ROS 2 support

.github/workflows/main.yml

@@ -13,12 +13,12 @@ jobs:
           - {ROS_DISTRO: melodic,  ROS_REPO: main}
           - {ROS_DISTRO: noetic,   ROS_REPO: testing}
           - {ROS_DISTRO: noetic,   ROS_REPO: main}
-#          - {ROS_DISTRO: dashing,  ROS_REPO: testing}
-#          - {ROS_DISTRO: dashing,  ROS_REPO: main}
-#          - {ROS_DISTRO: eloquent, ROS_REPO: testing}
-#          - {ROS_DISTRO: eloquent, ROS_REPO: main}
-#          - {ROS_DISTRO: foxy,     ROS_REPO: testing}
-#          - {ROS_DISTRO: foxy,     ROS_REPO: main}
+          - {ROS_DISTRO: dashing,  ROS_REPO: testing}
+          - {ROS_DISTRO: dashing,  ROS_REPO: main}
+          - {ROS_DISTRO: eloquent, ROS_REPO: testing}
+          - {ROS_DISTRO: eloquent, ROS_REPO: main}
+          - {ROS_DISTRO: foxy,     ROS_REPO: testing}
+          - {ROS_DISTRO: foxy,     ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v1

.gitignore

@@ -0,0 +1,3 @@
+.idea/
+cmake-build-*/
+venv/

swri_profiler/CMakeLists.txt

@@ -1,71 +1,123 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(swri_profiler)
 
-set(BUILD_DEPS
-  diagnostic_updater
-  roscpp
-  rospy
-  std_msgs 
-  swri_profiler_msgs
-)
+find_package(Boost REQUIRED COMPONENTS thread)
 
-set(RUNTIME_DEPS
-  diagnostic_updater
-  roscpp
-  rospy
-  std_msgs 
-  swri_profiler_msgs 
-)
-
-
-### Catkin ###
-find_package(catkin REQUIRED COMPONENTS ${BUILD_DEPS})
+if ($ENV{ROS_VERSION} EQUAL 1)
+  set(BUILD_DEPS
+    diagnostic_updater
+    std_msgs
+    swri_profiler_msgs
+    roscpp
+  )
 
-include_directories(include
-  ${catkin_INCLUDE_DIRS})
+  ### Catkin ###
+  find_package(catkin REQUIRED COMPONENTS ${BUILD_DEPS})
 
-catkin_package(CATKIN_DEPENDS ${RUNTIME_DEPS}
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME})
+  include_directories(include
+    ${catkin_INCLUDE_DIRS})
+  catkin_package(CATKIN_DEPENDS ${BUILD_DEPS} rospy
+    INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_NAME}
+  )
 
+  add_library(${PROJECT_NAME}
+    src/profiler.cpp
+  )
+  target_link_libraries(${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+    Boost::thread
+  )
+  set_target_properties(${PROJECT_NAME} PROPERTIES
+    COMPILE_FLAGS "-std=c++11"
+  )
 
-add_library(${PROJECT_NAME}
-  src/profiler.cpp
+  add_executable(basic_profiler_example_node src/nodes/basic_profiler_example_node.cpp)
+  target_link_libraries(basic_profiler_example_node ${PROJECT_NAME})
+  set_target_properties(basic_profiler_example_node PROPERTIES
+    COMPILE_FLAGS "-std=c++11"
   )
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  COMPILE_FLAGS "-std=c++11"
-)
 
-add_executable(basic_profiler_example_node src/nodes/basic_profiler_example_node.cpp)
-target_link_libraries(basic_profiler_example_node ${PROJECT_NAME})
-set_target_properties(basic_profiler_example_node PROPERTIES
-  COMPILE_FLAGS "-std=c++11"
-)
+  add_dependencies(${PROJECT_NAME} swri_profiler_msgs_generate_messages_cpp)
 
-add_dependencies(${PROJECT_NAME} swri_profiler_msgs_generate_messages_cpp)
+  ### Install Test Node and Headers ###
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  )
 
-### Install Test Node and Headers ###
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
+  install(TARGETS ${PROJECT_NAME}
+    basic_profiler_example_node
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  )
 
-install(TARGETS ${PROJECT_NAME}
-  basic_profiler_example_node
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-)
+  catkin_install_python(PROGRAMS scripts/record_profiler_data scripts/profiler_server
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
 
-catkin_install_python(PROGRAMS scripts/record_profiler_data scripts/profiler_server
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+  install(DIRECTORY launch
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
 
-install(DIRECTORY launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+  install(DIRECTORY html/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/html
+  )
+else()
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  find_package(ament_cmake REQUIRED)
+  find_package(diagnostic_updater REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(std_msgs REQUIRED)
+  find_package(swri_profiler_msgs REQUIRED)
+
+  add_library(${PROJECT_NAME}
+    src/profiler.cpp
+  )
+  target_compile_definitions(${PROJECT_NAME}
+    PUBLIC "-DROS2_BUILD"
+  )
+  target_include_directories(${PROJECT_NAME}
+    PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+  )
+  target_link_libraries(${PROJECT_NAME}
+    PUBLIC
+      Boost::thread
+  )
+  ament_target_dependencies(${PROJECT_NAME}
+    PUBLIC
+      diagnostic_updater
+      rclcpp
+      std_msgs
+      swri_profiler_msgs
+  )
 
-install(DIRECTORY html/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/html
-)
+  add_executable(basic_profiler_example_node src/nodes/basic_profiler_example_node.cpp)
+  target_link_libraries(basic_profiler_example_node
+    ${PROJECT_NAME}
+  )
 
+  install(DIRECTORY include/
+    DESTINATION include
+  )
+  install(DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+    FILES_MATCHING PATTERN "*.py" PATTERN "*.launch"
+  )
+  install(TARGETS ${PROJECT_NAME} basic_profiler_example_node
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+  )
+  install(PROGRAMS scripts/profiler_server scripts/record_profiler_data
+    DESTINATION lib/${PROJECT_NAME}
+  )
+  ament_export_include_directories(include)
+  ament_export_libraries(${PROJECT_NAME})
+  ament_package()
+endif()