CMakeLists.txt

cmake_minimum_required(VERSION 3.5)

project(ros1_bridge)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra)
endif()

find_package(rmw REQUIRED)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(control_msgs REQUIRED)
find_package(trajectory_msgs REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rcl_interfaces REQUIRED)


# find ROS 1 packages
set(cmake_extras_files cmake/find_ros1_package.cmake cmake/find_ros1_interface_packages.cmake)
include(cmake/find_ros1_package.cmake)

find_package(PkgConfig)
if(NOT PKG_CONFIG_FOUND)
  message(WARNING "Failed to find PkgConfig, skipping...")
  # call ament_package() to avoid ament_tools treating this as a plain CMake pkg
  ament_package()
  return()
endif()

find_ros1_package(roscpp)
if(NOT ros1_roscpp_FOUND)
  message(WARNING "Failed to find ROS 1 roscpp, skipping...")
  # call ament_package() to avoid ament_tools treating this as a plain CMake pkg
  ament_package(
    CONFIG_EXTRAS ${cmake_extras_files}
  )
  return()
endif()

find_ros1_package(std_msgs REQUIRED)
find_ros1_package(sensor_msgs REQUIRED)
find_ros1_package(nav_msgs REQUIRED)
find_ros1_package(tf2_msgs REQUIRED)
find_ros1_package(geometry_msgs REQUIRED)
find_ros1_package(control_msgs REQUIRED)
find_ros1_package(trajectory_msgs REQUIRED)
find_ros1_package(actionlib REQUIRED)
find_ros1_package(rosgraph_msgs REQUIRED)

# find ROS 1 packages with messages / services
include(cmake/find_ros1_interface_packages.cmake)
find_ros1_interface_packages(ros1_message_packages)

set(prefixed_ros1_message_packages "")
foreach(ros1_message_package ${ros1_message_packages})
  # TODO(karsten1987): This is currently a workaround to work with ROS 2 classloader
  # rather than ROS 1 classloader.
  if(NOT "${ros1_message_package}" STREQUAL "nodelet")
    find_ros1_package(${ros1_message_package} REQUIRED)
    list(APPEND prefixed_ros1_message_packages "ros1_${ros1_message_package}")
  endif()
endforeach()

set(TEST_ROS1_BRIDGE FALSE)
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  find_package(diagnostic_msgs REQUIRED)
  find_ros1_package(diagnostic_msgs)
  find_ros1_package(roslaunch)
  ament_lint_auto_find_test_dependencies()
  if(ros1_diagnostic_msgs_FOUND AND ros1_roslaunch_FOUND)
    # ensure that the ROS 2 diagnostic_msgs was found by find_package
    # and not the ROS 1 package
    set(_ros1_diagnostic_msgs_DIR "${ros1_diagnostic_msgs_PREFIX}/share/diagnostic_msgs/cmake")
    if("${diagnostic_msgs_DIR}" STREQUAL "${_ros1_diagnostic_msgs_DIR}")
      # invalidate the cached result to retry finding the package next time
      unset(diagnostic_msgs_DIR CACHE)
      message(FATAL_ERROR "Failed to find ROS 2 package 'diagnostic_msgs'")
    endif()
    set(TEST_ROS1_BRIDGE TRUE)
  endif()
endif()

ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})

ament_python_install_package(${PROJECT_NAME})

ament_package(
  CONFIG_EXTRAS ${cmake_extras_files}
)

set(generated_path "${CMAKE_BINARY_DIR}/generated")
set(generated_files "${generated_path}/get_factory.cpp")
list(APPEND generated_files "${generated_path}/get_mappings.cpp")

# generate per interface compilation units to keep the memory usage low
ament_index_get_resources(ros2_interface_packages "rosidl_interfaces")
# actionlib_msgs is deprecated, but we will quiet the warning until the bridge has support for
# ROS actions: https://github.com/ros2/design/issues/195
set(actionlib_msgs_DEPRECATED_QUIET TRUE)
foreach(package_name ${ros2_interface_packages})
  find_package(${package_name} QUIET REQUIRED)
  message(STATUS "Found ${package_name}: ${${package_name}_VERSION} (${${package_name}_DIR})")
  if(NOT "${package_name}" STREQUAL "builtin_interfaces")
    list(APPEND generated_files "${generated_path}/${package_name}_factories.cpp")
    list(APPEND generated_files "${generated_path}/${package_name}_factories.hpp")
    foreach(interface_file ${${package_name}_IDL_FILES})
      file(TO_CMAKE_PATH "${interface_file}" interface_name)
      get_filename_component(interface_basename "${interface_name}" NAME_WE)
      # skipping actions and request and response messages of services
      if(NOT "${interface_name}" MATCHES "^(msg|srv)/" OR "${interface_basename}" MATCHES "_(Request|Response)$")
        continue()
      endif()
      string(REPLACE "/" "__" interface_name "${interface_name}")
      get_filename_component(interface_name "${interface_name}" NAME_WE)
      list(APPEND generated_files "${generated_path}/${package_name}__${interface_name}__factories.cpp")
    endforeach()
  endif()
endforeach()

set(target_dependencies
  "bin/ros1_bridge_generate_factories"
  "resource/get_factory.cpp.em"
  "resource/get_mappings.cpp.em"
  "resource/interface_factories.cpp.em"
  "resource/pkg_factories.cpp.em"
  "resource/pkg_factories.hpp.em"
  "ros1_bridge/__init__.py")

add_custom_command(
  OUTPUT ${generated_files}
  COMMAND ${PYTHON_EXECUTABLE} bin/ros1_bridge_generate_factories
    --output-path "${generated_path}" --template-dir resource
  DEPENDS ${target_dependencies}
  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
  COMMENT "Generating factories for interface types")

if(NOT WIN32)
  # ignore warning in ROS 1 message headers
  set_source_files_properties(${generated_files}
    PROPERTIES COMPILE_FLAGS "-Wno-unused-parameter")
endif()

include_directories(include ${generated_path})

function(custom_executable target)
  cmake_parse_arguments(
    ARG "ROS1_DEPENDENCIES" "" "TARGET_DEPENDENCIES" ${ARGN})

  add_executable(${target}
    ${ARG_UNPARSED_ARGUMENTS})
  ament_target_dependencies(${target}
    "rclcpp"
    ${ARG_TARGET_DEPENDENCIES})
  if(ARG_ROS1_DEPENDENCIES)
    ament_target_dependencies(${target}
      "ros1_roscpp"
      "ros1_std_msgs"
      "ros1_sensor_msgs"
      "ros1_nav_msgs"
      "ros1_tf2_msgs"
      "ros1_geometry_msgs"
      "ros1_control_msgs"
      "ros1_trajectory_msgs"
      "ros1_actionlib"
      "rosgraph_msgs")
  endif()
  if(ARG_DEPENDENCIES)
    add_dependencies(${target} ${ARG_DEPENDENCIES})
  endif()

  install(TARGETS ${target}
  DESTINATION lib/${PROJECT_NAME})
endfunction()

custom_executable(simple_bridge_1_to_2 "src/simple_bridge_1_to_2.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs")

custom_executable(simple_bridge_1_to_2_scan "src/simple_bridge_1_to_2_scan.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "sensor_msgs")

custom_executable(simple_bridge_1_to_2_odom "src/simple_bridge_1_to_2_odom.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "nav_msgs")

custom_executable(simple_bridge_1_to_2_tf "src/simple_bridge_1_to_2_tf.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "tf2_msgs")

custom_executable(simple_bridge_2_to_1_twist "src/simple_bridge_2_to_1_twist.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "geometry_msgs" "nav_msgs")
  
# custom_executable(simple_bridge_1_to_2_twist "src/simple_bridge_1_to_2_twist.cpp"
#   ROS1_DEPENDENCIES
#   TARGET_DEPENDENCIES "std_msgs" "geometry_msgs" "nav_msgs")
  
custom_executable(simple_bridge_1_to_2_image "src/simple_bridge_1_to_2_image.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "sensor_msgs")

custom_executable(simple_bridge_1_to_2_imu "src/simple_bridge_1_to_2_imu.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "sensor_msgs")
  
custom_executable(simple_bridge_1_to_2_sonar "src/simple_bridge_1_to_2_sonar.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "sensor_msgs")
  
custom_executable(simple_bridge_1_to_2_compressed "src/simple_bridge_1_to_2_compressed.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "sensor_msgs")
  
custom_executable(simple_bridge_1_to_2_point_cloud "src/simple_bridge_1_to_2_point_cloud.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "sensor_msgs")
  
custom_executable(simple_bridge_1_to_2_camera_info "src/simple_bridge_1_to_2_camera_info.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "sensor_msgs")

custom_executable(simple_bridge_1_to_2_joint_trajectory_controller_state "src/simple_bridge_1_to_2_joint_trajectory_controller_state.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "control_msgs" "trajectory_msgs")

custom_executable(simple_bridge_2_to_1 "src/simple_bridge_2_to_1.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs"
)

custom_executable(simple_bridge_2_to_1_joint_trajectory "src/simple_bridge_2_to_1_joint_trajectory.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs" "trajectory_msgs"
)

custom_executable(simple_bridge "src/simple_bridge.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "std_msgs")
  
custom_executable(moveit_2_to_1 "src/action_bridge_follow_joint_trajectory_2_1.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "rclcpp_action" "control_msgs")

custom_executable(simple_bridge_1_to_2_log "src/simple_bridge_1_to_2_log.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "rcl_interfaces" "rosgraph_msgs")

custom_executable(simple_bridge_1_to_2_jointState "src/simple_bridge_1_to_2_joint_state.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "sensor_msgs")

custom_executable(head_controller "src/action_bridge_head_controller.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "rclcpp_action" "control_msgs")

custom_executable(torso_controller "src/action_bridge_torso_controller.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "rclcpp_action" "control_msgs")

custom_executable(gripper_controller "src/action_bridge_gripper_controller.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES "rclcpp_action" "control_msgs")


add_library(${PROJECT_NAME} SHARED
  "src/builtin_interfaces_factories.cpp"
  "src/convert_builtin_interfaces.cpp"
  "src/bridge.cpp"
  ${generated_files})
ament_target_dependencies(${PROJECT_NAME}
  ${prefixed_ros1_message_packages}
  ${ros2_interface_packages}
  "rclcpp"
  "ros1_roscpp"
  "ros1_std_msgs"
  "ros1_sensor_msgs"
  "ros1_nav_msgs"
  "ros1_tf2_msgs"
  "ros1_geometry_msgs"
  "ros1_control_msgs"
  "ros1_rosgraph_msgs")

install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

custom_executable(static_bridge
  "src/static_bridge.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES ${ros2_interface_packages})
target_link_libraries(static_bridge
  ${PROJECT_NAME})

custom_executable(parameter_bridge
  "src/parameter_bridge.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES ${message_packages})
target_link_libraries(parameter_bridge
  ${PROJECT_NAME})

custom_executable(dynamic_bridge
  "src/dynamic_bridge.cpp"
  ROS1_DEPENDENCIES
  TARGET_DEPENDENCIES ${ros2_interface_packages})
target_link_libraries(dynamic_bridge
  ${PROJECT_NAME})

if(TEST_ROS1_BRIDGE)
  custom_executable(test_ros2_client_cpp "test/test_ros2_client.cpp")
  ament_target_dependencies("test_ros2_client_cpp${target_suffix}" "ros1_roscpp" "diagnostic_msgs")
  custom_executable(test_ros2_server_cpp "test/test_ros2_server.cpp")
  ament_target_dependencies("test_ros2_server_cpp${target_suffix}" "ros1_roscpp" "diagnostic_msgs")

  set(TEST_BRIDGE_DYNAMIC_BRIDGE "$<TARGET_FILE:dynamic_bridge>")
  set(TEST_BRIDGE_ROS2_CLIENT "$<TARGET_FILE:test_ros2_client_cpp>")
  set(TEST_BRIDGE_ROS2_SERVER "$<TARGET_FILE:test_ros2_server_cpp>")
endif()

macro(targets)
  set(TEST_BRIDGE_RMW ${rmw_implementation})

  configure_file(
    test/test_topics_across_dynamic_bridge.py.in
    test_topics_across_dynamic_bridge${target_suffix}.py.genexp
    @ONLY
  )
  file(GENERATE
    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}.py.genexp"
  )
  add_launch_test(
    "${CMAKE_CURRENT_BINARY_DIR}/test_topics_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
    TARGET test_topics_across_dynamic_bridge${target_suffix}
    ENV RMW_IMPLEMENTATION=${rmw_implementation}
    TIMEOUT 60)

  configure_file(
    test/test_services_across_dynamic_bridge.py.in
    test_services_across_dynamic_bridge${target_suffix}.py.genexp
    @ONLY
  )
  file(GENERATE
    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
    INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}.py.genexp"
  )
  add_launch_test(
    "${CMAKE_CURRENT_BINARY_DIR}/test_services_across_dynamic_bridge${target_suffix}_$<CONFIG>.py"
    TARGET test_services_across_dynamic_bridge${target_suffix}
    ENV RMW_IMPLEMENTATION=${rmw_implementation}
    TIMEOUT 60)
endmacro()

if(TEST_ROS1_BRIDGE)
  find_package(launch_testing_ament_cmake REQUIRED)

  add_executable(test_ros1_client "test/test_ros1_client.cpp")
  ament_target_dependencies(test_ros1_client "ros1_diagnostic_msgs" "ros1_roscpp")
  add_executable(test_ros1_server "test/test_ros1_server.cpp")
  ament_target_dependencies(test_ros1_server "ros1_diagnostic_msgs" "ros1_roscpp")
  set(TEST_BRIDGE_ROS1_ENV "${ros1_roslaunch_PREFIX}/env.sh")
  set(TEST_BRIDGE_ROSCORE "${ros1_roslaunch_PREFIX}/bin/roscore")
  set(TEST_BRIDGE_ROS1_CLIENT "$<TARGET_FILE:test_ros1_client>")
  set(TEST_BRIDGE_ROS1_SERVER "$<TARGET_FILE:test_ros1_server>")

  call_for_each_rmw_implementation(targets)
endif()

install(
  PROGRAMS bin/ros1_bridge_generate_factories
  DESTINATION lib/${PROJECT_NAME}/generate_factories
)
install(
  DIRECTORY cmake
  DESTINATION share/${PROJECT_NAME}
)
install(
  DIRECTORY include/
  DESTINATION include
)
install(
  DIRECTORY resource
  DESTINATION share/${PROJECT_NAME}
)
install(
  DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
 )