Nacho/remove ros 1 support (#280)

* Initial cleanup * Add rolling to build * Fix styling * Update READMEs * Bump version * Update README.md * Wipe out last ROS 1 traces --------- Co-authored-by: Benedikt Mersch <[email protected]>
PRBonn · Feb 29, 2024 · c6224a1 · c6224a1
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diff --git a/.github/workflows/ros.yml b/.github/workflows/ros.yml
@@ -7,31 +7,11 @@ on:
     branches: ["main"]
 
 jobs:
-  ros1_node:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        release: [noetic]
-    container: osrf/ros:${{ matrix.release }}-desktop-full
-    steps:
-      - name: Setup cmake
-        uses: jwlawson/[email protected]
-        with:
-          cmake-version: "3.25.x"
-      - name: Prepare catkin_ws
-        run: mkdir -p catkin_ws/src
-      - uses: actions/checkout@v3
-        with:
-          path: catkin_ws/src
-      - name: Run catkin_make
-        run: source /opt/ros/${{ matrix.release }}/setup.bash && cd catkin_ws && catkin_make
-        shell: bash
-
   ros2_node:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        release: [humble, iron]
+        release: [humble, iron, rolling]
     container: osrf/ros:${{ matrix.release }}-desktop
     steps:
       - name: Setup cmake

diff --git a/README.md b/README.md
@@ -11,12 +11,7 @@
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href="https://github.com/PRBonn/kiss-icp/blob/main/README.md#Install">Install</a>
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
-    <a href="https://github.com/PRBonn/kiss-icp/blob/main/ros">ROS 1</a>
-    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href="https://github.com/PRBonn/kiss-icp/blob/main/ros">ROS 2</a>
-    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
-    <a href=https://user-images.githubusercontent.com/21349875/214578180-b1d2431c-8fff-440e-aa6e-99a1d85989b5.mp4
->ROS Demo</a>
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href=https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf>Paper</a>
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
@@ -49,9 +44,10 @@ kiss_icp_pipeline --help
 <summary>This should print the following help message:</summary>
 
 ![out](https://user-images.githubusercontent.com/21349875/193282970-25a400aa-ebcd-487a-b839-faa04eeca5b9.png)
+
 </details>
 
-For advanced instructions on the Python pacakge plase see [this README](python/README.md)
+For advanced instructions on the Python package please see [this README](python/README.md)
 
 ## ROS support
 
@@ -61,17 +57,18 @@ For advanced instructions on the Python pacakge plase see [this README](python/R
 ```sh
 cd ~/ros2_ws/src/ && git clone https://github.com/PRBonn/kiss-icp && cd ~/ros2_ws/ && colcon build --packages-select kiss_icp
 ```
+For more detailed instructions on the ROS wrapper, please visit this [README](ros/README.md)
+
 </details>
 
 <details>
 <summary>ROS 1</summary>
 
-```sh
-cd ~/catkin_ws/ && git clone https://github.com/PRBonn/kiss-icp && catkin build
-```
-</details>
+⚠️ ⚠️ **ROS 1 is deprecated in KISS-ICP and is not officially supported anymore. Upgrade now to ROS 2!** ⚠️ ⚠️
 
-For more detailed instructions on the ROS wrappers, please visit this [README](ros/README.md)
+The last release that supports ROS 1 is [v0.3.0](https://github.com/PRBonn/kiss-icp/tree/v0.3.0), if you still need ROS 1 support please check that version.
+
+</details>
 
 
 ## Citation

diff --git a/cpp/kiss_icp/CMakeLists.txt b/cpp/kiss_icp/CMakeLists.txt
@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 cmake_minimum_required(VERSION 3.16...3.26)
-project(kiss_icp_cpp VERSION 0.3.0 LANGUAGES CXX)
+project(kiss_icp_cpp VERSION 0.4.0 LANGUAGES CXX)
 
 # Setup build options
 option(USE_CCACHE "Build using Ccache if found on the path" ON)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 cmake_minimum_required(VERSION 3.16...3.26)
-project(kiss_icp_pybind VERSION 0.3.0 LANGUAGES CXX)
+project(kiss_icp_pybind VERSION 0.4.0 LANGUAGES CXX)
 
 # Set build type
 set(CMAKE_BUILD_TYPE Release)

diff --git a/python/README.md b/python/README.md
@@ -11,8 +11,6 @@
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href="https://github.com/PRBonn/kiss-icp/edit/main/README.md#install">Install</a>
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
-    <a href="https://github.com/PRBonn/kiss-icp/blob/main/ros">ROS 1</a>
-    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href="https://github.com/PRBonn/kiss-icp/blob/main/ros">ROS 2</a>
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href=https://user-images.githubusercontent.com/21349875/214578180-b1d2431c-8fff-440e-aa6e-99a1d85989b5.mp4

diff --git a/python/kiss_icp/__init__.py b/python/kiss_icp/__init__.py
@@ -20,4 +20,4 @@
 # 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.
-__version__ = "0.3.0"
+__version__ = "0.4.0"
diff --git a/python/pyproject.toml b/python/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "kiss-icp"
-version = "0.3.0"
+version = "0.4.0"
 description = "Simple yet effective 3D LiDAR-Odometry registration pipeline"
 readme = "README.md"
 authors = [

diff --git a/ros/CMakeLists.txt b/ros/CMakeLists.txt
@@ -21,7 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 cmake_minimum_required(VERSION 3.16...3.26)
-project(kiss_icp VERSION 0.3.0 LANGUAGES CXX)
+project(kiss_icp VERSION 0.4.0 LANGUAGES CXX)
 
 set(ignore ${CATKIN_INSTALL_INTO_PREFIX_ROOT})
 set(CMAKE_BUILD_TYPE Release)
@@ -40,61 +40,32 @@ else()
   FetchContent_MakeAvailable(ext_kiss_icp_core)
 endif()
 
-if("$ENV{ROS_VERSION}" STREQUAL "1")
-  message(STATUS "KISS-ICP ROS 1 wrapper will be compiled")
-  find_package(
-    catkin REQUIRED
-    COMPONENTS geometry_msgs
-               nav_msgs
-               sensor_msgs
-               geometry_msgs
-               roscpp
-               rosbag
-               std_msgs
-               tf2
-               tf2_ros)
-  catkin_package()
+find_package(ament_cmake REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
 
-  # ROS 1 node
-  add_executable(odometry_node ros1/OdometryServer.cpp)
-  target_compile_features(odometry_node PUBLIC cxx_std_20)
-  target_include_directories(odometry_node PUBLIC include ${catkin_INCLUDE_DIRS})
-  target_link_libraries(odometry_node kiss_icp::pipeline ${catkin_LIBRARIES})
-  install(TARGETS odometry_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-  install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-elseif("$ENV{ROS_VERSION}" STREQUAL "2")
-  message(STATUS "KISS-ICP ROS 2 wrapper will be compiled")
+# ROS 2 node
+add_library(odometry_component SHARED src/OdometryServer.cpp)
+target_compile_features(odometry_component PUBLIC cxx_std_20)
+target_include_directories(odometry_component PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+target_link_libraries(odometry_component kiss_icp::pipeline)
+ament_target_dependencies(
+  odometry_component
+  rcutils
+  rclcpp
+  rclcpp_components
+  nav_msgs
+  sensor_msgs
+  geometry_msgs
+  tf2_ros)
 
-  find_package(ament_cmake REQUIRED)
-  find_package(nav_msgs REQUIRED)
-  find_package(rcutils REQUIRED)
-  find_package(rclcpp REQUIRED)
-  find_package(rclcpp_components REQUIRED)
-  find_package(sensor_msgs REQUIRED)
-  find_package(tf2_ros REQUIRED)
+rclcpp_components_register_node(odometry_component PLUGIN "kiss_icp_ros::OdometryServer" EXECUTABLE odometry_node)
 
-  # ROS 2 node
-  add_library(odometry_component SHARED ros2/OdometryServer.cpp)
-  target_compile_features(odometry_component PUBLIC cxx_std_20)
-  target_include_directories(odometry_component PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
-  target_link_libraries(odometry_component kiss_icp::pipeline)
-  ament_target_dependencies(
-    odometry_component
-    rcutils
-    rclcpp
-    rclcpp_components
-    nav_msgs
-    sensor_msgs
-    geometry_msgs
-    tf2_ros)
+install(TARGETS odometry_component LIBRARY DESTINATION lib RUNTIME DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY launch rviz DESTINATION share/${PROJECT_NAME}/)
 
-  rclcpp_components_register_node(odometry_component PLUGIN "kiss_icp_ros::OdometryServer" EXECUTABLE odometry_node)
-
-  install(TARGETS odometry_component LIBRARY DESTINATION lib RUNTIME DESTINATION lib/${PROJECT_NAME})
-  install(DIRECTORY launch rviz DESTINATION share/${PROJECT_NAME}/)
-
-  ament_package()
-
-else()
-  message(FATAL_ERROR "catkin or colcon not found KISS-ICP-ROS disabled")
-endif()
+ament_package()
diff --git a/ros/README.md b/ros/README.md
@@ -1,11 +1,4 @@
-# KISS-ICP ROS wrappers
-
-This node is just an application example on how to use the KISS-ICP C++ API. It's still considered
-work in progress and we are very happy to receive any contribution from the comunity 👼
-
-https://user-images.githubusercontent.com/21349875/214578180-b1d2431c-8fff-440e-aa6e-99a1d85989b5.mp4
-
-## ROS 2
+# KISS-ICP ROS 2 Wrapper
 
 ### How to build
 
@@ -37,43 +30,10 @@ and then,
 ros2 bag play <path>*.bag
 ```
 
-## ROS 1
-
-### How to build
-
-You should not need any extra dependency, just clone and build:
-
-```sh
-cd ~/catkin_ws/
-git clone https://github.com/PRBonn/kiss-icp
-catkin build
-source devel/setup.bash
-```
-
-### How to run
-
-The only required argument to provide is the **topic name** so KISS-ICP knows which PointCloud2 to proces:
-
-```sh
-roslaunch kiss_icp odometry.launch bagfile:=<path_to_rosbag> topic:=<topic_name>
-```
-
-You can optionally launch the node with any bagfile, and play the bagfiles on a different shell:
-
-```sh
-roslaunch kiss_icp odometry.launch topic:=<topic_name>
-```
-
-and then,
-
-```sh
-rosbag play <path>*.bag
-```
-
 ## Out of source builds
 
 Good news! If you don't have git or you don't need to change the core KISS-ICP library, you can just
-copy paste this folder into your ROS1/ROS2 workspace and build as usual. The build system will fetch
+copy paste this folder into your ROS2 workspace and build as usual. The build system will fetch
 the latest stable release for you.
 
 ## Looking how to run KITTI on ROS along with KISS-ICP?

diff --git a/ros/launch/odometry.launch b/ros/launch/odometry.launch
diff --git a/ros/launch/odometry.launch.py b/ros/launch/odometry.launch.py
@@ -76,7 +76,7 @@ def generate_launch_description():
                 package="rviz2",
                 executable="rviz2",
                 output={"both": "log"},
-                arguments=["-d", PathJoinSubstitution([current_pkg, "rviz", "kiss_icp_ros2.rviz"])],
+                arguments=["-d", PathJoinSubstitution([current_pkg, "rviz", "kiss_icp.rviz"])],
                 condition=IfCondition(LaunchConfiguration("visualize")),
             ),
             ExecuteProcess(

diff --git a/ros/package.xml b/ros/package.xml
@@ -25,35 +25,26 @@
 -->
 <package format="3">
   <name>kiss_icp</name>
-  <version>0.3.0</version>
-  <description>KISS-ICP ROS Wrappers</description>
+  <version>0.4.0</version>
+  <description>KISS-ICP ROS 2 Wrapper</description>
   <maintainer email="[email protected]">ivizzo</maintainer>
   <license>MIT</license>
 
-  <!-- Common ROS 1 / ROS 2 dependencies -->
-  <build_depend>ros_environment</build_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <!-- ROS 1 dependencies -->
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <depend condition="$ROS_VERSION == 1">roscpp</depend>
-
-  <!-- ROS 2 dependencies -->
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
-  <depend condition="$ROS_VERSION == 2">rcutils</depend>
-  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
-  <depend condition="$ROS_VERSION == 2">rclcpp_components</depend>
-  <exec_depend condition="$ROS_VERSION == 2">ros2launch</exec_depend>
-
-  <!-- ROS1/2 dependencies -->
+  <depend>rcutils</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
 
+  <exec_depend>ros2launch</exec_depend>
+
   <export>
-    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
-    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>