use find_package to get Boost dependency

clean up eigen export eigen as dependency laser_geometry should export Eigen3 include dirs fix includes for case and type Add visibility header modified from rclcpp Make it compile, remove PointCloud support, and remove boost - Compiles on Windows with VS2015/VS2017 - Compiles on Mac with clang - Compiles on Linux with gcc - Removed PointCloud support as this is deprecated and might not be needed in ROS 2 - Remove boost as per ROS 2 development guidelines Build statically but position independent code - This is necessary to link against shared libraries on Linux Add tests (remove superfluous test cases) and linters - Code now lints with standard ament linters - Added test cases for LaserScan to PointCloud2 - Removed tests that were commented out + tests for LaserScan to PointCloud Uncrustify Use correct time unit Fix cpplint Disable second test for now Test needs a correct lookupTransform It would be best to make that call mockable, but that's not possible with tf2::BufferCore Fix Windows warnings Remove several test cases - On not so fast machines, tests run into timeouts due to exponential explosion: test setup makes for about 7000 test cases - Keep edge cases Remove angle dependency as no longer necessary Add Copyright Fix package.xml Add TODO for PointCloud 1 support Build dynamically using visibility control Make build export symbols Increase tests timeout (needed for Mac) Relicense visibility control file to BSD Already relicensed in URDF repo. Create LICENSE (#33) (#34) fix eigen dependency name (#36) fixup package.xml changelogs 2.0.0 Use eigen3_cmake_module Signed-off-by: Shane Loretz <[email protected]> 2.1.0 Signed-off-by: Michael Carroll <[email protected]> Drop CMake extras redundant with eigen3_cmake_module. (#50) Signed-off-by: Michel Hidalgo <[email protected]> code style only: wrap after open parenthesis if not in one line (#52) Signed-off-by: Dirk Thomas <[email protected]> use target_include_directories Signed-off-by: Karsten Knese <[email protected]> use ament_export_targets() Signed-off-by: Dirk Thomas <[email protected]> Changelog. Signed-off-by: Chris Lalancette <[email protected]> 2.2.0 increase test timeout Signed-off-by: Dirk Thomas <[email protected]> update maintainers Signed-off-by: Mabel Zhang <[email protected]> Use rclcpp::Duration::from_seconds (#72) Signed-off-by: Ivan Santiago Paunovic <[email protected]> Changelog. Signed-off-by: Chris Lalancette <[email protected]> 2.2.1 Export sensor_msgs, tf2, and rclcpp as dependencies Signed-off-by: Michel Hidalgo <[email protected]> changelog Signed-off-by: Mabel Zhang <[email protected]> 2.2.2 Update python code and tests for ros2 (#80) * Enable projection nose test using ament * Update python package and tests for ros2 * Remove unneeded python setup file * Use pytest instead of nose Nose was outputting xml that xUnit (jenkins plugin) couldn't read. * Fix pytest warnings Fix building on running on Windows Debug. (#82) * Fix building on running on Windows Debug. In particular, we need to set the python executable properly when running on Windows Debug. While we are in here, we also fix up some dependencies in the package.xml and CMakeLists.txt. We also have to remove WERROR ON, due to some Python warnings that are outside of our control. Finally, we heavily reduce the number of tests being run here so that the tests complete in a reasonable amount of time, even on (slow) Windows debug. Signed-off-by: Chris Lalancette <[email protected]> 2.3.0 Fix Duration casting issue leading to no undistortion Signed-off-by: Marco Lampacrescia <[email protected]> Explicit cast to double to prevent loss of precision Signed-off-by: Marco Lampacrescia <[email protected]> Install headers to include/${PROJECT_NAME} (#86) Signed-off-by: Shane Loretz <[email protected]> Changelog. Signed-off-by: Chris Lalancette <[email protected]> 2.4.0 Mirror rolling to ros2 Update Maintainers (#88) * Add Dharini Dutia to CODEOWNERs file Signed-off-by: Audrow Nash <[email protected]> Update laser_geometry to C++17. (#90) The main reason to do this is so that we can compile laser_geometry with the clang static analyzer. As of clang++-14 (what is in Ubuntu 22.04), the default still seems to be C++14, so we need to specify C++17 so that new things in the rclcpp headers work properly. Further, due to reasons I don't fully understand, I needed to set CMAKE_CXX_STANDARD_REQUIRED in order for clang to really use that version. So set this as well. Signed-off-by: Chris Lalancette <[email protected]> Changelog. Signed-off-by: Michael Carroll <[email protected]> 2.5.0 Changelog Signed-off-by: Chris Lalancette <[email protected]> 2.6.0 Switch to target_link_libraries. (#92) This allows us to hide more of the libraries from downstream consumers. While we are in here, do slight cleanups so it is more clear which libraries are depended on. Signed-off-by: Chris Lalancette <[email protected]> Changelog. Signed-off-by: Chris Lalancette <[email protected]> 2.7.0 Changelog. Signed-off-by: Marco A. Gutierrez <[email protected]> 2.8.0 Added common linters (#96) Signed-off-by: Alejandro Hernández Cordero <[email protected]> Changelog. Signed-off-by: Chris Lalancette <[email protected]> 2.8.1 Stop using python_cmake_module. (#93) * Stop using python_cmake_module. We really don't need it anymore, and can just use the builtin find_package(Python3). * Add in missing ament_cmake_python dependency. Signed-off-by: Chris Lalancette <[email protected]>
ros-perception · Nov 2, 2024 · f8f22aa · f8f22aa
1 parent d39ce22
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diff --git a/.github/workflows/mirror-rolling-to-ros2.yaml b/.github/workflows/mirror-rolling-to-ros2.yaml
@@ -0,0 +1,13 @@
+name: Mirror rolling to ros2
+
+on:
+  push:
+    branches: [ rolling ]
+
+jobs:
+  mirror-to-ros2:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: zofrex/mirror-branch@v1
+      with:
+        target-branch: ros2
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,77 @@
 Changelog for package laser_geometry
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.8.1 (2024-10-03)
+------------------
+* Added common linters (`#96 <https://github.com/ros-perception/laser_geometry/issues/96>`_)
+* Contributors: Alejandro Hernández Cordero
+
+2.8.0 (2024-04-26)
+------------------
+
+2.7.0 (2023-12-26)
+------------------
+* Switch to target_link_libraries. (`#92 <https://github.com/ros-perception/laser_geometry/issues/92>`_)
+* Contributors: Chris Lalancette
+
+2.6.0 (2023-04-28)
+------------------
+
+2.5.0 (2023-02-14)
+------------------
+* Update laser_geometry to C++17. (`#90 <https://github.com/ros-perception/laser_geometry/issues/90>`_)
+* Update Maintainers (`#88 <https://github.com/ros-perception/laser_geometry/issues/88>`_)
+* Mirror rolling to ros2
+* Contributors: Audrow Nash, Chris Lalancette
+
+2.4.0 (2022-03-01)
+------------------
+* Install headers to include/${PROJECT_NAME} (`#86 <https://github.com/ros-perception/laser_geometry/issues/86>`_)
+* Explicit cast to double to prevent loss of precision
+* Fix Duration casting issue leading to no undistortion
+* Contributors: Jonathan Binney, Marco Lampacrescia, Shane Loretz
+
+2.3.0 (2022-01-14)
+------------------
+* Fix building on running on Windows Debug (`#82 <https://github.com/ros-perception/laser_geometry/issues/82>`_)
+* Update python code and tests for ros2 (`#80 <https://github.com/ros-perception/laser_geometry/issues/80>`_)
+* Contributors: Chris Lalancette, Jonathan Binney
+
+2.2.2 (2021-05-11)
+------------------
+* Export sensor_msgs, tf2, and rclcpp as dependencies
+* Contributors: Mabel Zhang, Michel Hidalgo
+
+2.2.1 (2020-12-08)
+------------------
+* Use rclcpp::Duration::from_seconds (`#72 <https://github.com/ros-perception/laser_geometry/issues/72>`_)
+* update maintainers
+* increase test timeout
+* Contributors: Dirk Thomas, Ivan Santiago Paunovic, Jonathan Binney, Mabel Zhang
+
+2.2.0 (2020-04-30)
+------------------
+* use ament_export_targets()
+* code style only: wrap after open parenthesis if not in one line (`#52 <https://github.com/ros-perception/laser_geometry/issues/52>`_)
+* use target_include_directories
+* Drop CMake extras redundant with eigen3_cmake_module. (`#50 <https://github.com/ros-perception/laser_geometry/issues/50>`_)
+* Contributors: Dirk Thomas, Jonathan Binney, Karsten Knese, Michel Hidalgo
+
+2.1.0 (2019-09-27)
+------------------
+* Merge pull request `#46 <https://github.com/ros-perception/laser_geometry/issues/46>`_ from sloretz/eigen3_cmake_module
+* Contributors: Jonathan Binney, Shane Loretz
+
+2.0.0 (2018-06-27)
+------------------
+* Removed the ``angle`` dependency as no longer necessary.
+* Updated to build statically but use position independent code.
+* Updated to compile, and to remove PointCloud support, and remove boost.
+* Added visibility headers modified from ``rclcpp``.
+* Updated ``laser_geometry`` to build for ros2 (and on Windows 10).
+* Improved use of numpy. (`#14 <https://github.com/ros-perception/laser_geometry/issues/14>`_)
+* Contributors: Alessandro Bottero, Andreas Greimel, Brian Fjeldstad, Eric Wieser, Jon Binney, Jonathan Binney, Martin Idel, Mikael Arguedas, Vincent Rabaud, William Woodall
+
 1.6.4 (2015-05-18)
 ------------------
 * Fix segfault when laserscan ranges[] is empty

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,50 +2,91 @@ cmake_minimum_required(VERSION 3.5)
 
 project(laser_geometry)
 
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
-find_package(angles REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
-find_package(ecl_eigen REQUIRED)
-
-# TODO(dhood): enable python support once ported to ROS 2
-# catkin_python_setup()
-
-#
-#catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES laser_geometry
-#  DEPENDS Boost Eigen
-#)
-#
-
-include_directories(include
-    ${angles_INCLUDE_DIRS}
-    ${rclcpp_INCLUDE_DIRS}
-    ${sensor_msgs_INCLUDE_DIRS}
-    ${tf2_INCLUDE_DIRS}
-    ${tf2_eigen_INCLUDE_DIRS}
-    $ENV{BOOST_ROOT}
+find_package(eigen3_cmake_module REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+ament_python_install_package(laser_geometry PACKAGE_DIR src/laser_geometry)
+
+add_library(laser_geometry SHARED src/laser_geometry.cpp)
+target_include_directories(laser_geometry
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+  ${Eigen3_INCLUDE_DIRS}
 )
+target_link_libraries(laser_geometry PUBLIC
+  ${sensor_msgs_TARGETS}
+  tf2::tf2
+)
+if(TARGET Eigen3::Eigen)
+  target_link_libraries(laser_geometry PUBLIC Eigen3::Eigen)
+else()
+  target_include_directories(laser_geometry PUBLIC ${Eigen3_INCLUDE_DIRS})
+endif()
 
-add_library(laser_geometry src/laser_geometry.cpp)
-target_link_libraries(laser_geometry 
-    ${angles_LIBRARIES}
-    ${rclcpp_LIBRARIES}
-    ${sensor_msgs_LIBRARIES}
-    ${tf2_LIBRARIES}
-    ${tf2_eigen_LIBRARIES}
+target_link_libraries(laser_geometry PRIVATE
+  rclcpp::rclcpp
 )
 
-ament_export_include_directories(include)
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(laser_geometry PRIVATE "LASER_GEOMETRY_BUILDING_LIBRARY")
+
+# Export old-style CMake variables
+ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_libraries(laser_geometry)
-ament_package()
 
-install(TARGETS laser_geometry
+# Export modern CMake targets
+ament_export_targets(laser_geometry)
+
+ament_export_dependencies(
+  Eigen3
+  sensor_msgs
+  tf2
+)
+
+install(
+  TARGETS laser_geometry
+  EXPORT laser_geometry
   ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib)
-install(DIRECTORY include/laser_geometry/
-  DESTINATION include/${PROJECT_NAME}/
-  FILES_MATCHING PATTERN "*.h")
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gtest REQUIRED)
+
+  ament_add_gtest(projection_test
+    test/projection_test.cpp
+    TIMEOUT 240)
+  if(TARGET projection_test)
+    target_link_libraries(projection_test laser_geometry rclcpp::rclcpp)
+  endif()
+
+  find_package(ament_cmake_pytest REQUIRED)
+
+  ament_add_pytest_test(projection test/projection_test.py
+    TIMEOUT 120
+  )
+endif()
+
+ament_package()
diff --git a/CODEOWNERS b/CODEOWNERS
@@ -0,0 +1,2 @@
+# This file was generated by https://github.com/audrow/update-ros2-repos
+* @quarkytale
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
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2008, Willow Garage, 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 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.