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Yet Another filters port to ROS 2 #32

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merged 20 commits into from
May 14, 2020
Merged

Yet Another filters port to ROS 2 #32

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49c133a
Port filters to ROS Eloquent
sloretz Apr 3, 2020
2d0ab62
Add ament_package()
sloretz Apr 7, 2020
a7b330c
`Instal` -> `Install`
sloretz Apr 22, 2020
cd955ad
Use `empty()` instead of `size() == 0`
sloretz Apr 22, 2020
11ea912
remove unnecessary ';'
sloretz Apr 22, 2020
71a5347
Include what is used
sloretz Apr 22, 2020
8dba039
Get rid of unnecessary retval
sloretz Apr 22, 2020
6e7d2af
Alphabetize package deps
sloretz Apr 22, 2020
7f2b109
Include what is used
sloretz Apr 22, 2020
f8550c7
FilterBase<T> to avoid name hiding
sloretz Apr 23, 2020
d17e990
Fix wrong include guard
sloretz Apr 23, 2020
5056e31
Misc boost fixes
sloretz Apr 23, 2020
936e4a6
Address pending review comments.
hidmic Apr 29, 2020
41dfa04
Lint all sources.
hidmic Apr 29, 2020
da0545d
Cleanup types and literals.
hidmic Apr 30, 2020
168d8d4
Enforce proper code style.
hidmic Apr 30, 2020
143d7f1
Address peer review comments.
hidmic May 6, 2020
98712b9
Merge pull request #1 from hidmic/hidmic/cleanup_ros2_port
sloretz May 14, 2020
4018d57
Fixes for Foxy uncrustify.
clalancette May 14, 2020
f6c8ac2
Fix a bug in the tests.
clalancette May 14, 2020
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181 changes: 118 additions & 63 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,28 +1,23 @@
cmake_minimum_required(VERSION 3.0.2)
cmake_minimum_required(VERSION 3.5)
project(filters)

##############################################################################
# Find dependencies
##############################################################################

find_package(catkin REQUIRED COMPONENTS pluginlib roslib roscpp rosconsole)
find_package(Boost REQUIRED)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()

include_directories(
include
${catkin_INCLUDE_DIRS}
)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

##############################################################################
# Define package
# Find dependencies
##############################################################################

catkin_package(
INCLUDE_DIRS include
LIBRARIES mean params increment median transfer_function
CATKIN_DEPENDS roslib roscpp rosconsole pluginlib
DEPENDS Boost
)
find_package(ament_cmake REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(Boost REQUIRED)
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##############################################################################
# Build
Expand All @@ -34,81 +29,141 @@ target_include_directories(real_time_circular_buffer INTERFACE
${Boost_INCLUDE_DIRS})

# Plugins
add_library(mean src/mean.cpp)
add_library(mean SHARED src/mean.cpp)
target_link_libraries(mean
${catkin_LIBRARIES}
real_time_circular_buffer)
add_library(params src/test_params.cpp)
ament_target_dependencies(mean
"pluginlib"
"rclcpp"
)

add_library(params SHARED src/test_params.cpp)
target_link_libraries(params
${catkin_LIBRARIES}
real_time_circular_buffer)
add_library(increment src/increment.cpp)
ament_target_dependencies(params
"pluginlib"
"rclcpp"
)

add_library(increment SHARED src/increment.cpp)
target_link_libraries(increment
${catkin_LIBRARIES}
real_time_circular_buffer)
add_library(median src/median.cpp)
ament_target_dependencies(increment
"pluginlib"
"rclcpp"
)

add_library(median SHARED src/median.cpp)
target_link_libraries(median
${catkin_LIBRARIES}
real_time_circular_buffer)
add_library(transfer_function src/transfer_function.cpp)
ament_target_dependencies(median
"pluginlib"
"rclcpp"
)

add_library(transfer_function SHARED src/transfer_function.cpp)
target_link_libraries(transfer_function
${catkin_LIBRARIES}
real_time_circular_buffer)
ament_target_dependencies(transfer_function
"pluginlib"
"rclcpp"
)

if(CATKIN_ENABLE_TESTING)
find_package(rostest)
if(BUILD_TESTING)
# TODO(hidmic): use ament_lint_common once ament_copyright complains are resolved
find_package(ament_cmake_cppcheck REQUIRED)
find_package(ament_cmake_cpplint REQUIRED)
find_package(ament_cmake_uncrustify REQUIRED)
find_package(ament_cmake_xmllint REQUIRED)

# Enforce ROS2 style
ament_cpplint()
ament_cppcheck(
LANGUAGE c++ # Force C++ for .h headers
INCLUDE_DIRS include
)
ament_uncrustify()
ament_xmllint()

find_package(ament_cmake_gtest REQUIRED)
# Test median filter
add_executable(median_test EXCLUDE_FROM_ALL test/test_median.cpp )
target_link_libraries(median_test median ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
add_rostest(test/test_median.launch)
ament_add_gtest(median_test test/test_median.cpp)
target_link_libraries(median_test median)

# Test transfer function filter
add_executable(transfer_function_test EXCLUDE_FROM_ALL test/test_transfer_function.cpp)
target_link_libraries(transfer_function_test transfer_function ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
add_rostest(test/test_transfer_function.launch)
ament_add_gtest(transfer_function_test test/test_transfer_function.cpp)
target_link_libraries(transfer_function_test transfer_function)

# Test mean filter
add_executable(mean_test EXCLUDE_FROM_ALL test/test_mean.cpp)
target_link_libraries(mean_test mean ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
add_rostest(test/test_mean.launch)
ament_add_gtest(mean_test test/test_mean.cpp)
target_link_libraries(mean_test mean)

# Test params filter
add_executable(params_test EXCLUDE_FROM_ALL test/test_params.cpp)
target_link_libraries(params_test params ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
add_rostest(test/test_params.launch)

# Test plugin loading into filter chain
add_executable(chain_test EXCLUDE_FROM_ALL test/test_chain.cpp)
target_link_libraries(chain_test increment ${catkin_LIBRARIES} ${GTEST_LIBRARIES}) # Needed for OSX
add_rostest(test/test_chain.launch)
ament_add_gtest(params_test test/test_params.cpp)
target_link_libraries(params_test params)

# Test realtime safe buffer class
catkin_add_gtest(realtime_buffer_test EXCLUDE_FROM_ALL test/test_realtime_circular_buffer.cpp)
ament_add_gtest(realtime_buffer_test test/test_realtime_circular_buffer.cpp)
target_link_libraries(realtime_buffer_test real_time_circular_buffer)

# Pluginlib specific testing for filter chain
set(test_prefix "${CMAKE_CURRENT_BINARY_DIR}/pluginlib_test_prefix")
set(test_package_name "${PROJECT_NAME}")
set(test_plugins_xml "default_plugins.xml")
set(test_package_xml "package.xml")
set(test_plugin_targets mean increment median transfer_function)

# Write the necessary files to detect a package with pluginlib plugins
file(COPY "${test_plugins_xml}" DESTINATION "${test_prefix}/share/${test_package_name}/")
configure_file("${test_package_xml}" "${test_prefix}/share/${test_package_name}/package.xml" COPYONLY)
file(WRITE "${test_prefix}/share/ament_index/resource_index/${test_package_name}__pluginlib__plugin/pluginlib"
"share/${test_package_name}/${test_plugins_xml}\n")
file(WRITE "${test_prefix}/share/ament_index/resource_index/packages/${test_package_name}" "")

# Copy library files to test folder so they can be loaded
foreach(test_plugin_target IN LISTS test_plugin_targets)
set(_resource "$<TARGET_FILE:${test_plugin_target}>")
set(_output "${test_prefix}/lib/$<TARGET_FILE_NAME:${test_plugin_target}>")
add_custom_command(TARGET ${test_plugin_target}
COMMENT "Copying target ${test_plugin_target} for testing"
DEPENDS "${_resource}"
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${_resource}"
"${_output}"
)
add_custom_target("copy_${test_plugin_target}_for_testing" DEPENDS "${test_plugin_target}")
endforeach()

# Test plugin loading into filter chain
ament_add_gtest(chain_test test/test_chain.cpp
ENV "AMENT_PREFIX_PATH=${test_prefix}")
target_include_directories(chain_test PRIVATE include)
foreach(test_plugin_target IN LISTS test_plugin_targets)
add_dependencies(chain_test "copy_${test_plugin_target}_for_testing")
endforeach()
ament_target_dependencies(chain_test
"rclcpp"
"pluginlib"
)
endif()

##############################################################################
# Install
##############################################################################

# Install libraries
install(TARGETS mean params increment median transfer_function
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
install(
TARGETS mean increment median transfer_function
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ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

# Install headers
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(DIRECTORY include/
DESTINATION include)

# Install plugins xml file
install(FILES default_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# Install pluginlib xml
pluginlib_export_plugin_description_file(filters "default_plugins.xml")
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if(CATKIN_ENABLE_TESTING)
if(TARGET tests)
add_dependencies(tests median_test transfer_function_test mean_test params_test chain_test)
endif()
endif()
ament_package()
56 changes: 24 additions & 32 deletions default_plugins.xml
View file
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Original file line number Diff line number Diff line change
@@ -1,87 +1,79 @@
<class_libraries>
<library path="lib/libmedian">
<class name="filters/MultiChannelMedianFilterDouble" type="filters::MultiChannelMedianFilter<double>"
base_class_type="filters::MultiChannelFilterBase<double>">
<class name="filters/MultiChannelMedianFilterDouble" type="filters::MultiChannelMedianFilter&lt;double&gt;"
base_class_type="filters::MultiChannelFilterBase&lt;double&gt;">
<description>
This is a median filter which works on a stream of std::vector of doubles.
</description>
</class>
<class name="filters/MedianFilterDouble" type="filters::MedianFilter<double>"
base_class_type="filters::FilterBase<double>">
<class name="filters/MedianFilterDouble" type="filters::MedianFilter&lt;double&gt;"
base_class_type="filters::FilterBase&lt;double&gt;">
<description>
This is a median filter which works on a stream of doubles.
</description>
</class>
<class name="filters/MultiChannelMedianFilterFloat" type="filters::MultiChannelMedianFilter<float>"
base_class_type="filters::MultiChannelFilterBase<float>">
<class name="filters/MultiChannelMedianFilterFloat" type="filters::MultiChannelMedianFilter&lt;float&gt;"
base_class_type="filters::MultiChannelFilterBase&lt;float&gt;">
<description>
This is a median filter which works on a stream of std::vector of floats.
</description>
</class>
<class name="filters/MedianFilterFloat" type="filters::MedianFilter<float>"
base_class_type="filters::FilterBase<float>">
<class name="filters/MedianFilterFloat" type="filters::MedianFilter&lt;float&gt;"
base_class_type="filters::FilterBase&lt;float&gt;">
<description>
This is a median filter which works on a stream of floats.
</description>
</class>
</library>
<library path="lib/libmean">
<class name="filters/MeanFilterDouble" type="filters::MeanFilter<double>"
base_class_type="filters::FilterBase<double>">
<class name="filters/MeanFilterDouble" type="filters::MeanFilter&lt;double&gt;"
base_class_type="filters::FilterBase&lt;double&gt;">
<description>
This is a mean filter which works on a stream of doubles.
</description>
</class>
<class name="filters/MeanFilterFloat" type="filters::MeanFilter<float>"
base_class_type="filters::FilterBase<float>">
<class name="filters/MeanFilterFloat" type="filters::MeanFilter&lt;float&gt;"
base_class_type="filters::FilterBase&lt;float&gt;">
<description>
This is a mean filter which works on a stream of floats.
</description>
</class>
<class name="filters/MultiChannelMeanFilterDouble" type="filters::MultiChannelMeanFilter<double>"
base_class_type="filters::MultiChannelFilterBase<double>">
<class name="filters/MultiChannelMeanFilterDouble" type="filters::MultiChannelMeanFilter&lt;double&gt;"
base_class_type="filters::MultiChannelFilterBase&lt;double&gt;">
<description>
This is a mean filter which works on a stream of vectors of doubles.
</description>
</class>
<class name="filters/MultiChannelMeanFilterFloat" type="filters::MultiChannelMeanFilter<float>"
base_class_type="filters::MultiChannelFilterBase<float>">
<class name="filters/MultiChannelMeanFilterFloat" type="filters::MultiChannelMeanFilter&lt;float&gt;"
base_class_type="filters::MultiChannelFilterBase&lt;float&gt;">
<description>
This is a mean filter which works on a stream of vectors of floats.
</description>
</class>
</library>
<library path="lib/libtest_param">
<class name="filters/ParamTest" type="filters::ParamTest<double>"
base_class_type="filters::FilterBase<double>">
<description>
This is a filter designed to test parameter readings. It's not useful.
</description>
</class>
</library>
<library path="lib/libincrement">
<class name="filters/IncrementFilterInt" type="filters::IncrementFilter<int>"
base_class_type="filters::FilterBase<int>">
<class name="filters/IncrementFilterInt" type="filters::IncrementFilter&lt;int&gt;"
base_class_type="filters::FilterBase&lt;int&gt;">
<description>
This is a increment filter which works on a stream of ints.
</description>
</class>
<class name="filters/MultiChannelIncrementFilterInt" type="filters::MultiChannelIncrementFilter<int>"
base_class_type="filters::MultiChannelFilterBase<int>">
<class name="filters/MultiChannelIncrementFilterInt" type="filters::MultiChannelIncrementFilter&lt;int&gt;"
base_class_type="filters::MultiChannelFilterBase&lt;int&gt;">
<description>
This is a increment filter which works on a stream of vectors of ints.
</description>
</class>
</library>
<library path="lib/libtransfer_function">
<class name="filters/MultiChannelTransferFunctionFilterDouble" type="filters::MultiChannelTransferFunctionFilter<double>"
base_class_type="filters::MultiChannelFilterBase<double>">
<class name="filters/MultiChannelTransferFunctionFilterDouble" type="filters::MultiChannelTransferFunctionFilter&lt;double&gt;"
base_class_type="filters::MultiChannelFilterBase&lt;double&gt;">
<description>
This is a transfer filter which works on a stream of doubles.
</description>
</class>
<class name="filters/TransferFunctionFilterDouble" type="filters::SingleChannelTransferFunctionFilter<double>"
base_class_type="filters::FilterBase<double>">
<class name="filters/TransferFunctionFilterDouble" type="filters::SingleChannelTransferFunctionFilter&lt;double&gt;"
base_class_type="filters::FilterBase&lt;double&gt;">
<description>
This is a transfer filter which works on a stream of doubles.
</description>
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