split utils ros packages (#28)

* split utils ros packages

* moved scripts folder to parent

Author: jorgenfj

README.md

@@ -4,15 +4,36 @@
 [![codecov](https://codecov.io/github/vortexntnu/vortex-utils/graph/badge.svg?token=d6D7d5xNdf)](https://codecov.io/github/vortexntnu/vortex-utils)
 
 This package contains common definitions and often-used utility functions in C++ and Python.
+It consist of the packages `vortex_utils`, `vortex_utils_ros` and `vortex_utils_ros_tf`
 
 # Usage
 
+CMake:
+
+```CMake
+find_package(vortex_utils REQUIRED)
+
+# For ROS utils
+find_package(vortex_utils_ros REQUIRED)
+find_package(vortex_utils_ros_tf REQUIRED)
+```
+For cpp packages link against the target:
+```CMake
+target_link_libraries(my_target vortex_utils)
+
+# ROS libraries
+target_link_libraries(my_target vortex_utils_ros)
+# ROS tf2 transform library
+target_link_libraries(my_target vortex_utils_ros_tf)
+
+```
 In Python, import your desired function/dataclass like for example:
 ```python
 from vortex_utils.python_utils import ssa
 ```
+To import from `vortex_utils_ros`
 ```python
-from vortex_utils.qos_profiles import sensor_data_profile, reliable_profile
+from vortex_utils_ros.qos_profiles import sensor_data_profile, reliable_profile
 ```
 
 In C++, include
@@ -21,10 +42,10 @@ In C++, include
 ```
 for mathematical functions,
 ```C++
-#include <vortex/utils/qos_profiles.hpp>
-```
-for common QoS profile definitions, and
-```C++
 #include <vortex/utils/types.hpp>
 ```
 for common structs like 6DOF `PoseEuler`, `Pose` and `Twist`.
+```C++
+#include <vortex/utils/ros/qos_profiles.hpp>
+```
+for common QoS profile definitions from from `vortex_utils_ros`

cpp_test/test_main.cpp

@@ -5,15 +5,8 @@ set(CMAKE_CXX_STANDARD 20)
 add_compile_options(-Wall -Wextra -Wpedantic)
 
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-
-include_directories(include)
 
 add_library(${PROJECT_NAME} SHARED
   src/math.cpp)
@@ -23,12 +16,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   $<INSTALL_INTERFACE:include>)
 
 ament_target_dependencies(${PROJECT_NAME} PUBLIC
-  rclcpp
   Eigen3
-  tf2
-  tf2_ros
-  tf2_geometry_msgs
-  geometry_msgs
 )
 
 ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)

CMakeLists.txt vortex_utils/CMakeLists.txtCMakeLists.txt renamed to vortex_utils/CMakeLists.txt

@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 3.8)
 
 find_package(GTest REQUIRED)
+find_package(Eigen3 REQUIRED)
 include(GoogleTest)
 
 set(TEST_BINARY_NAME ${PROJECT_NAME}_test)
@@ -9,7 +10,6 @@ add_executable(
     test_math.cpp
     test_types.cpp
     test_concepts.cpp
-    test_ros_conversions.cpp
 )
 
 target_link_libraries(
@@ -23,26 +23,3 @@ target_link_libraries(
 ament_target_dependencies(${TEST_BINARY_NAME} PUBLIC Eigen3)
 
 gtest_discover_tests(${TEST_BINARY_NAME})
-
-set(TEST_BINARY_ROS_NAME ${PROJECT_NAME}_ros_test)
-
-add_executable(
-  ${TEST_BINARY_ROS_NAME}
-  test_ros_transforms.cpp
-)
-
-target_link_libraries(
-  ${TEST_BINARY_ROS_NAME}
-    ${PROJECT_NAME}
-    GTest::GTest
-)
-
-ament_target_dependencies(
-  ${TEST_BINARY_ROS_NAME}
-  rclcpp
-  tf2
-  tf2_ros
-  tf2_geometry_msgs
-)
-
-gtest_discover_tests(${TEST_BINARY_ROS_NAME})