[Msg] Define a custom ROS/ROS2 message

This patch defines a custom ROS2 message via reusing the custom ROS1 message, 'tensors'. In addition, relevant codes, CMake scripts, and packaging files are also revised to make this msg compatible with both ROS1 and ROS2. Signed-off-by: Wook Song <[email protected]>
nnstreamer · Oct 22, 2020 · c8bd406 · c8bd406
1 parent cb42a83
commit c8bd406
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Showing 8 changed files with 36 additions and 146 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -43,6 +43,7 @@ SET(ROS_ROOT "${CMAKE_PREFIX_PATH}/ros")
 SET(ROS_INSTALL_LIBDIR "lib")
 SET(ROS_INSTALL_BINDIR "bin")
 SET(ROS_INSTALL_INCLUDEDIR "include")
+SET(ROS_INSTALL_DATAROOTDIR "share")
 
 ## Override CMake Variables
 SET(CMAKE_PREFIX_PATH "${ROS_BASE_PREFIX}")
@@ -53,6 +54,7 @@ ENDIF(BUILD_IN_WORKSPACE EQUAL -1)
 SET(CMAKE_INSTALL_LIBDIR "${ROS_INSTALL_LIBDIR}")
 SET(CMAKE_INSTALL_BINDIR "${ROS_INSTALL_BINDIR}")
 SET(CMAKE_INSTALL_INCLUDEDIR "${ROS_INSTALL_INCLUDEDIR}")
+SET(CMAKE_INSTALL_DATAROOTDIR "${ROS_INSTALL_DATAROOTDIR}")
 
 ## Configure variables to use in build
 SET(ENV{LD_LIBRARY_PATH} "${CMAKE_PREFIX_PATH}/lib:$ENV{LD_LIBRARY_PATH}")
@@ -91,6 +93,7 @@ IF(NOT CMAKE_CXX_STANDARD)
   SET(CMAKE_CXX_STANDARD 14)
 ENDIF()
 
+SET(NNS_ROS_COMMON_DIR ${PROJECT_SOURCE_DIR}/common)
 SET(EXTRA_CFLAGS -Wall -Werror -fPIC -g)
 SET(EXTRA_CXXFLAGS -Wall -Werror -fPIC -g)
 

diff --git a/ros/msg/tensors.msg → common/msg/Tensors.msg b/ros/msg/tensors.msg → common/msg/Tensors.msg
diff --git a/debian/install b/debian/install
@@ -6,10 +6,10 @@
 /opt/ros/*/share/gennodejs/ros/nns_ros_bridge/msg/*.js
 /opt/ros/*/share/roseus/ros/nns_ros_bridge/msg/*.l
 /opt/ros/*/share/nns_ros_bridge/cmake/*.cmake
-/opt/ros/*/share/nns_ros_bridge/msg/tensors.msg
+/opt/ros/*/share/nns_ros_bridge/msg/Tensors.msg
 /opt/ros/*/share/nns_ros_bridge/package.xml
 /opt/ros/*/share/common-lisp/ros/nns_ros_bridge/msg/*
-/opt/ros/*/include/nns_ros_bridge/tensors.h
+/opt/ros/*/include/nns_ros_bridge/Tensors.h
 /opt/ros/*/lib/gstreamer-1.0/*
 /opt/ros/*/etc/catkin/*
 
diff --git a/packaging/nnstreamer-ros.spec b/packaging/nnstreamer-ros.spec
@@ -110,7 +110,7 @@ cp -r result %{buildroot}%{_datadir}/%{name}/unittest
 %{__ros_install_path}/share/nns_ros_bridge/msg/*
 %{__ros_install_path}/share/nns_ros_bridge/package.xml
 %{__ros_install_path}/share/nns_ros_bridge/catkin_env_hook/20.gst_plugin_path.sh
-%{__ros_install_path}/include/nns_ros_bridge/tensors.h
+%{__ros_install_path}/include/nns_ros_bridge/Tensors.h
 %{__ros_install_path}/lib/pkgconfig/nns_ros_bridge.pc
 # pyc
 %exclude %{__ros_install_path}/lib/python2.7/site-packages/nns_ros_bridge/*.pyc

diff --git a/ros/CMakeLists.txt b/ros/CMakeLists.txt
@@ -36,84 +36,22 @@ FIND_PACKAGE(catkin REQUIRED COMPONENTS
   genmsg
 )
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
 ################################################
 ## Declare ROS messages, services and actions ##
 ################################################
 
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-add_message_files(FILES
-  tensors.msg
+ADD_MESSAGE_FILES(
+  NOINSTALL
+  DIRECTORY ${NNS_ROS_COMMON_DIR}/msg
+  FILES Tensors.msg
 )
 
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
 ## Generate added messages and services with any dependencies listed here
-generate_messages(
+GENERATE_MESSAGES(
   DEPENDENCIES
   std_msgs
 )
 
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
 ###################################
 ## catkin specific configuration ##
 ###################################
@@ -123,7 +61,7 @@ generate_messages(
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
+CATKIN_PACKAGE(
   LIBRARIES nns_ros_bridge
   CATKIN_DEPENDS roscpp rosbag std_msgs message_runtime
   DEPENDS ${PKGS_COMMON}
@@ -141,37 +79,12 @@ SET(CXX_SRC_FILES_NNS_ROS_SRC
 ## Build ##
 ###########
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
 INCLUDE_DIRECTORIES(
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/my_first_ros_pkg.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-
 ADD_LIBRARY(${PROJECT_NAME} ${CXX_SRC_FILES_NNS_ROS_PUBLISHER} ${CXX_SRC_FILES_NNS_ROS_SRC})
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+ADD_DEPENDENCIES(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 TARGET_LINK_LIBRARIES(${PROJECT_NAME}
@@ -187,49 +100,11 @@ ENDIF()
 ## Install ##
 #############
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_first_ros_pkg.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+INSTALL(
+  DIRECTORY ${NNS_ROS_COMMON_DIR}/msg
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}
+  FILES_MATCHING PATTERN "*.msg"
+)
 
 INSTALL(TARGETS ${PROJECT_NAME}
   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}

diff --git a/ros/node/nns_roscpp_publisher.cc b/ros/node/nns_roscpp_publisher.cc
@@ -22,8 +22,8 @@
 #include <std_msgs/MultiArrayLayout.h>
 #include <time.h>
 
-#include "nns_ros_bridge/tensors.h"
 #include "nns_ros_publisher.h"
+#include "nns_ros_bridge/Tensors.h"
 
 const char BASE_NODE_NAME[] = "tensor_ros_sink";
 
@@ -85,7 +85,7 @@ NnsRosCppPublisher::NnsRosCppPublisher (const char *node_name,
      * The name of published topic would be
      * /tensor_ros_sink/PID_${PID}/${ElementNameOfTensorRosSink}
      */
-    this->ros_sink_pub = this->nh_child->advertise<nns_ros_bridge::tensors> (
+    this->ros_sink_pub = this->nh_child->advertise<nns_ros_bridge::Tensors> (
         this->str_pub_topic_name, default_q_size);
   }
 }
@@ -111,7 +111,7 @@ NnsRosCppPublisher::~NnsRosCppPublisher ()
 gboolean NnsRosCppPublisher::publish (const guint num_tensors,
     const GstTensorMemory *tensors_mem, void *bag)
 {
-  nns_ros_bridge::tensors tensors_msg;
+  nns_ros_bridge::Tensors tensors_msg;
 
   g_return_val_if_fail (this->ready_to_pub, FALSE);
   g_return_val_if_fail (num_tensors == this->num_of_tensors_pub, FALSE);

diff --git a/ros2/CMakeLists.txt b/ros2/CMakeLists.txt
@@ -38,14 +38,21 @@ FIND_PACKAGE(ament_cmake REQUIRED)
 FIND_PACKAGE(rclcpp REQUIRED)
 FIND_PACKAGE(std_msgs REQUIRED)
 
+FIND_PACKAGE(rosidl_default_generators REQUIRED)
+
+ROSIDL_GENERATE_INTERFACES(
+  ${PROJECT_NAME}
+  "${NNS_ROS_COMMON_DIR}/msg:Tensors.msg"
+)
+
 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}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}
 )
 
 IF(BUILD_TESTING)

diff --git a/ros2/package.xml b/ros2/package.xml
@@ -12,8 +12,13 @@
   <build_depend>rclcpp</build_depend>
   <build_depend>std_msgs</build_depend>
 
+  <build_depend>rosidl_default_generators</build_depend>
+
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>