Code refactoring

- new driver_sim base class added
- driver_sim packages are modified
  - protobuf messages are moved into 'driver_sim' packages

.gitignore

@@ -32,4 +32,4 @@ tags
 
 
 # to ignore generated code
-sim_bridge/include/protobuf/*
+driver_sim/include/protobuf/*

bringup/config/params.sim_devices.yaml

@@ -5,7 +5,7 @@ lidar_driver:
     sim:
       model: "cloi"
       parts: "lidar"
-      ip_address: "127.0.0.1"
+      manager_ip: "127.0.0.1"
       manager_port: 25554
 
     remapping_list: ['/tf', '/tf_static']
@@ -28,11 +28,18 @@ micom_driver:
       model: "cloi"
       parts_tx: "MICOM_INPUT"
       parts_rx: "MICOM_SENSOR"
-      ip_address: "127.0.0.1"
+      manager_ip: "127.0.0.1"
       manager_port: 25554
 
     remapping_list: ['/tf', '/tf_static']
 
+    transform:
+      base: [0.0, 0.0, 0.01, 0.0, 0.0, 0.0]
+      imu: [0.0, 0.0, 0.19, 0.0, 0.0, 0.0]
+      wheel:
+        left: [0.001, 0.225, 0.07, 0.0, 0.0, 0.0]
+        right: [0.001, -0.225, 0.07, 0.0, 0.0, 0.0]
+
     wheel:
       base: 449.0
       radius: 95.5
@@ -43,8 +50,8 @@ camera_driver:
     sim:
       model: "cloi"
       parts: "camera"
-      ip_address: "127.0.0.1"
-      manage_port: 25554
+      manager_ip: "127.0.0.1"
+      manager_port: 25554
 
     remapping_list: ['/tf', '/tf_static']
 
@@ -59,8 +66,8 @@ multi_camera_driver:
     sim:
       model: "cloi"
       parts: "multi_camera"
-      ip_address: "127.0.0.1"
-      manage_port: 25554
+      manager_ip: "127.0.0.1"
+      manager_port: 25554
 
     remapping_list: ['/tf', '/tf_static']
 

bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simdevice_bringup</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Bringup scripts and configurations for simdevice</description>
 
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

camera_driver_sim/CMakeLists.txt

@@ -12,24 +12,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -fstack-protector -O2)
 endif()
 
-# add_compile_options(-g -O0)
-
 ################################################################################
 # Find colcon packages and libraries for colcon and system dependencies
 ################################################################################
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rmw REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_ros REQUIRED)
 find_package(image_transport REQUIRED)
-find_package(Boost REQUIRED
-  COMPONENTS
-  system
-  thread
-)
 find_package(sim_bridge REQUIRED)
+find_package(driver_sim REQUIRED)
 
 ################################################################################
 # Build
@@ -43,12 +34,10 @@ add_executable(${PROJECT_NAME}
 
 ament_target_dependencies(${PROJECT_NAME}
   rclcpp
-  std_msgs
   sensor_msgs
-  tf2
-  tf2_ros
   image_transport
-  sim_bridge)
+  sim_bridge
+  driver_sim)
 
 ################################################################################
 # Install

camera_driver_sim/include/camera_driver_sim/CameraDriverSim.hpp

@@ -4,7 +4,7 @@
  *  @author Sungkyu Kang
  *  @author hyunseok Yang
  *  @brief
- *        ROS2 Depth Camera Driver class for simulator
+ *        ROS2 Camera Driver class for simulator
  *  @remark
  *  @warning
  *       LGE Advanced Robotics Laboratory
@@ -14,57 +14,34 @@
 #ifndef _CameraDriverSim_H_
 #define _CameraDriverSim_H_
 
-#include <rclcpp/rclcpp.hpp>
-// #include <sensor_msgs/msg/image.hpp>
+#include "driver_sim/driver_sim.hpp"
 #include <image_transport/image_transport.h>
-#include <tf2_ros/static_transform_broadcaster.h>
 #include <protobuf/image_stamped.pb.h>
-#include "sim_bridge/sim_bridge.hpp"
 
-class CameraDriverSim : public rclcpp::Node
+class CameraDriverSim : public DriverSim
 {
 public:
-  static std::string GetEncondingType(const uint32_t pixel_format);
-
   CameraDriverSim();
   virtual ~CameraDriverSim();
 
-private:
-  void Start();
-  void Stop();
-  void ReadProc();
-  void UpdateImage();
-  void UpdateStaticTF(const rclcpp::Time timestamp);
+  virtual void Initialize();
+  virtual void Deinitialize();
 
 private:
-  SimBridge *m_pSimBridge;
-  bool m_bRun;
-  bool m_bIntensity;
-
-  std::string robot_name_;
-  std::string part_name_;
-  std::string topic_name_;
-  std::string frame_name_;
+  virtual void UpdateData();
 
-  geometry_msgs::msg::TransformStamped camera_tf;
-
-  std::thread m_thread;
+private:
+  // key for connection
   std::string m_hashKeySub;
 
+  // buffer from simulation
   gazebo::msgs::ImageStamped m_pbBuf;
-  sensor_msgs::msg::Image msg_img;
 
-  rclcpp::Node::SharedPtr node_handle;
-  rclcpp::Time m_simTime;
+  // message for ROS2 communictaion
+  sensor_msgs::msg::Image msg_img;
 
   // Image publisher
   image_transport::Publisher pubImage;
-
-  // Timer
-  rclcpp::TimerBase::SharedPtr timer;
-
-  // Static TF
-  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_;
-
 };
+
 #endif

camera_driver_sim/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>camera_driver_sim</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>virtual camera driver for simulator</description>
   <maintainer email="sungkyu.kang@lge.com">Sungkyu Kang</maintainer>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
@@ -11,23 +11,19 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>rclcpp</build_depend>
-  <build_depend>rmw</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>image_transport</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_ros</build_depend>
   <build_depend>sim_bridge</build_depend>
+  <build_depend>driver_sim</build_depend>
 
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>rclcpp</exec_depend>
-  <exec_depend>rmw</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>image_transport</exec_depend>
-  <exec_depend>tf2</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
   <exec_depend>sim_bridge</exec_depend>
+  <exec_depend>driver_sim</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>