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mateusz-lichotamateusz-lichota
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port fsds_ros_bridge to galactic
1 parent b0dafb6 commit b75e7df

25 files changed

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‎ros2/src/fs_msgs/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(fs_msgs)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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set(msg_files
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msg/ControlCommand.msg
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msg/FinishedSignal.msg
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msg/GoSignal.msg
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msg/Track.msg
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msg/Cone.msg
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msg/ExtraInfo.msg
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)
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set(srv_files
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srv/Reset.srv
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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rosidl_generate_interfaces(${PROJECT_NAME}
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${msg_files}
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${srv_files}
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DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
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ADD_LINTER_TESTS
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)
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ament_export_dependencies(rosidl_default_runtime)
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ament_package()
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‎ros2/src/fs_msgs/msg/Cone.msg‎

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geometry_msgs/Point location #x,y,z [m] wrt to the car start location (origin)
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uint8 color # use the enum below
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# Constants
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uint8 BLUE=0
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uint8 YELLOW=1
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uint8 ORANGE_BIG=2
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uint8 ORANGE_SMALL=3
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uint8 UNKNOWN=4

‎ros2/src/fs_msgs/msg/ControlCommand.msg‎

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std_msgs/Header header
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float64 throttle # [-] range : (0, 1)
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float64 steering # [-] range : (-1, 1)
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float64 brake # # [-] range : (0, 1)

‎ros2/src/fs_msgs/msg/ExtraInfo.msg‎

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# The number of Down Or Out cones during the run
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uint32 doo_counter
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# The number of finished laps driven by the vehicle
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float32[] laps

‎ros2/src/fs_msgs/msg/FinishedSignal.msg‎

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std_msgs/Header header
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bool placeholder

‎ros2/src/fs_msgs/msg/GoSignal.msg‎

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std_msgs/Header header
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string mission
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string track

‎ros2/src/fs_msgs/msg/Track.msg‎

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fs_msgs/Cone[] track

‎ros2/src/fs_msgs/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>fs_msgs</name>
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<version>0.1.0</version>
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<description>
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Common Formula Student ROS messages
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</description>
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<maintainer email="davidoort@hotmail.com">David Oort Alonso</maintainer>
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<maintainer email="sijmenhuizenga@gmail.com">Sijmen Huizenga</maintainer>
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<license>Apache-License-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>builtin_interfaces</depend>
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<depend>std_msgs</depend>
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<depend>geometry_msgs</depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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<architecture_independent/>
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</export>
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</package>

‎ros2/src/fs_msgs/srv/Reset.srv‎

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bool wait_on_last_task
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---

‎ros2/src/fsds_ros2_bridge/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10.0)
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project(fsds_ros2_bridge)
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# set this to path to AirSim root folder if you want your catkin workspace in a custom directory
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set(AIRSIM_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../../AirSim/)
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add_subdirectory("${AIRSIM_ROOT}/cmake/rpclib_wrapper" rpclib_wrapper)
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add_subdirectory("${AIRSIM_ROOT}/cmake/AirLib" AirLib)
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set(CMAKE_CXX_STANDARD 11)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
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set(CXX_EXP_LIB "-nostdinc++ -I/usr/include/c++/8 -I/usr/include/x86_64-linux-gnu/c++/8 -nodefaultlibs
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-l/usr/lib/x86_64-linux-gnu/libc++.so -l/usr/lib/x86_64-linux-gnu/libc++abi.so
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-lm -lc -lgcc_s -lgcc
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-lstdc++fs -fmax-errors=10 -Wnoexcept -Wstrict-null-sentinel")
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set(RPC_LIB_INCLUDES " ${AIRSIM_ROOT}/external/rpclib/rpclib-2.2.1/include")
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set(RPC_LIB rpc) # name of .a file with lib prefix
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message(STATUS "found RPC_LIB_INCLUDES=${RPC_LIB_INCLUDES}")
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# find dependencies
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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find_package( OpenCV REQUIRED )
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include_directories( ${OpenCV_INCLUDE_DIRS} )
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include_directories(
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include
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${AIRSIM_ROOT}/AirLib/deps/eigen3
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${AIRSIM_ROOT}/AirLib/include
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${RPC_LIB_INCLUDES}
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)
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find_package( PkgConfig REQUIRED)
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pkg_check_modules( libcurl REQUIRED libcurl )
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ament_auto_add_library(airsim_ros src/airsim_ros_wrapper.cpp)
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target_link_libraries(airsim_ros yaml-cpp AirLib)
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ament_auto_add_executable(fsds_ros2_bridge src/fsds_ros2_bridge.cpp)
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target_link_libraries(fsds_ros2_bridge airsim_ros AirLib ${libcurl_LIBRARIES})
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ament_auto_add_executable(fsds_ros2_bridge_camera src/fsds_ros2_bridge_camera.cpp)
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target_link_libraries(fsds_ros2_bridge_camera AirLib ${OpenCV_LIBS})
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# install(TARGETS
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# #list of shared libraries
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# airsim_ros
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# # pd_position_controller_simple
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# ARCHIVE DESTINATION lib/${PROJECT_NAME}/
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# LIBRARY DESTINATION lib/${PROJECT_NAME}/
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# )
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# install(FILES
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# #list of necessary files (xml...)
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# README.md
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# # settings.json
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# # nodelet_plugins.xml
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# DESTINATION share/${PROJECT_NAME}/
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# )
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ament_auto_package(INSTALL_TO_SHARE launch)
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