SRC_FILES_NNS_ROS_SRC
- ./node/nns_ros_subscriber.cc
+  ./node/nns_ros_subscriber.cc
 )
 
 ###########

ros/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>nns_ros_bridge</name>
+  <version>0.0.1</version>
+  <description>A bridge for ROS support within NNStreamer</description>
+  <maintainer email="[email protected]">Wook Song</maintainer>
+  <author email="[email protected]">Wook Song</author>
+
+  <license>LGPLv2.1</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rosbag</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rosbag</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <export>
+  </export>
+</package>

ros2/CMakeLists.txt

@@ -0,0 +1,62 @@
+PROJECT(nns_ros2_bridge C CXX)
+
+IF(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+ENDIF()
+
+FIND_PROGRAM(PYTHON_EXECUTABLE python3 DOC "python interpreter")
+IF(PYTHON_EXECUTABLE)
+  EXECUTE_PROCESS(COMMAND ${PYTHON_EXECUTABLE} -c "import platform; ver = platform.python_version_tuple(); print(ver[0] + '.' + ver[1])"
+                  OUTPUT_VARIABLE PYTHON_VER
+                  RESULT_VARIABLE PYTHON_VER_NOT_FOUND
+                  OUTPUT_STRIP_TRAILING_WHITESPACE)
+ENDIF(PYTHON_EXECUTABLE)
+
+IF(PYTHON_VER_NOT_FOUND)
+  MESSAGE(FATAL_ERROR "Failed to find python3 required by ament_cmake")
+ENDIF(PYTHON_VER_NOT_FOUND)
+
+IF(EXISTS ${CMAKE_PREFIX_PATH}/lib/python${PYTHON_VER}/site-packages)
+  LIST(APPEND PYTHONPATH_CANDIDATES "${CMAKE_PREFIX_PATH}/lib/python${PYTHON_VER}")
+ENDIF(EXISTS ${CMAKE_PREFIX_PATH}/lib/python${PYTHON_VER}/site-packages)
+
+IF(EXISTS ${CMAKE_PREFIX_PATH}/lib/python3/site-packages)
+  LIST(APPEND PYTHONPATH_CANDIDATES "${CMAKE_PREFIX_PATH}/lib/python3")
+ENDIF(EXISTS ${CMAKE_PREFIX_PATH}/lib/python3/site-packages)
+
+LIST(LENGTH PYTHONPATH_CANDIDATES LEN_PYTHONPATH_CANDIDATES)
+IF(${LEN_PYTHONPATH_CANDIDATES} LESS "1")
+  MESSAGE(FATAL_ERROR "Failed to find python3-related path in ${CMAKE_PREFIX_PATH}/lib")
+ENDIF(${LEN_PYTHONPATH_CANDIDATES} LESS "1")
+
+FOREACH(pythonpath ${PYTHONPATH_CANDIDATES})
+  SET(ENV{PYTHONPATH} ${pythonpath}/site-packages:$ENV{PYTHONPATH})
+ENDFOREACH()
+
+# find dependencies
+FIND_PACKAGE(ament_cmake REQUIRED)
+FIND_PACKAGE(rclcpp REQUIRED)
+FIND_PACKAGE(std_msgs REQUIRED)
+
+ADD_EXECUTABLE(publisher_member_function node/member_function.cpp)
+AMENT_TARGET_DEPENDENCIES(publisher_member_function rclcpp std_msgs)
+
+INSTALL(TARGETS
+  publisher_member_function
+  RUNTIME DESTINATION ${ROS_INSTALL_BINDIR}
+  LIBRARY DESTINATION ${ROS_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${ROS_INSTALL_LIBDIR}
+)
+
+IF(BUILD_TESTING)
+  FIND_PACKAGE(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  AMENT_LINT_AUTO_FIND_TEST_DEPENDENCIES()
+ENDIF()
+
+AMENT_PACKAGE()

ros2/node/member_function.cpp

@@ -0,0 +1,56 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <chrono>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+/* This example creates a subclass of Node and uses std::bind() to register a
+ * member function as a callback from the timer. */
+
+class MinimalPublisher : public rclcpp::Node
+{
+public:
+  MinimalPublisher()
+  : Node("minimal_publisher"), count_(0)
+  {
+    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+    timer_ = this->create_wall_timer(
+      500ms, std::bind(&MinimalPublisher::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto message = std_msgs::msg::String();
+    message.data = "Hello, world! " + std::to_string(count_++);
+    RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
+    publisher_->publish(message);
+  }
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  size_t count_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}

ros2/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>nns_ros2_bridge</name>
+  <version>0.0.1</version>
+  <description>A bridge for ROS2 support within NNStreamer</description>
+  <maintainer email="[email protected]">wook</maintainer>
+  <author>Wook Song</author>
+  <license>LGPLv2.1</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rclcpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

tests/CMakeLists.txt

@@ -1,2 +1,4 @@
-ADD_SUBDIRECTORY(tensor_ros_sink)
-ADD_SUBDIRECTORY(tensor_ros_src)
+IF(WITH_ROS1)
+  ADD_SUBDIRECTORY(tensor_ros_sink)
+  ADD_SUBDIRECTORY(tensor_ros_src)
+ENDIF(WITH_ROS1)