From c8bd4069e98f27b47165644cd432581b349008f3 Mon Sep 17 00:00:00 2001 From: Wook Song Date: Wed, 14 Oct 2020 19:16:08 +0900 Subject: [PATCH] [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 --- CMakeLists.txt | 3 + ros/msg/tensors.msg => common/msg/Tensors.msg | 0 debian/install | 4 +- packaging/nnstreamer-ros.spec | 2 +- ros/CMakeLists.txt | 149 ++---------------- ros/node/nns_roscpp_publisher.cc | 6 +- ros2/CMakeLists.txt | 13 +- ros2/package.xml | 5 + 8 files changed, 36 insertions(+), 146 deletions(-) rename ros/msg/tensors.msg => common/msg/Tensors.msg (100%) diff --git a/CMakeLists.txt b/CMakeLists.txt index f24d84a..8176da4 100644 --- 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 b/common/msg/Tensors.msg similarity index 100% rename from ros/msg/tensors.msg rename to common/msg/Tensors.msg diff --git a/debian/install b/debian/install index dc3b976..e54d4b9 100644 --- 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 index 624ea30..b2ed03b 100644 --- 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 index b6d9348..9e6bf20 100644 --- 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 index 5959016..d81734d 100644 --- a/ros/node/nns_roscpp_publisher.cc +++ b/ros/node/nns_roscpp_publisher.cc @@ -22,8 +22,8 @@ #include #include -#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 ( + this->ros_sink_pub = this->nh_child->advertise ( 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 index e0567d5..cf8d03b 100644 --- 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 index 0637fe6..e75ac49 100644 --- a/ros2/package.xml +++ b/ros2/package.xml @@ -12,8 +12,13 @@ rclcpp std_msgs + rosidl_default_generators + rclcpp std_msgs + rosidl_default_runtime + + rosidl_interface_packages ament_lint_auto ament_lint_common