Merge pull request #74 from PRBonn/nacho/tweaks_ros2_node

Add ROS2 support

.gitlab-ci.yml

@@ -35,7 +35,7 @@ black:
   before_script:
     - pip install black
   script:
-    - black --check $CI_PROJECT_DIR
+    - black --line-length 100 --check $CI_PROJECT_DIR
 
 clang-format:
   image: ubuntu:22.04
@@ -52,7 +52,7 @@ cpp_api:gcc:
   before_script:
     - apt-get update && apt-get install --no-install-recommends -y g++ cmake make
   script:
-    - cmake -Bbuild src/cpp/kiss_icp/
+    - cmake -Bbuild cpp/kiss_icp/
     - cmake --build build -j$(nproc --all)
 
 cpp_api:clang:
@@ -61,14 +61,14 @@ cpp_api:clang:
   before_script:
     - apt-get update && apt-get install --no-install-recommends -y clang cmake make
   script:
-    - cmake cmake -DCMAKE_CXX_COMPILER=clang++ -Bbuild src/cpp/kiss_icp/
+    - cmake cmake -DCMAKE_CXX_COMPILER=clang++ -Bbuild cpp/kiss_icp/
     - cmake --build build -j$(nproc --all)
 
 pip_package:
   image: python:3.8
   stage: build
   script:
-    - VERBOSE=1 pip install --verbose .
+    - VERBOSE=1 pip install --verbose ./python/
     - kiss_icp_pipeline --version
 
 ros1_wrapper:
@@ -82,6 +82,12 @@ ros1_wrapper:
     - cd ~/catkin_ws/
     - catkin_make
 
+ros2_wrapper:
+  image: osrf/ros:humble-desktop
+  stage: build
+  script:
+    - colcon build --event-handlers console_direct+
+
 #----- deployment stage ----------------------------------------------------------------------------
 cibuildwheel:
   stage: deploy
@@ -99,7 +105,7 @@ cibuildwheel:
   script:
     - curl -sSL https://get.docker.com/ | sh
     - python -m pip install pipx
-    - pipx run cibuildwheel --output-dir wheelhouse
+    - pipx run cibuildwheel --output-dir wheelhouse ./python/
   artifacts:
     paths:
       - wheelhouse/
@@ -116,5 +122,5 @@ pypi:
   script:
     - rm -rf dist && mkdir -p dist/ && mv wheelhouse/*.whl dist/
     - python -m pip install pipx
-    - pipx run build --sdist
+    - pipx run build --sdist ./python/
     - pipx run twine upload --verbose dist/*

Makefile

@@ -1,17 +1,14 @@
+.PHONY: cpp
+
 editable:
-	SETUPTOOLS_ENABLE_FEATURES="legacy-editable" pip install --verbose --prefix=$(shell python3 -m site --user-base) --editable .
+	SETUPTOOLS_ENABLE_FEATURES="legacy-editable" pip install --verbose --prefix=$(shell python3 -m site --user-base) --editable ./python/
 
 install:
-	@pip install --verbose .
+	@pip install --verbose ./python/
 
 uninstall:
 	@pip -v uninstall kiss_icp
 
-docker:
-	@docker build -t gitlab.ipb.uni-bonn.de:4567/ipb-team/ipb-tools/kiss_icp .
-
-docker-push:
-	@docker push gitlab.ipb.uni-bonn.de:4567/ipb-team/ipb-tools/kiss_icp
-
-license:
-	@addlicense -f LICENSE -ignore **/*.yaml -v .
+cpp:
+	@cmake -Bbuild cpp/kiss_icp/
+	@cmake --build build -j$(nproc --all)

README.md

@@ -1,25 +1,28 @@
 # KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way
 
-![ubuntu](https://img.shields.io/badge/ubuntu-333333?style=flat&logo=ubuntu)
-![windows](https://img.shields.io/badge/windows-333333?style=flat&logo=windows&logocolor=blue)
-![macos](https://img.shields.io/badge/-macos-333333?style=flat&logo=apple)
-
 [![KISS-ICP demo](https://user-images.githubusercontent.com/21349875/211829074-474bec08-0129-4e34-85e7-62265e44a7de.png)](https://user-images.githubusercontent.com/21349875/219626075-d67e9165-31a2-4a1b-8c26-9f04e7d195ec.mp4
 )
 
-## 📰 NEWS!!! 📰 ROS API
+## ROS2 support
+
+It was never this easy, just git clone this repo into your catkin workspace and build it:
+
+```sh
+git clone https://github.com/PRBonn/kiss-icp && colcon build
+```
+
+## ROS1 support
 
 It was never this easy, just git clone this repo into your catkin workspace and build it:
 
 ```sh
 cd ~/catkin_ws/ && git clone https://github.com/PRBonn/kiss-icp && catkin build
 ```
 
-For more detailed instructions on the ROS wrapper, please visit [here](src/cpp/kiss_icp_ros/ros1/README.md)
+For more detailed instructions on the ROS wrappers, please visit this [README](ros/README.md)
 
 ## Install Python API
 
-We released a python-package supported on
 ![macos](https://img.shields.io/badge/-macos-333333?style=flat&logo=apple),
 ![windows](https://img.shields.io/badge/windows-333333?style=flat&logo=windows&logocolor=blue), and
 ![ubuntu](https://img.shields.io/badge/ubuntu-333333?style=flat&logo=ubuntu).
@@ -31,12 +34,6 @@ To get started, just run
 pip install kiss-icp
 ```
 
-If you also want to install all the *(optional)* dependencies, like Open3D for running the visualizer:
-
-```sh
-pip install "kiss-icp[all]"
-```
-
 Next, follow the instructions on how to run the system by typing:
 
 ```sh
@@ -47,41 +44,7 @@ This should print the following help message:
 ![out](https://user-images.githubusercontent.com/21349875/193282970-25a400aa-ebcd-487a-b839-faa04eeca5b9.png)
 
 
-### Install Python API (developer mode)
-
-If you plan to modify the code then you need to setup the dev dependencies, luckilly, the only real
-requirements are a modern C++ compiler and the `pip` package manager, nothing else!, in Ubuntu-based
-sytems this can be done with:
-
-```sh
-sudo apt install g++ python3-pip
-```
-
-After that you can clone the code and install the python api:
-
-```sh
-git clone https://github.com/PRBonn/kiss-icp.git
-cd kiss-icp
-pip install --verbose .
-```
-
-### Install Python API (expert mode)
-
-If you want to have more controll over the build, you should then install `cmake`, ,`ninja`, `tbb`,
-`Eigen`, and `pybind11` as extra dependencies in your system, the ubuntu-way of doing this is:
-
-```sh
-sudo apt install build-essential libeigen3-dev libtbb-dev pybind11-dev ninja-build
-```
-
-## Authors
-
-- Ignacio Vizzo 
-- Tiziano Guadagnino 
-- Benedikt Mersch 
-- Louis Wiesmann 
-- Jens Behley 
-- Cyrill Stachniss
+For advanced instructions on the Python pacakge plase see [this README](python/README.md)
 
 ## Citation
 

config/advanced.yaml

@@ -5,7 +5,6 @@ out_dir: "results"
 
 data:
   deskew: True
-  frame_rate: 10.0 # only valid if deskew==True
   preprocess: True
   max_range: 100.0 # can be also changed in the CLI
   min_range: 0.0

config/basic.yaml

@@ -2,7 +2,6 @@ out_dir: "results"
 
 data:
   deskew: False
-  frame_rate: 10.0 # <- optional only valid if deskew==True
   preprocess: True
   max_range: 100.0 # can be also changed in the CLI
   min_range: 5.0

src/cpp/kiss_icp/3rdparty/find_dependencies.cmake → cpp/kiss_icp/3rdparty/find_dependencies.cmake

@@ -37,16 +37,24 @@ include(${CMAKE_CURRENT_LIST_DIR}/tsl_robin/tsl_robin.cmake)
 if(USE_SYSTEM_EIGEN3)
   find_package(Eigen3 QUIET NO_MODULE)
 endif()
-if(NOT USE_SYSTEM_EIGEN3 OR NOT EIGEN3_FOUND)
+if(NOT USE_SYSTEM_EIGEN3 OR NOT TARGET Eigen3::Eigen)
   set(USE_SYSTEM_EIGEN3 OFF)
   include(${CMAKE_CURRENT_LIST_DIR}/eigen/eigen.cmake)
 endif()
 
+if(USE_SYSTEM_SOPHUS)
+  find_package(Sophus QUIET NO_MODULE)
+endif()
+if(NOT USE_SYSTEM_SOPHUS OR NOT TARGET Sophus::Sophus)
+  set(USE_SYSTEM_SOPHUS OFF)
+  include(${CMAKE_CURRENT_LIST_DIR}/sophus/sophus.cmake)
+endif()
+
 # tbb needs to be statically linked, so, also do it always :)
 if(USE_SYSTEM_TBB)
   find_package(TBB QUIET NO_MODULE)
 endif()
-if(NOT USE_SYSTEM_TBB OR NOT TBB_FOUND)
+if(NOT USE_SYSTEM_TBB OR NOT TARGET TBB::tbb)
   set(USE_SYSTEM_TBB OFF)
   include(${CMAKE_CURRENT_LIST_DIR}/tbb/tbb.cmake)
 endif()

cpp/kiss_icp/3rdparty/sophus/LICENSE

@@ -0,0 +1,19 @@
+Copyright (c) 2008-2015 Jesse Beder.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWAR

cpp/kiss_icp/3rdparty/sophus/sophus.cmake

@@ -0,0 +1,44 @@
+# MIT License
+#
+# # Copyright (c) 2023 Saurabh Gupta, Ignacio Vizzo, Cyrill Stachniss, University of Bonn
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+include(ExternalProject)
+
+ExternalProject_Add(
+  external_sophus
+  PREFIX sophus
+  URL https://github.com/strasdat/Sophus/archive/refs/tags/1.22.10.tar.gz
+  UPDATE_COMMAND ""
+  CONFIGURE_COMMAND ""
+  BUILD_COMMAND ""
+  INSTALL_COMMAND ""
+  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
+             -DSOPHUS_USE_BASIC_LOGGING=ON 
+             -DBUILD_SOPHUS_EXAMPLES=OFF
+             -DBUILD_SOPHUS_TESTS=OFF 
+             -DCMAKE_BUILD_TYPE=Release)
+
+ExternalProject_Get_Property(external_sophus SOURCE_DIR)
+add_library(SophusHelper INTERFACE)
+add_dependencies(SophusHelper external_sophus)
+target_compile_definitions(SophusHelper INTERFACE SOPHUS_USE_BASIC_LOGGING=1)
+target_include_directories(SophusHelper SYSTEM INTERFACE $<BUILD_INTERFACE:${SOURCE_DIR}>)
+set_property(TARGET SophusHelper PROPERTY EXPORT_NAME Sophus::Sophus)
+add_library(Sophus::Sophus ALIAS SophusHelper)

src/cpp/kiss_icp/CMakeLists.txt → cpp/kiss_icp/CMakeLists.txt

@@ -21,10 +21,11 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 cmake_minimum_required(VERSION 3.16...3.24)
-project(kiss_icp VERSION 0.1.3 LANGUAGES CXX)
+project(kiss_icp_cpp VERSION 0.2.0 LANGUAGES CXX)
 
 # Setup build options
-option(USE_SYSTEM_EIGEN3 "Use system pre-installed eigen3" ON)
+option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)
+option(USE_SYSTEM_SOPHUS "Use system pre-installed Sophus" ON)
 option(USE_SYSTEM_TBB "Use system pre-installed oneAPI/tbb" ON)
 
 # Set build type (repeat here for C++ only consumers)
@@ -37,6 +38,4 @@ include(cmake/CompilerOptions.cmake)
 
 add_subdirectory(core)
 add_subdirectory(metrics)
-if(NOT BUILD_PYTHON_BINDINGS)
-  add_subdirectory(pipeline)
-endif()
+add_subdirectory(pipeline)

cpp/kiss_icp/LICENSE

@@ -0,0 +1,22 @@
+MIT License
+
+Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
+Stachniss.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

cpp/kiss_icp/README.md

@@ -0,0 +1,14 @@
+# KISS-ICP C++ Library
+
+## How to build
+
+```sh
+cmake -Bbuild
+cmake --build build -j$(nproc --all)
+```
+
+## Dependencies
+
+The cmake build system should handle all dependencies for you. In case you have some particular
+requirements for the library dependencies, by default the build system will attempt to use the
+ones you have installed on your local system.

src/cpp/kiss_icp/core/CMakeLists.txt → cpp/kiss_icp/core/CMakeLists.txt

@@ -23,5 +23,5 @@
 add_library(core STATIC)
 add_library(kiss_icp::core ALIAS core)
 target_sources(core PRIVATE Registration.cpp Deskew.cpp VoxelHashMap.cpp Preprocessing.cpp Threshold.cpp)
-target_link_libraries(core PUBLIC Eigen3::Eigen tsl::robin_map TBB::tbb)
+target_link_libraries(core PUBLIC Eigen3::Eigen tsl::robin_map TBB::tbb Sophus::Sophus)
 set_global_target_properties(core)