ROS2 port (#13)

* Initial ROS2 port

Co-authored-by: Pranay Mathur <[email protected]>

open3d_conversions/CMakeLists.txt

@@ -1,44 +1,62 @@
-cmake_minimum_required(VERSION 3.5.0)
+cmake_minimum_required(VERSION 3.5)
 project(open3d_conversions)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  sensor_msgs
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
+# system dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(Open3D REQUIRED)
 
-catkin_package(
- INCLUDE_DIRS include
- LIBRARIES open3d_conversions
- CATKIN_DEPENDS roscpp sensor_msgs
- DEPENDS EIGEN3 Open3D
-)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
   ${Open3D_INCLUDE_DIRS}
 )
 
-# C++ library
 add_library(open3d_conversions src/open3d_conversions.cpp)
-add_dependencies(open3d_conversions ${open3d_conversions_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(open3d_conversions ${catkin_LIBRARIES} ${Open3D_LIBRARIES})
-
-# Install
-install(TARGETS open3d_conversions
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
-
-install(DIRECTORY include/open3d_conversions/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
-
-# Tests
-if (CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(test_open3d_conversions test/test_open3d_conversions.cpp)
-  target_link_libraries(test_open3d_conversions open3d_conversions ${catkin_LIBRARIES} ${Open3D_LIBRARIES})
+target_include_directories(open3d_conversions PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(
+  open3d_conversions
+  "rclcpp"
+  "sensor_msgs"
+)
+target_link_libraries(open3d_conversions ${Open3D_LIBRARIES})
+target_compile_definitions(open3d_conversions PUBLIC "OPEN3D_CONVERSIONS_BUILDING_LIBRARY")
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+install(
+  TARGETS open3d_conversions
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  ament_add_gtest(test_open3d_conversions test/test_open3d_conversions.cpp)
+  target_link_libraries(test_open3d_conversions open3d_conversions ${Open3D_LIBRARIES})
+  ament_lint_auto_find_test_dependencies()
 endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(open3d_conversions)
+ament_export_targets(export_${PROJECT_NAME})
+ament_export_dependencies(Open3D rclcpp)
+
+ament_package()

open3d_conversions/README.md

@@ -9,7 +9,7 @@ This package provides functions that can convert pointclouds from ROS to Open3D
 
 ## System Requirements
 
-* Ubuntu 18.04+: GCC 5+
+* Ubuntu 20.04+: GCC 5+
 
 ## Installation
 
@@ -26,9 +26,9 @@ This package provides functions that can convert pointclouds from ROS to Open3D
 There are two functions provided in this library:
 
 ```cpp
-void open3d_ros::open3dToRos(const open3d::geometry::PointCloud& pointcloud, sensor_msgs::PointCloud2& ros_pc2, std::string frame_id = "open3d_pointcloud");
+void open3d_conversions::open3dToRos(const open3d::geometry::PointCloud & pointcloud, sensor_msgs::msg::PointCloud2 & ros_pc2, std::string frame_id = "open3d_pointcloud");
 
-void open3d_ros::rosToOpen3d(const sensor_msgs::PointCloud2ConstPtr& ros_pc2, open3d::geometry::PointCloud& o3d_pc, bool skip_colors=false);
+void open3d_conversions::rosToOpen3d(const sensor_msgs::msg::PointCloud2::SharedPtr & ros_pc2, open3d::geometry::PointCloud & o3d_pc, bool skip_colors=false);
 ```
 
 * As Open3D pointclouds only contain `points`, `colors` and `normals`, the interface currently supports XYZ, XYZRGB pointclouds. XYZI pointclouds are handled by placing the `intensity` value in the `colors_`.

open3d_conversions/include/open3d_conversions/open3d_conversions.hpp

@@ -0,0 +1,61 @@
+// Copyright 2020 Autonomous Robots Lab, University of Nevada, Reno
+
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef OPEN3D_CONVERSIONS__OPEN3D_CONVERSIONS_HPP_
+#define OPEN3D_CONVERSIONS__OPEN3D_CONVERSIONS_HPP_
+
+// ROS2
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <sensor_msgs/point_cloud2_iterator.hpp>
+
+// Open3D
+#include <open3d/Open3D.h>
+
+// Eigen
+#include <Eigen/Dense>
+
+// C++
+#include <string>
+
+#include "open3d_conversions/visibility_control.h"
+
+namespace open3d_conversions
+{
+/**
+ * @brief Copy data from a open3d::geometry::PointCloud to a
+ * sensor_msgs::msg::PointCloud2
+ *
+ * @param pointcloud Reference to the open3d geometry PointCloud
+ * @param ros_pc2 Reference to the sensor_msgs PointCloud2
+ * @param frame_id The string to be placed in the frame_id of the PointCloud2
+ */
+void open3dToRos(
+  const open3d::geometry::PointCloud & pointcloud,
+  sensor_msgs::msg::PointCloud2 & ros_pc2,
+  std::string frame_id = "open3d_pointcloud");
+/**
+ * @brief Copy data from a sensor_msgs::msg::PointCloud2 to a
+ * open3d::geometry::PointCloud
+ *
+ * @param ros_pc2 Reference to the sensor_msgs PointCloud2
+ * @param o3d_pc Reference to the open3d geometry PointCloud
+ * @param skip_colors If true, only xyz fields will be copied
+ */
+void rosToOpen3d(
+  const sensor_msgs::msg::PointCloud2::SharedPtr & ros_pc2,
+  open3d::geometry::PointCloud & o3d_pc,
+  bool skip_colors = false);
+
+}  // namespace open3d_conversions
+
+#endif  // OPEN3D_CONVERSIONS__OPEN3D_CONVERSIONS_HPP_

open3d_conversions/include/open3d_conversions/visibility_control.h

@@ -0,0 +1,48 @@
+// Copyright 2020 Autonomous Robots Lab, University of Nevada, Reno
+
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef OPEN3D_CONVERSIONS__VISIBILITY_CONTROL_H_
+#define OPEN3D_CONVERSIONS__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define OPEN3D_CONVERSIONS_EXPORT __attribute__ ((dllexport))
+    #define OPEN3D_CONVERSIONS_IMPORT __attribute__ ((dllimport))
+  #else
+    #define OPEN3D_CONVERSIONS_EXPORT __declspec(dllexport)
+    #define OPEN3D_CONVERSIONS_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef OPEN3D_CONVERSIONS_BUILDING_LIBRARY
+    #define OPEN3D_CONVERSIONS_PUBLIC OPEN3D_CONVERSIONS_EXPORT
+  #else
+    #define OPEN3D_CONVERSIONS_PUBLIC OPEN3D_CONVERSIONS_IMPORT
+  #endif
+  #define OPEN3D_CONVERSIONS_PUBLIC_TYPE OPEN3D_CONVERSIONS_PUBLIC
+  #define OPEN3D_CONVERSIONS_LOCAL
+#else
+  #define OPEN3D_CONVERSIONS_EXPORT __attribute__ ((visibility("default")))
+  #define OPEN3D_CONVERSIONS_IMPORT
+  #if __GNUC__ >= 4
+    #define OPEN3D_CONVERSIONS_PUBLIC __attribute__ ((visibility("default")))
+    #define OPEN3D_CONVERSIONS_LOCAL  __attribute__ ((visibility("default")))
+  #else
+    #define OPEN3D_CONVERSIONS_PUBLIC
+    #define OPEN3D_CONVERSIONS_LOCAL
+  #endif
+  #define OPEN3D_CONVERSIONS_PUBLIC_TYPE
+#endif
+
+#endif  // OPEN3D_CONVERSIONS__VISIBILITY_CONTROL_H_

open3d_conversions/package.xml

@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>open3d_conversions</name>
-  <version>0.0.2</version>
+  <version>0.1.0</version>
   <description>Provides conversion functions to and from Open3D datatypes</description>
 
   <maintainer email="[email protected]">Pranay Mathur</maintainer>
@@ -12,15 +13,13 @@
 
   <author email="[email protected]">Pranay Mathur</author>
   <author email="[email protected]">Nikhil Khedekar</author>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
+  <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>eigen</depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
-
+    <build_type>ament_cmake</build_type>
   </export>
 </package>