Add build support for the conversor for ros1 and ros2. Add Dockerfile…

…s to verify the build

.dockerignore

@@ -0,0 +1,2 @@
+Dockerfile.*
+README.md

CMakeLists.txt

@@ -2,43 +2,104 @@ cmake_minimum_required(VERSION 3.0.2)
 project(fields2cover_ros)
 
 set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-find_package(catkin REQUIRED
-    COMPONENTS
-    roscpp
-    std_msgs
-    geometry_msgs
-    sensor_msgs
-    dynamic_reconfigure
-    )
-
-generate_dynamic_reconfigure_options(
-  cfg/Controls.cfg
-)
-
-catkin_package(
-  CATKIN_DEPENDS 
-    roscpp
-    std_msgs
-    geometry_msgs
-    sensor_msgs
-)
+# Update the policy setting to avoid an error when loading the ament_cmake package
+# at the current cmake version level
+if(POLICY CMP0057)
+    cmake_policy(SET CMP0057 NEW)
+endif()
 
 find_package(Fields2Cover REQUIRED)
 
-include_directories(
- include
- ${catkin_INCLUDE_DIRS}
-)
-
-add_executable(visualizer_node 
-    src/fields2cover_visualizer_node.cpp
-    src/Fields2CoverVisualizerNode.cpp
-    src/ros/conversor.cpp
-)
-
-target_link_libraries(visualizer_node
-   ${catkin_LIBRARIES} Fields2Cover
-)
-add_dependencies(visualizer_node ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg )
+find_package(ament_cmake QUIET)
+
+if ( ament_cmake_FOUND )
+	set(IS_ROS2 ON)
+	message(STATUS "fields2cover_ros is being built using AMENT.")
+	set(BUILD_TOOL_INCLUDE_DIRS ${ament_INCLUDE_DIRS})
+
+	find_package(rclcpp REQUIRED)
+	find_package(std_msgs REQUIRED)
+	find_package(geometry_msgs REQUIRED)
+	find_package(sensor_msgs REQUIRED)
+	find_package(nav_msgs REQUIRED)
+
+	set(dependencies
+		rclcpp
+		std_msgs
+		geometry_msgs
+		sensor_msgs
+		nav_msgs
+	)
+
+    	include_directories(
+        	include
+        	${BUILD_TOOL_INCLUDE_DIRS}
+    	)
+
+	add_library(${PROJECT_NAME} SHARED src/ros/conversor.cpp)
+	ament_target_dependencies(
+		${PROJECT_NAME}
+      		${dependencies}
+	)
+    	target_compile_definitions(${PROJECT_NAME} PUBLIC IS_ROS2)
+   	target_link_libraries(${PROJECT_NAME}
+		Fields2Cover
+	)
+
+	install(DIRECTORY include/
+            DESTINATION include/
+    	)
+	install(TARGETS ${PROJECT_NAME}
+			  ARCHIVE DESTINATION lib
+			  LIBRARY DESTINATION lib
+			  RUNTIME DESTINATION bin
+			  INCLUDES DESTINATION include
+	)
+	 ament_export_include_directories(include)
+	 ament_export_libraries(${PROJECT_NAME})
+	 ament_export_dependencies(${dependencies})
+
+     	 ament_package()
+elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE )
+	message(STATUS "fields2cover_ros is being built using CATKIN.")
+	find_package(catkin REQUIRED
+	    COMPONENTS
+	    roscpp
+	    std_msgs
+	    geometry_msgs
+	    sensor_msgs
+	    dynamic_reconfigure
+	    )
+
+	generate_dynamic_reconfigure_options(
+	  cfg/Controls.cfg
+	)
+
+	catkin_package(
+	  CATKIN_DEPENDS 
+	    roscpp
+	    std_msgs
+	    geometry_msgs
+	    sensor_msgs
+	)
+
+
+	include_directories(
+	 include
+	 ${catkin_INCLUDE_DIRS}
+	)
+
+	add_executable(visualizer_node 
+	    src/fields2cover_visualizer_node.cpp
+	    src/Fields2CoverVisualizerNode.cpp
+	    src/ros/conversor.cpp
+	)
+
+	target_link_libraries(visualizer_node
+	   ${catkin_LIBRARIES} Fields2Cover
+	)
+	add_dependencies(visualizer_node ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg )
+endif()
 

Dockerfile.humble

@@ -0,0 +1,17 @@
+FROM ros:humble
+RUN mkdir -p /ws/src
+WORKDIR /ws
+RUN apt-get update -qq && apt-get install -qqy python3-osrf-pycommon git software-properties-common
+
+RUN add-apt-repository -y ppa:ubuntugis/ubuntugis-unstable && apt-get update -qq
+
+# build and get deps here to help with caching
+RUN git clone https://github.com/Fields2Cover/Fields2Cover.git src/fields2cover --branch main
+RUN rosdep install -r --ignore-src -y --from-paths .
+RUN bash -c 'source /opt/ros/*/setup.bash && colcon build'
+
+# now build the rest
+COPY . src/fields2cover_ros/.
+RUN rosdep install -r --ignore-src -y --from-paths .
+RUN bash -c 'source /opt/ros/*/setup.bash && colcon build'
+

Dockerfile.noetic

@@ -0,0 +1,17 @@
+FROM ros:noetic
+RUN mkdir -p /ws/src
+WORKDIR /ws
+RUN apt-get update -qq && apt-get install -qqy python3-catkin-tools python3-osrf-pycommon git software-properties-common
+
+RUN add-apt-repository -y ppa:ubuntugis/ppa && apt-get update -qq
+
+# build and get deps here to help with caching
+RUN git clone https://github.com/Fields2Cover/Fields2Cover.git src/fields2cover --branch main
+RUN rosdep install -r --ignore-src -y --from-paths .
+RUN bash -c 'source /opt/ros/*/setup.bash && catkin build -j$(nproc) --verbose'
+
+# now build the rest
+COPY . src/fields2cover_ros/.
+RUN rosdep install -r --ignore-src -y --from-paths src
+RUN bash -c 'source devel/setup.bash && catkin build -j$(nproc) --verbose'
+

include/ros/conversor.h

@@ -6,30 +6,50 @@
 
 
 #include <fields2cover.h>
-#include <nav_msgs/Path.h>
-// #include <visualization_msgs/Marker.h>
-// #include <visualization_msgs/MarkerArray.h>
-#include <geometry_msgs/Polygon.h>
-#include <geometry_msgs/Pose.h>
-#include <geometry_msgs/Point32.h>
-#include <geometry_msgs/Point.h>
 #include <vector>
 
+#ifdef IS_ROS2
+  #include <nav_msgs/msg/path.hpp>
+  #include <geometry_msgs/msg/polygon.hpp>
+  #include <geometry_msgs/msg/pose.hpp>
+  #include <geometry_msgs/msg/point32.hpp>
+  #include <geometry_msgs/msg/point.h>
+#else
+  #include <nav_msgs/Path.h>
+  // #include <visualization_msgs/Marker.h>
+  // #include <visualization_msgs/MarkerArray.h>
+  #include <geometry_msgs/Polygon.h>
+  #include <geometry_msgs/Pose.h>
+  #include <geometry_msgs/Point32.h>
+  #include <geometry_msgs/Point.h>
+#endif
+
+
+namespace conversor {
+
+#ifdef IS_ROS2
+  namespace GeometryMsgs = geometry_msgs::msg;
+  namespace NavMsgs = nav_msgs::msg;
+#else
+  namespace GeometryMsgs = geometry_msgs;
+  namespace NavMsgs = nav_msgs;
+#endif
+
 class ROS {
  public:
-  static void to(const F2CPoint& _point, geometry_msgs::Point32& _p32);
-  static void to(const F2CPoint& _point, geometry_msgs::Point& _p64);
+  static void to(const F2CPoint& _point, GeometryMsgs::Point32& _p32);
+  static void to(const F2CPoint& _point, GeometryMsgs::Point& _p64);
 
   template <class T>
-  static void to(const T& _curve, geometry_msgs::Polygon& _poly);
+  static void to(const T& _curve, GeometryMsgs::Polygon& _poly);
 
   static void to(const F2CCell& _poly,
-    std::vector<geometry_msgs::Polygon>& _ros_poly);
+    std::vector<GeometryMsgs::Polygon>& _ros_poly);
 
   static void to(const F2CCells& _polys,
-    std::vector<std::vector<geometry_msgs::Polygon>>& _ros_polys);
+    std::vector<std::vector<GeometryMsgs::Polygon>>& _ros_polys);
 
-  static void to(const F2CLineString& _line, nav_msgs::Path& _path);
+  static void to(const F2CLineString& _line, NavMsgs::Path& _path);
 
   // static void to(const F2CLineString& _line,
   //  visualization_msgs::MarkerArray& _markers);
@@ -38,11 +58,12 @@ class ROS {
 };
 
 template <class T>
-inline void ROS::to(const T& _curve, geometry_msgs::Polygon& _poly) {
-  geometry_msgs::Point32 p32;
+inline void ROS::to(const T& _curve, GeometryMsgs::Polygon& _poly) {
+  GeometryMsgs::Point32 p32;
   for (const auto& p : _curve) {
     to(p, p32);
     _poly.points.push_back(p32);
   }
 }
 
+}  // namespace conversor

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>fields2cover_ros</name>
   <version>1.2.0</version>
   <description>The fields2cover_ros package is a wrapper of the fields2cover package</description>
@@ -8,30 +8,41 @@
 
   <license>BSD 3-Clause license</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>rostest</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rostest</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
   <build_depend>fields2cover</build_depend>
 
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rostest</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rostest</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>nav_msgs</build_export_depend>
   <build_export_depend>fields2cover</build_export_depend>
 
-  <exec_depend>message_runtime</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rostest</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rostest</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
   <exec_depend>fields2cover</exec_depend>
 
+  <export>
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+  </export>
 
 </package>

src/Fields2CoverVisualizerNode.cpp

@@ -54,14 +54,14 @@ namespace fields2cover_ros {
       geometry_msgs::PolygonStamped polygon_st;
       polygon_st.header.stamp = ros::Time::now();
       polygon_st.header.frame_id = "base_link";
-      ROS::to(f.getCellBorder(0), polygon_st.polygon);
+      conversor::ROS::to(f.getCellBorder(0), polygon_st.polygon);
       field_polygon_publisher_.publish(polygon_st);
       polygon_st.polygon.points.clear();
 
       geometry_msgs::PolygonStamped polygon_st2;
       polygon_st2.header.stamp = ros::Time::now();
       polygon_st2.header.frame_id = "base_link";
-      ROS::to(no_headlands.getGeometry(0), polygon_st2.polygon);
+      conversor::ROS::to(no_headlands.getGeometry(0), polygon_st2.polygon);
       field_no_headlands_publisher_.publish(polygon_st2);
       polygon_st2.polygon.points.clear();
 
@@ -158,7 +158,7 @@ namespace fields2cover_ros {
       geometry_msgs::Point ros_p;
 
       for (auto&& s : path.states) {
-        ROS::to(s.point, ros_p);
+	conversor::ROS::to(s.point, ros_p);
         marker_swaths.points.push_back(ros_p);
       }
       field_swaths_publisher_.publish(marker_swaths);

src/ros/conversor.cpp

@@ -7,23 +7,24 @@
 #include "ros/conversor.h"
 
 
-
-void ROS::to(const F2CPoint& _point, geometry_msgs::Point32& _p32) {
+namespace conversor
+{
+void ROS::to(const F2CPoint& _point, GeometryMsgs::Point32& _p32) {
   _p32.x = static_cast<float>(_point.getX());
   _p32.y = static_cast<float>(_point.getY());
   _p32.z = static_cast<float>(_point.getZ());
 }
 
-void ROS::to(const F2CPoint& _point, geometry_msgs::Point& _p64) {
+void ROS::to(const F2CPoint& _point, GeometryMsgs::Point& _p64) {
   _p64.x = _point.getX();
   _p64.y = _point.getY();
   _p64.z = _point.getZ();
 }
 
 
 void ROS::to(const F2CCell& _poly,
-    std::vector<geometry_msgs::Polygon>& _ros_poly) {
-  geometry_msgs::Polygon ros_ring;
+    std::vector<GeometryMsgs::Polygon>& _ros_poly) {
+  GeometryMsgs::Polygon ros_ring;
   to(_poly.getExteriorRing(), ros_ring);
   _ros_poly.push_back(ros_ring);
   const int n_in_rings = _poly.size();
@@ -35,20 +36,21 @@ void ROS::to(const F2CCell& _poly,
 }
 
 void ROS::to(const F2CCells& _polys,
-    std::vector<std::vector<geometry_msgs::Polygon>>& _ros_polys) {
+    std::vector<std::vector<GeometryMsgs::Polygon>>& _ros_polys) {
   for (auto&& p : _polys) {
-    std::vector<geometry_msgs::Polygon> poly;
+    std::vector<GeometryMsgs::Polygon> poly;
     to(p, poly);
     _ros_polys.push_back(poly);
   }
 }
 
-void ROS::to(const F2CLineString& _line, nav_msgs::Path& _path) {
-  geometry_msgs::PoseStamped pose;
+void ROS::to(const F2CLineString& _line, NavMsgs::Path& _path) {
+  GeometryMsgs::PoseStamped pose;
   for (auto&& p : _line) {
     to(p, pose.pose.position);
     _path.poses.push_back(pose);
   }
 }
 
+}  // namespace conversor