ODS Integration

.clang-format

@@ -50,16 +50,14 @@ SpaceAfterCStyleCast: false
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-}
-...
+BraceWrapping:
+  AfterClass: 'true'
+  AfterControlStatement: 'true'
+  AfterEnum : 'true'
+  AfterFunction : 'true'
+  AfterNamespace : 'true'
+  AfterStruct : 'true'
+  AfterUnion : 'true'
+  BeforeCatch : 'true'
+  BeforeElse : 'true'
+  IndentBraces : 'false'

.gitignore

@@ -12,31 +12,6 @@
 # Built Visual Studio Code Extensions
 *.vsix
 
-
-# ROS
-devel/
-logs/
-build/
-bin/
-lib/
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-build_isolated/
-devel_isolated/
-
-# Generated by dynamic reconfigure
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
 # Ignore generated docs
 *.dox
 *.wikidoc
@@ -63,5 +38,5 @@ qtcreator-*
 # Emacs
 .#*
 
-# Catkin custom files
-CATKIN_IGNORE
+# Builds
+build*/

.gitlab-ci.yml

@@ -0,0 +1,72 @@
+# General concept is strongly inspired by the industrial_ci project https://github.com/ros-industrial/industrial_ci
+---
+variables:
+  GIT_STRATEGY: clone
+
+stages:
+- build
+
+.build_matrix:
+  parallel:
+    matrix:
+      - RUN_NAME: "22.04+1.4.3"  # No effect on CI, just for making the gitlab pipeline view easier to read
+        CI_IMAGE: ros:humble-ros-core-jammy
+        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.4.3/ifm3d-ubuntu-22.04-amd64-debs_1.4.3.tar
+        ROS_DISTRO: humble
+      - RUN_NAME: "22.04+1.5.0"
+        CI_IMAGE: ros:humble-ros-core-jammy
+        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.0/ifm3d-ubuntu-22.04-amd64-debs_1.5.0.tar
+        ROS_DISTRO: humble
+      - RUN_NAME: "22.04+1.5.1"
+        CI_IMAGE: ros:humble-ros-core-jammy
+        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.1/ifm3d-ubuntu-22.04-amd64-debs_1.5.1.tar
+        ROS_DISTRO: humble
+      - RUN_NAME: "22.04+1.5.2"
+        CI_IMAGE: ros:humble-ros-core-jammy
+        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.2/ifm3d-ubuntu-22.04-amd64-debs_1.5.2.tar
+        ROS_DISTRO: humble
+      - RUN_NAME: "22.04+1.5.3"
+        CI_IMAGE: ros:humble-ros-core-jammy
+        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.3/ifm3d-ubuntu-22.04-amd64-debs_1.5.3.tar
+        ROS_DISTRO: humble
+
+      - RUN_NAME: "24.04+1.5.3"
+        CI_IMAGE: ros:jazzy-ros-core-noble
+        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.3/ifm3d-ubuntu-22.04-amd64-debs_1.5.3.tar
+        ROS_DISTRO: jazzy
+
+
+build:  # very short job name to keep the pipeline preview readable on Gitlab
+  stage: build
+  image: $CI_IMAGE
+  parallel: !reference [.build_matrix,parallel]
+
+  before_script:
+  # Download the released version ofifm3d from github
+  - apt-get update
+  - apt-get install -y curl
+  - curl --location $IFM3D_PACKAGE_PATH | tar x
+  # Install dependencies
+  - apt-get install -y libboost-all-dev git libcurl4-openssl-dev libgtest-dev libgoogle-glog-dev
+    libxmlrpc-c++8-dev libopencv-dev libpcl-dev libproj-dev python3-dev python3-pip build-essential
+    coreutils findutils cmake locales ninja-build
+  # Install ifm3d packages
+  - dpkg -i ./ifm3d_*.deb
+  # Cleanup
+  - rm ifm3d_*.deb
+
+  script:
+  # Install some dependencies, update rosdep
+  - apt-get update
+  - apt-get install -y ros-dev-tools
+  - rosdep init || true  # init needed for 22.04 image but throws error on 24.04; error can be ignored
+  - rosdep update > /dev/null
+  # Create Workspace and copy sources
+  - mkdir -p /root/target_ws/src
+  - cp -r . /root/target_ws/src
+  - cd /root/target_ws/
+  # Install dependencies, build workspace and run tests
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - rosdep install --from-paths /root/target_ws/src --ignore-src -y
+  - colcon build --event-handlers desktop_notification- status- terminal_title- --cmake-args -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+  - colcon test --event-handlers desktop_notification- status- terminal_title- console_cohesion+ --executor sequential --ctest-args -j1

.vscode/settings.json

@@ -0,0 +1,85 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "coroutine": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "source_location": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "ranges": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "span": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "valarray": "cpp",
+        "variant": "cpp",
+        "*.ipp": "cpp"
+    }
+}

CHANGELOG.rst

@@ -1,6 +1,33 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package ifm3d-ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^
+1.2
+===
+
+1.2.0
+-----
+* Create an ODS node to publish ODS data:
+  * The launch file `ods.launch.py` can be used,
+  * Add two topics, `"~/ods_info"` and `"~/ods_occupancy_map_ros"`,
+  * An example launch configuration for ODS is provided `ods_default_parameters.yaml` and can be used with the launch file,
+  * It is expected that ODS is configured before the node is launched. Alternatively, one can use the new `config_file` parameter.
+* Remove the `diag_mode` parameter: diagnostic is always polled periodically and published to `"/diagnostic"`
+* Add the `GetDiag` service for polling filtered diagnostic data.
+* Camera info topic:
+  * Add a `"~/camera_info"` topic for RGB cameras. 
+  * The `"~/camera_info"` topic for the TOF cameras is published when the `TOF_INFO` buffer is requested, instead of the `INTRINSIC` buffer.
+* Add a `config_file` parameter. It should be formatted in JSON and will be used to configure the device when the `CONFIGURE` state is triggered.
+* Transforms:
+  * The `cloud_link` was renamed to `ifm_base_link`, and is used as the reference ifm calibrated coordinate system for all ifm data (RGB, 3D and ODS). 
+  * The transforms between the `cloud_link` (now `ifm_base_link`), and the `mounting_link` and `optical_link` are fixed. 
+  * The `mounting_link` to `optical_link` transform is read when the first `TOF_INFO` or `RGB_INFO` buffer is received, and remains constant.
+  * The `ifm_base_link` to `mounting_link` transform is published once when the first `TOF_INFO` or `RGB_INFO` buffer is received, and is only re-published subsequently if changed.
+  * The camera node parameters related to tf publication got reworked, the new parameters are:
+    * `tf.base_frame_name`: Name for ifm reference frame
+|   * `tf.mounting_frame_name`: Name for the mounting point frame
+|   * `tf.optical_frame_name`: Name for the optical frame
+|   * `tf.publish_base_to_mounting`: Whether the transform from the ifm base link to the camera mounting point should be published
+|   * `tf.publish_mounting_to_optical`: Whether the transform from the cameras mounting point to the optical center should be published
 
 1.1
 ===