Merge pull request #189 from eurogroep/feat/ros2-port-all-filters

Feature: ros2 port for all filters

CMakeLists.txt

@@ -43,7 +43,7 @@ ament_auto_add_executable(generic_laser_filter_node src/generic_laser_filter_nod
 ##############################################################################
 
 pluginlib_export_plugin_description_file(filters laser_filters_plugins.xml)
-ament_auto_package(INSTALL_TO_SHARE examples)
+ament_auto_package(INSTALL_TO_SHARE examples test)
 
 ##############################################################################
 # Test
@@ -77,4 +77,36 @@ if(BUILD_TESTING)
             --gtest_output=xml:${RESULT_FILENAME}
         RESULT_FILE ${RESULT_FILENAME}
     )
+
+    set(TEST_NAME test_speckle_filter)
+    set(RESULT_FILENAME ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TEST_NAME}.gtest.xml)
+    ament_add_gtest_executable(${TEST_NAME} test/${TEST_NAME}.cpp)
+    ament_target_dependencies(${TEST_NAME} angles)
+    target_link_libraries(${TEST_NAME} laser_scan_filters)
+    ament_add_test(
+        ${TEST_NAME}
+        COMMAND
+            $<TARGET_FILE:${TEST_NAME}>
+            --ros-args
+            --gtest_output=xml:${RESULT_FILENAME}
+        RESULT_FILE ${RESULT_FILENAME}
+    )
+
+    set(TEST_NAME test_scan_shadows_filter)
+    set(RESULT_FILENAME ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TEST_NAME}.gtest.xml)
+    ament_add_gtest_executable(${TEST_NAME} test/${TEST_NAME}.cpp)
+    ament_target_dependencies(${TEST_NAME} filters rclcpp sensor_msgs)
+    target_link_libraries(${TEST_NAME} laser_scan_filters)
+    ament_add_test(
+        ${TEST_NAME}
+        COMMAND
+            $<TARGET_FILE:${TEST_NAME}>
+            --ros-args
+            --gtest_output=xml:${RESULT_FILENAME}
+        RESULT_FILE ${RESULT_FILENAME}
+    )
+
+    find_package(launch_testing_ament_cmake)
+    add_launch_test(test/test_polygon_filter.test.py)
+    add_launch_test(test/test_speckle_filter.test.py)
 endif()

examples/polygon_filter_example.launch.py

@@ -0,0 +1,20 @@
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                package="laser_filters",
+                executable="scan_to_scan_filter_chain",
+                parameters=[
+                    PathJoinSubstitution(
+                        [get_package_share_directory("laser_filters"), "examples", "polygon_filter_example.yaml"]
+                    )
+                ],
+            )
+        ]
+    )

examples/polygon_filter_example.yaml

@@ -0,0 +1,10 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: polygon_filter
+      type: laser_filters/LaserScanPolygonFilter
+      params:
+        polygon_frame: base_link
+        polygon: '[[0.0, 0.0], [0.1, 0.1], [0.1, 0.0], [0.0, -0.1]]'
+        invert: false
+        footprint_topic: base_footprint_exclude

examples/scan_blob_filter_example.launch.py

@@ -0,0 +1,20 @@
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                package="laser_filters",
+                executable="scan_to_scan_filter_chain",
+                parameters=[
+                    PathJoinSubstitution(
+                        [get_package_share_directory("laser_filters"), "examples", "scan_blob_filter_example.yaml"]
+                    )
+                ],
+            )
+        ]
+    )

examples/scan_blob_filter_example.yaml

@@ -0,0 +1,8 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: scan_blob_filter
+      type: laser_filters/ScanBlobFilter
+      params:
+        max_radius: 0.25 # maximum radius to be considered as blob object
+        min_points: 6 # min scan points to be considered as blob object

examples/sector_filter_example.launch.py

@@ -0,0 +1,20 @@
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                package="laser_filters",
+                executable="scan_to_scan_filter_chain",
+                parameters=[
+                    PathJoinSubstitution(
+                        [get_package_share_directory("laser_filters"), "examples", "sector_filter_example.yaml"]
+                    )
+                ],
+            )
+        ]
+    )

examples/sector_filter_example.yaml

@@ -0,0 +1,12 @@
+scan_to_scan_filter_chain:
+  ros__parameters:
+    filter1:
+      name: scan_filter
+      type: laser_filters/LaserScanSectorFilter
+      params:
+        angle_min: 2.54 # if not specified defaults to 0.0
+        angle_max: -2.54 # if not specified defaults to 0.0
+        range_min: 0.2 # if not specified defaults to 0.0
+        range_max: 2.0 # if not specified defaults to 100000.0
+        clear_inside: true # if not specified defaults to true
+        invert: false # (!clear_inside) if not specified defaults to false