[Msg] Define a custom ROS/ROS2 message

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)
 

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/*
 

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

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}

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);

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)

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>