Merge branch 'ElettraSciComp:ros2' into ros2

Futu-reADS · Aug 28, 2024 · 6e1d31a · 6e1d31a
2 parents c5ebf37 + b5caf71
commit 6e1d31a
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diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
@@ -0,0 +1,47 @@
+name: ROS2 CI
+
+on:
+  pull_request:
+    branches:
+      - 'develop'
+      - 'ros2'
+  push:
+    branches:
+      - 'ros2'
+
+jobs:
+  test_environment:
+    runs-on: [ubuntu-latest]
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - humble
+          - iron
+          - rolling
+        include:
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+            ros_distribution: humble
+            ros_version: 2
+          # Iron Irwini  (May 2023 - May 2028)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
+            ros_distribution: iron
+            ros_version: 2            
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: checkout
+        uses: actions/checkout@v2
+      - name: install deps
+        run: sudo apt-get -y install qtbase5-dev libqt5serialport5-dev
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@master
+        with:
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: ""
+          skip-tests: true
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -19,13 +19,8 @@ endif()
 
 add_subdirectory(witmotion-uart-qt)
 
-#set(CMAKE_AUTOMOC ON)
-#qt5_wrap_cpp(MOC_SOURCES include/witmotion_ros.h)
 include_directories(include)
-include_directories(/opt/ros/humble/include/tf2_geometry_msgs)
-include_directories(/opt/ros/iron/include/tf2_geometry_msgs)
 include_directories(witmotion-uart-qt/include)
-#add_library(witmotion_ros src/witmotion_ros.cpp include/witmotion_ros.h)
 
 
 find_package(ament_cmake REQUIRED)
@@ -55,27 +50,30 @@ add_library(witmotion_ros
 
 message(WARNING "tf2_geometry_msgs include dir: ${tf2_geometry_msgs_INCLUDE_DIRS} ")
 
-#find_package(Qt5 REQUIRED COMPONENTS Core SerialPort)
-set(INCLUDE_DIRS ${ament_cmake_INCLUDE_DIRS} ${tf2_INCLUDE_DIRS}
-  ${tf2_geometry_msgs_INCLUDE_DIRS} ${rclcpp_INCLUDE_DIRS}
-  ${std_srvs_INCLUDE_DIRS} ${sensor_msgs_INCLUDE_DIRS}
-  ${geometry_msgs_INCLUDE_DIRS} ${nav_msgs_INCLUDE_DIRS} 
-  ${rosgraph_msgs_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS} ${Qt5Core_INCLUDE_DIRS} ${Qt5SerialPort_INCLUDE_DIRS} ${rcl_interfaces_INCLUDE_DIRS} 
-  ${rclcpp_lifecycle_INCLUDE_DIRS} ${lifecycle_msgs_INCLUDE_DIRS})
-include_directories(${INCLUDE_DIRS})
+
+set(dependencies
+  tf2
+  tf2_geometry_msgs
+  rclcpp
+  std_srvs
+  sensor_msgs
+  std_msgs
+  rcl_interfaces
+  rclcpp_lifecycle
+  lifecycle_msgs
+  )
+ament_target_dependencies(witmotion_ros ${dependencies})
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+
 set(LIBRARY_DIRS ${ament_cmake_LIBRARIES} ${tf2_LIBRARIES}
   ${tf2_geometry_msgs_LIBRARIES} ${rclcpp_LIBRARIES} ${std_srvs_LIBRARIES}
   ${sensor_msgs_LIBRARIES} ${geometry_msgs_LIBRARIES}
   ${nav_msgs_LIBRARIES} ${rosgraph_msgs_LIBRARIES}
   ${std_msgs_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5SerialPort_LIBRARIES} ${rcl_interfaces_LIBRARIES} ${rclcpp_lifecycle_LIBRARIES} ${lifecycle_msgs_LIBRARIES}) 
 
-#target_link_libraries(another PUBLIC one)
-set(LIBS ${ament_cmake_LIBRARIES} ${tf2_LIBRARIES}
-  ${tf2_geometry_msgs_LIBRARIES} ${rclcpp_LIBRARIES} ${std_srvs_LIBRARIES}
-  ${sensor_msgs_LIBRARIES} ${geometry_msgs_LIBRARIES}
-  ${nav_msgs_LIBRARIES} ${rosgraph_msgs_LIBRARIES}
-  ${std_msgs_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5SerialPort_LIBRARIES} ${rcl_interfaces_LIBRARIES} ${rclcpp_lifecycle_LIBRARIES} ${lifecycle_msgs_LIBRARIES})
-
 target_link_libraries(witmotion_ros  ${LIBRARY_DIRS} witmotion-uart Qt5::Core Qt5::SerialPort)
 
 

diff --git a/include/witmotion_ros.h b/include/witmotion_ros.h
@@ -18,6 +18,7 @@
 #include <ctime>
 
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/parameter.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/magnetic_field.hpp>
@@ -164,6 +165,9 @@ class ROSWitmotionSensorController: public QObject
 public:
     static ROSWitmotionSensorController& Instance();
     rclcpp::Node::SharedPtr Start();
+    void load_parameter(bool is_active, std::string param_name, double first_val, std::vector<double> &param_vector);
+    void load_parameter_d(std::string param_name, double init_val, double &param_var);
+    void load_parameter_f(std::string param_name, float init_val, float &param_var);
 public slots:
     void Packet(const witmotion_datapacket& packet);
     void Error(const QString& description);

diff --git a/package.xml b/package.xml
@@ -3,34 +3,25 @@
 <package format="3">
   <name>witmotion_ros</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Witmotion IMU sensor driver for ROS</description>
   <maintainer email="[email protected]">pi</maintainer>
-  <license>TODO: License declaration</license>
+  <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <build_depend>rclcpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>message_runtime</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>std_srvs</build_depend>
-  <build_depend>nav_core</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_geometry_msgs</build_depend>
-  <build_depend>rosgraph_msgs</build_depend>  
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>std_srvs</exec_depend>
-  <exec_depend>nav_core</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>rosgraph_msgs</exec_depend>
-  <exec_depend>tf2</exec_depend>
-  <exec_depend>tf2_geometry_msgs</exec_depend>
-  <exec_depend>libqt5-serialport-dev</exec_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>tf2_geometry_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>std_srvs</depend>
+  <depend>rcl_interfaces</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>lifecycle_msgs</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>libqt5-serialport</depend>
+  <depend>boost</depend>
+  <depend>nav_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>