ros-perception · ahcorde · Oct 9, 2023 · Oct 5, 2023 · Oct 5, 2023 · Oct 5, 2023
diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
@@ -0,0 +1,33 @@
+#!/bin/bash
+set -ev
+
+# Configuration.
+export COLCON_WS=~/ws
+export COLCON_WS_SRC=${COLCON_WS}/src
+export DEBIAN_FRONTEND=noninteractive
+export ROS_PYTHON_VERSION=3
+
+apt update -qq
+apt install -qq -y lsb-release wget curl build-essential
+
+# Dependencies.
+echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+apt-get update -qq
+apt-get install -y python3-colcon-common-extensions \
+                   python3-rosdep python3-vcstool python3-vcstools
+
+rosdep init
+rosdep update
+
+# Build.
+mkdir -p $COLCON_WS_SRC
+cp -r $GITHUB_WORKSPACE $COLCON_WS_SRC
+cd $COLCON_WS
+rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO $ROSDEP_ARGS
+source /opt/ros/$ROS_DISTRO/setup.bash
+colcon build --event-handlers console_direct+
+
+# Tests.
+colcon test --event-handlers console_direct+
+colcon test-result
diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml
@@ -0,0 +1,24 @@
+name: ROS2 CI
+
+on: [push, pull_request]
+
+jobs:
+  point_cloud_transport_tutorial_ci:
+    name: point_cloud_transport_tutorial CI
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - docker-image: "ubuntu:22.04"
+            ros-distro: "rolling"
+    container:
+      image: ${{ matrix.docker-image }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Build and Test
+        run: .github/workflows/build-and-test.sh
+        env:
+          DOCKER_IMAGE: ${{ matrix.docker-image }}
+          ROS_DISTRO: ${{ matrix.ros-distro }}
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -0,0 +1,3 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
diff --git a/LICENSE b/LICENSE
@@ -1,30 +1,30 @@
-BSD 3-Clause License
-
-Copyright (c) Czech Technical University in Prague
-Copyright (c) 2019, paplhjak
 All rights reserved.
 
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
+Software License Agreement (BSD License 2.0)
 
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
 
-3. Neither the name of the copyright holder nor the names of its
-   contributors may be used to endorse or promote products derived from
-   this software without specific prior written permission.
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
 
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/my_encoder.cpp b/src/my_encoder.cpp
@@ -1,16 +1,37 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague .. 2019, paplhjak
+// Copyright (c) 2023, Czech Technical University in Prague
+// Copyright (c) 2023, Open Source Robotics Foundation, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
-// This file is a simple example of how to use the C++ "PointCloudCodec" API of
-// point_cloud_transport to encode/decode point clouds without needing to
-// publish/subscribe to a topic.
-
-// for ros2 logging + reading rosbag
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rclcpp/serialization.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rosbag2_cpp/reader.hpp>
-#include <rosbag2_cpp/storage_options.hpp>
+#include <rosbag2_storage/storage_options.hpp>
 #include <rosbag2_cpp/converter_options.hpp>
 #include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
 
@@ -59,13 +80,14 @@ int main(int /*argc*/, char ** /*argv*/)
       // Encode using C++ API
       //
 
-      // encode/decode communicate via a serialized message. This was done to support arbitrary encoding formats and to make it easy to bind
-      // to other languages (since the serialized message is simply a uchar buffer and its size)
+      // encode/decode communicate via a serialized message. This was done to support arbitrary
+      // encoding formats and to make it easy to bind to other languages (since the serialized
+      // message is simply a uchar buffer and its size)
       rclcpp::SerializedMessage compressed_msg;
       const bool encode_success = codec.encode(transport, cloud_msg, compressed_msg);
 
-      // BUT encodeTyped/decodeTyped are also available if you would rather work with the actual encoded message type
-      // (which may vary depending on the transport being used).
+      // BUT encodeTyped/decodeTyped are also available if you would rather work with the actual
+      // encoded message type (which may vary depending on the transport being used).
 
       if (encode_success) {
         RCLCPP_INFO(

diff --git a/src/my_publisher.cpp b/src/my_publisher.cpp
@@ -1,20 +1,44 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague .. 2019, paplhjak
+// Copyright (c) 2023, Czech Technical University in Prague
+// Copyright (c) 2023, Open Source Robotics Foundation, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
-// This file is a simple example of how to use the C++ "PointCloudTransport" API of
-// point_cloud_transport to publish encoded point_cloud messages via ROS2.
-
-#include <point_cloud_transport/point_cloud_transport.hpp>
 
 #include <iostream>
 
 // for reading rosbag
 #include <ament_index_cpp/get_package_share_directory.hpp>
+
+#include <point_cloud_transport/point_cloud_transport.hpp>
 #include <rclcpp/serialization.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rcpputils/filesystem_helper.hpp>
 #include <rosbag2_cpp/reader.hpp>
-#include <rosbag2_cpp/storage_options.hpp>
+#include <rosbag2_storage/storage_options.hpp>
 #include <rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -32,13 +56,11 @@ int main(int argc, char ** argv)
     "point_cloud_transport_tutorial");
   std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";
 
-  if (argc > 1)
-  {
+  if (argc > 1) {
     bag_file = argv[1];
   }
 
-  if (!rcpputils::fs::exists(bag_file))
-  {
+  if (!rcpputils::fs::exists(bag_file)) {
     std::cout << "Not able to open file [" << bag_file << "]" << '\n';
     return -1;
   }

diff --git a/src/my_subscriber.cpp b/src/my_subscriber.cpp
@@ -1,8 +1,32 @@
-// SPDX-License-Identifier: BSD-3-Clause
-// SPDX-FileCopyrightText: Czech Technical University in Prague .. 2019, paplhjak
+// Copyright (c) 2023, Czech Technical University in Prague
+// Copyright (c) 2023, Open Source Robotics Foundation, Inc. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
 
-// This file is a simple example of how to use the C++ "PointCloudTransport" API of
-// point_cloud_transport to subscribe to and decode compressed point_cloud messages via ROS2.
 
 #include <point_cloud_transport/point_cloud_transport.hpp>
 #include <rclcpp/rclcpp.hpp>