Imported upstream version '2.0.0' of 'upstream'

ros-gbp · May 25, 2024 · d38563c · d38563c
1 parent 91bede1
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,75 @@
+---
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+...
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -0,0 +1,69 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  ici:
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [humble, rolling]
+        include:
+          - distro: humble
+            env:
+              CLANG_TIDY: true
+              TARGET_CMAKE_ARGS: >-
+                -DCMAKE_BUILD_TYPE=Release
+                -DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wold-style-cast"
+
+    env:
+      ROS_DISTRO: ${{ matrix.distro }}
+      CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: "${{ matrix.distro }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
+      # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
+      CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
+      CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
+      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
+      ADDITIONAL_DEBS: ${{ matrix.env.CLANG_TIDY && 'clang' }}
+      CLANG_TIDY: ${{ matrix.env.CLANG_TIDY }}
+      TARGET_CMAKE_ARGS: ${{ matrix.env.TARGET_CMAKE_ARGS }}
+
+    name: "${{ matrix.distro }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Cache ccache
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+
+      - id: ici
+        name: Run industrial_ci
+        uses: rhaschke/industrial_ci@master
+
+      - name: Upload clang-tidy fixes (on failure)
+        uses: actions/upload-artifact@v4
+        if: failure() && steps.ici.outputs.clang_tidy_checks
+        with:
+          name: clang-tidy-fixes.yaml
+          path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
@@ -0,0 +1,27 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      - name: Install clang-format
+        run: sudo apt-get install clang-format
+      - uses: pre-commit/action@v3.0.1
+        id: precommit
+      - name: Upload pre-commit changes
+        if: failure() && steps.precommit.outcome == 'failure'
+        uses: rhaschke/upload-git-patch-action@main
+        with:
+          name: pre-commit
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,45 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black
+    rev: 24.4.2
+    hooks:
+      - id: black
+        args: ["--line-length", "100"]
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ["-fallback-style=none", "-i"]
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package py_binding_tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.0 (2024-05-25)
+------------------
+* ROS2 migration
+* Contributors: Robert Haschke
+
 1.0.0 (2024-03-05)
 ------------------
 * Initial release factored out from https://github.com/ros-planning/moveit/pull/2910
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,47 +1,56 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(py_binding_tools)
 
-find_package(catkin REQUIRED
-COMPONENTS
-	geometry_msgs
-	pybind11_catkin
-	roscpp
-)
-
-# catkin_python_setup()
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS geometry_msgs roscpp
-)
-
-include_directories(include ${catkin_INCLUDE_DIRS})
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+find_package(pybind11_vendor REQUIRED)
+find_package(pybind11 REQUIRED)
 
-add_library(${PROJECT_NAME}
+add_library(${PROJECT_NAME} SHARED
   src/ros_msg_typecasters.cpp
-  src/roscpp_initializer.cpp
+  src/initializer.cpp
 )
-add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${PYTHON_LIBRARIES})
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+ament_target_dependencies(${PROJECT_NAME} rclcpp geometry_msgs pybind11)
+
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
 
 install(
   TARGETS ${PROJECT_NAME}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  EXPORT ${PROJECT_NAME}Targets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
-#catkin_lint cannot detect target declarations in functions, here in pybind11_add_module
-#catkin_lint: ignore undefined_target
+_ament_cmake_python_register_environment_hook()
+
+pybind11_add_module(rclcpp src/rclcpp.cpp)
+target_link_libraries(rclcpp PRIVATE ${PROJECT_NAME})
+install(TARGETS rclcpp LIBRARY DESTINATION "${PYTHON_INSTALL_DIR}")
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  find_package(std_msgs REQUIRED)
+
+  pybind11_add_module(${PROJECT_NAME}_test test/test.cpp)
+  target_link_libraries(${PROJECT_NAME}_test PRIVATE ${PROJECT_NAME} ${std_msgs_TARGETS})
+  install(TARGETS ${PROJECT_NAME}_test LIBRARY DESTINATION "${PYTHON_INSTALL_DIR}")
 
-pybind_add_module(${PROJECT_NAME}_module src/${PROJECT_NAME}.cpp)
-set_target_properties(${PROJECT_NAME}_module PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
-target_link_libraries(${PROJECT_NAME}_module PRIVATE ${PROJECT_NAME})
+  ament_add_pytest_test(basic test/test_basic.py)
+endif()
 
-install(TARGETS ${PROJECT_NAME}_module
-  LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION})
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(geometry_msgs)
+ament_package()
diff --git a/README.md b/README.md
@@ -19,16 +19,14 @@ In this case, the string is interpreted as the `header.frame_id` field of the me
 
 ### C++ ROS initialization
 
-C++ and Python use their own ROS implementations (`rospy` and `roscpp`).
+C++ and Python use their own RCL implementations (`rclpy` and `rclcpp`).
 Thus, it is necessary to initialize ROS in the C++ domain additionally to the Python domain before calling any ROS-related functions from wrapped C++ functions or classes.
-To this end, the package provides the python function `roscpp_init()` and the C++ class `ROScppInitializer`. The latter is intended to be used as a base class for your python wrapper classes:
+To this end, the package provides the python function `rclcpp.init()` and the C++ class `RCLInitializer`. The latter is intended to be used as a base class for your python wrapper classes:
 
 ```cpp
-class FooWrapper : protected ROScppInitializer, public Foo {
+class FooWrapper : protected RCLInitializer, public Foo {
 	// ...
 };
 ```
 
-to ensure that the ROS infrastructure is initialized before usage in the wrapped C++ class. Ensure to list `ROScppInitializer` as the _first_ base class, if ROS functionality is required in the constructor already!
-
-`ROScppInitializer` registers an anonymous C++ ROS node named `python_wrapper_xxx`. If you need a specific node name or if you want to pass remappings, use the manual initialization function `roscpp_init(name="", remappings={}, options=0)` instead, which effectively calls `ros::init` with the given arguments. Note, that an empty name will map to the above-mentioned node name `python_wrapper_xxx`.
+to ensure that the ROS infrastructure is initialized before usage in the wrapped C++ class. Ensure to list `RCLInitializer` as the _first_ base class, if ROS functionality is required in the constructor already!
diff --git a/include/py_binding_tools/geometry_msg_typecasters.h b/include/py_binding_tools/geometry_msg_typecasters.h
@@ -45,7 +45,7 @@ namespace detail
 {
 /** Convienency type caster, also allowing to initialize PoseStamped from a string */
 template <>
-struct type_caster<geometry_msgs::PoseStamped> : RosMsgTypeCaster<geometry_msgs::PoseStamped>
+struct type_caster<geometry_msgs::msg::PoseStamped> : RosMsgTypeCaster<geometry_msgs::msg::PoseStamped>
 {
   // Python -> C++
   bool load(handle src, bool convert)
@@ -57,7 +57,7 @@ struct type_caster<geometry_msgs::PoseStamped> : RosMsgTypeCaster<geometry_msgs:
       value.pose.orientation.w = 1.0;
       return true;
     }
-    return RosMsgTypeCaster<geometry_msgs::PoseStamped>::load(src, convert);
+    return RosMsgTypeCaster<geometry_msgs::msg::PoseStamped>::load(src, convert);
   }
 };
 

diff --git a/...ude/py_binding_tools/roscpp_initializer.h → include/py_binding_tools/initializer.h b/...ude/py_binding_tools/roscpp_initializer.h → include/py_binding_tools/initializer.h
@@ -33,26 +33,22 @@
  *********************************************************************/
 #pragma once
 
-#include <ros/init.h>
+#include <string>
+#include <vector>
 
 namespace py_binding_tools
 {
-/** The constructor of this class ensures that ros::init() has been called.
+/** The constructor of this class ensures that rclcpp::init() has been called.
  *
- *  Thread safety and multiple initialization is properly handled.
- *  The default node name is "python_wrapper".
- *  If you like to have a custom name, use the roscpp_init() function before. */
-class ROScppInitializer
+ *  Thread safety and multiple initialization is properly handled. */
+class RCLInitializer
 {
 public:
-  ROScppInitializer();
-  ~ROScppInitializer();
+  RCLInitializer();
+  ~RCLInitializer();
 };
 
-void roscpp_init(const std::string& node_name,
-                 const std::map<std::string, std::string>& remappings,
-                 uint32_t options);
-
-void roscpp_shutdown();
+void init(const std::vector<std::string>& args);
+void shutdown();
 
 }  // namespace py_binding_tools