ros-perception · pmusau17 · Jul 20, 2021 · Jul 20, 2021 · Jul 20, 2021 · Jul 21, 2021
diff --git a/README b/README
@@ -1,3 +1,33 @@
 See [ROS wiki](http://wiki.ros.org/ar_track_alvar) for the users document.
 
+### Testing (Build from Source)
 
+The testing suite for this package makes use of a ros1 bag, and depends on the following [repo](https://github.com/ros2/rosbag2_bag_v2). In order to get it to work
+you need to source both the ros1 underlay and the ros2 underlay in your ~/.bashrc file. Do this in a new terminal. 
+
+```
+# ROS1 
+source /opt/ros/noetic/setup.bash
+
+# ROS2
+source /opt/ros/foxy/setup.bash
+source /usr/share/colcon_cd/function/colcon_cd.sh 
+export _colcon_cd_root=/opt/ros/foxy
+
+```
+
+### Deprecation Warning
+
+As far as we can tell the vendor package for Alvar is no longer being actively being maintained. 
+The underlying OpenCV Implementation has been upgraded, but it is unclear how worthwhile it is to keep maintaining this package. 
+Users should consider using the tag tracking [libraries](https://docs.opencv.org/4.2.0/d5/dae/tutorial_aruco_detection.html) natively supported by OpenCV as they handle a greater variety of tags, and provide similar functionality.  
+
+# Miscellaneous 
+
+Building this package requires building [perception_pcl](https://github.com/ros-perception/perception_pcl/tree/foxy-devel) from source. 
+
+In your workspace perform the following: 
+
+```
+git clone https://github.com/ros-perception/perception_pcl/ -b foxy-devel
+```
diff --git a/ar_track_alvar/CMakeLists.txt b/ar_track_alvar/CMakeLists.txt
@@ -1,183 +1,187 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(ar_track_alvar)
 
-set(MSG_DEPS
-    ar_track_alvar_msgs
-    std_msgs
-    sensor_msgs
-    geometry_msgs
-    visualization_msgs)
-
-find_package(catkin COMPONENTS
-        genmsg
-        roscpp
-        tf
-        tf2
-        image_transport
-        resource_retriever
-        cv_bridge
-        pcl_ros
-        pcl_conversions
-        message_generation
-        ${MSG_DEPS}
-        dynamic_reconfigure
-        cmake_modules
-        REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
-find_package(Eigen3 REQUIRED)
 find_package(OpenCV REQUIRED)
-find_package(TinyXML REQUIRED)
-
-include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-elseif(COMPILER_SUPPORTS_CXX0X)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-else()
-        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
+     set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
 endif()
 
-cmake_policy(SET CMP0046 OLD)
-
-# dynamic reconfigure support
-generate_dynamic_reconfigure_options(cfg/Params.cfg)
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ar_track_alvar
-  CATKIN_DEPENDS
-        ar_track_alvar_msgs
-        std_msgs
-        roscpp
-        tf
-        tf2
-        message_runtime
-        image_transport
-        sensor_msgs
-        geometry_msgs
-        visualization_msgs
-        resource_retriever
-        cv_bridge
-        pcl_ros
-        pcl_conversions
-        dynamic_reconfigure
+find_package(rclcpp REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(resource_retriever REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(perception_pcl  REQUIRED)
+find_package(pcl_ros)
+find_package(pcl_conversions REQUIRED)
+find_package(ar_track_alvar_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosbag2_bag_v2_plugins REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(PCL REQUIRED QUIET COMPONENTS common io)
+find_package(Eigen3 REQUIRED)
+find_package(tinyxml_vendor REQUIRED)
+
+include_directories(include)
+
+# Kinect filtering code
+set(KINECT_FILTERING_TARGETS kinect_filtering medianFilter)
+set(ALVAR_TARGETS ar_track_alvar individualMarkers individualMarkersNoKinect trainMarkerBundle findMarkerBundles findMarkerBundlesNoKinect createMarker)
+
+set(dependencies
+  OpenCV
+  tf2_ros 
+  tf2
+  pcl_ros
+  pcl_conversions 
+  std_msgs 
+  tinyxml_vendor
+  image_transport
+  perception_pcl 
+  visualization_msgs 
+  rclcpp 
+  resource_retriever 
+  geometry_msgs 
+  tf2_geometry_msgs
+  cv_bridge 
+  sensor_msgs
+  ar_track_alvar_msgs
 )
 
-include_directories(include 
-                    ${catkin_INCLUDE_DIRS}
+include_directories(include
                     ${OpenCV_INCLUDE_DIRS}
                     ${TinyXML_INCLUDE_DIRS}
-
+                    ${PCL_COMMON_INCLUDE_DIRS}
 )
 
-set(GENCPP_DEPS ar_track_alvar_msgs_gencpp std_msgs_gencpp sensor_msgs_gencpp geometry_msgs_gencpp visualization_msgs_gencpp)
-
-add_library(ar_track_alvar
-    src/Camera.cpp
-    src/CaptureDevice.cpp
-    src/Pose.cpp
-    src/Marker.cpp
-    src/MarkerDetector.cpp
+add_library(${PROJECT_NAME}
     src/Bitset.cpp
-    src/Rotation.cpp
-    src/CvTestbed.cpp
+    src/Camera.cpp
     src/CaptureDevice.cpp
     src/CaptureFactory.cpp
     src/CaptureFactory_unix.cpp
-    src/FileFormatUtils.cpp
-    src/Threads.cpp
-    src/Threads_unix.cpp
-    src/Mutex.cpp
-    src/Mutex_unix.cpp
     src/ConnectedComponents.cpp
-    src/Line.cpp src/Plugin.cpp
-    src/Plugin_unix.cpp
+    src/CvTestbed.cpp
     src/DirectoryIterator.cpp
     src/DirectoryIterator_unix.cpp
     src/Draw.cpp
-    src/Util.cpp
+    src/FileFormatUtils.cpp
     src/Filter.cpp
     src/Kalman.cpp
-    src/kinect_filtering.cpp
-    src/Optimization.cpp
+    src/Line.cpp
+    src/Marker.cpp
+    src/MarkerDetector.cpp
     src/MultiMarker.cpp
     src/MultiMarkerBundle.cpp
-    src/MultiMarkerInitializer.cpp)
-target_link_libraries(ar_track_alvar ${OpenCV_LIBS} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES})
-add_dependencies(ar_track_alvar ${GENCPP_DEPS})
-
-# Kinect filtering code
-set(KINECT_FILTERING_TARGETS kinect_filtering medianFilter)
+    src/MultiMarkerInitializer.cpp
+    src/Mutex.cpp
+    src/Mutex_unix.cpp
+    src/Optimization.cpp
+    src/Plugin.cpp
+    src/Plugin_unix.cpp
+    src/Pose.cpp
+    src/Rotation.cpp
+    src/Threads.cpp
+    src/Threads_unix.cpp
+    src/Util.cpp
+)
+
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} tinyxml)
+ament_target_dependencies(ar_track_alvar ${dependencies})
 
 add_library(kinect_filtering src/kinect_filtering.cpp)
-target_link_libraries(kinect_filtering ${catkin_LIBRARIES})
-add_dependencies(kinect_filtering ${GENCPP_DEPS})
+ament_target_dependencies(kinect_filtering ${dependencies})
 
-add_library(medianFilter src/medianFilter.cpp)
-target_link_libraries(medianFilter ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(medianFilter ${GENCPP_DEPS})
 
-set(ALVAR_TARGETS ar_track_alvar individualMarkers individualMarkersNoKinect trainMarkerBundle findMarkerBundles findMarkerBundlesNoKinect createMarker ar_track_alvar)
+add_library(medianFilter src/medianFilter.cpp)
+target_link_libraries(medianFilter ar_track_alvar ${TinyXML_LIBRARIES})
+ament_target_dependencies(medianFilter ${dependencies})
 
 add_executable(individualMarkers nodes/IndividualMarkers.cpp)
-target_link_libraries(individualMarkers ar_track_alvar kinect_filtering ${catkin_LIBRARIES})
-add_dependencies(individualMarkers ${PROJECT_NAME}_gencpp ${GENCPP_DEPS} ${PROJECT_NAME}_gencfg)
+target_link_libraries(individualMarkers ar_track_alvar kinect_filtering  ${TinyXML_LIBRARIES})
+ament_target_dependencies(individualMarkers ${dependencies})
 
 add_executable(individualMarkersNoKinect nodes/IndividualMarkersNoKinect.cpp)
-target_link_libraries(individualMarkersNoKinect ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(individualMarkersNoKinect ${PROJECT_NAME}_gencpp  ${GENCPP_DEPS} ${PROJECT_NAME}_gencfg)
+target_link_libraries(individualMarkersNoKinect ar_track_alvar)
+ament_target_dependencies(individualMarkersNoKinect ${dependencies})
 
 add_executable(trainMarkerBundle nodes/TrainMarkerBundle.cpp)
-target_link_libraries(trainMarkerBundle ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(trainMarkerBundle ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
+target_link_libraries(trainMarkerBundle ar_track_alvar  ${TinyXML_LIBRARIES})
+ament_target_dependencies(trainMarkerBundle ${dependencies})
+
 
 add_executable(findMarkerBundles nodes/FindMarkerBundles.cpp)
-target_link_libraries(findMarkerBundles ar_track_alvar kinect_filtering medianFilter ${catkin_LIBRARIES})
-add_dependencies(findMarkerBundles ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
+target_link_libraries(findMarkerBundles ar_track_alvar kinect_filtering medianFilter  ${TinyXML_LIBRARIES})
+ament_target_dependencies(findMarkerBundles ${dependencies})
 
 add_executable(findMarkerBundlesNoKinect nodes/FindMarkerBundlesNoKinect.cpp)
-target_link_libraries(findMarkerBundlesNoKinect ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(findMarkerBundlesNoKinect ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
+target_link_libraries(findMarkerBundlesNoKinect ar_track_alvar  ${TinyXML_LIBRARIES})
+ament_target_dependencies(findMarkerBundlesNoKinect ${dependencies})
 
 add_executable(createMarker src/SampleMarkerCreator.cpp)
-target_link_libraries(createMarker ar_track_alvar ${catkin_LIBRARIES})
-add_dependencies(createMarker ${PROJECT_NAME}_gencpp ${GENCPP_DEPS})
+target_link_libraries(createMarker ar_track_alvar  ${TinyXML_LIBRARIES})
+ament_target_dependencies(createMarker ${dependencies})
+
+
+ament_export_include_directories(include)
+ament_export_libraries(ar_track_alvar)
+ament_export_dependencies(OpenCV ar_track_alvar_msgs std_msgs rclcpp tf2_ros tf2 message_runtime image_transport sensor_msgs geometry_msgs visualization_msgs resource_retriever cv_bridge perception_pcl pcl_conversions)
+
 
 install(TARGETS ${ALVAR_TARGETS} ${KINECT_FILTERING_TARGETS}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(DIRECTORY launch bundles
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
+  DESTINATION share/${PROJECT_NAME}
 )
 
-if (CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS roslaunch rostest)
+
+
+if(BUILD_TESTING)
 
-  file(GLOB LAUNCH_FILES launch/*.launch test/*.test)
-  foreach(LAUNCH_FILE ${LAUNCH_FILES})
-    roslaunch_add_file_check(${LAUNCH_FILE} USE_TEST_DEPENDENCIES)
-  endforeach()
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 
-  catkin_download_test_data(
-    ${PROJECT_NAME}_4markers_tork.bag
-    http://download.ros.org/data/ar_track_alvar/ar_track_alvar_4markers_tork_2017-02-08-11-21-14.bag
-    # Workaround the issue http://answers.ros.org/question/253787/accessing-data-downloaded-via-catkin_download_test_data/
-    # by downloading into source folder.
-    #DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
-    DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
-    MD5 627aa0316bbfe4334e06023d7c2b4087
-   )
-  add_rostest(test/marker_arg_config-basic.test DEPENDENCIES ${PROJECT_NAME}_4markers_tork.bag)
-  add_rostest(test/marker_arg_config-full.test DEPENDENCIES ${PROJECT_NAME}_4markers_tork.bag)
-  add_rostest(test/marker_param_config-basic.test DEPENDENCIES ${PROJECT_NAME}_4markers_tork.bag)
-  add_rostest(test/marker_param_config-full.test DEPENDENCIES ${PROJECT_NAME}_4markers_tork.bag)
+  set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+  if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
+  endif()
+
+  # Test bag playing (if this fails all other tests will fail) 
+  add_launch_test("test/test_ar_track_alvar_bag.py"
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+  )
+
+  # Test Individual Markers in launch test
+  add_launch_test("test/test_ar_track_alvar_individual_markers.py"
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+  )
+
+  # Legacy Tests
+  add_launch_test("test/test_ar_legacy.py"
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+  )
+
+  # Test Launch Files
+  add_launch_test("test/test_launch_files.py"
+    PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+  )
+
 endif()
+
+ament_package()