Created a node to begin testing the vision_stack vision pipeline

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/mil_common/perception/vision_stack"]
+	path = src/mil_common/perception/vision_stack
+	url = https://github.com/uf-mil/vision_stack.git

src/mil_common/mil_tools/CMakeLists.txt

@@ -68,3 +68,5 @@ if(BUILD_TESTING)
   )
   target_link_libraries(${PROJECT_NAME}_random_test ${PROJECT_NAME})
 endif()
+
+ament_package()

src/subjugator/perception/subjugator_perception/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>subjugator_perception</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="daniel27parra@gmail.com">daniel</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>vision_stack</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/subjugator/perception/subjugator_perception/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/subjugator_perception
+[install]
+install_scripts=$base/lib/subjugator_perception

src/subjugator/perception/subjugator_perception/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'subjugator_perception'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools', 'vision_stack'],
+    zip_safe=True,
+    maintainer='daniel',
+    maintainer_email='daniel27parra@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'vs_test = subjugator_perception.nodes.vs_test:main'
+        ],
+    },
+)

src/subjugator/perception/subjugator_perception/subjugator_perception/nodes/vs_test.py

@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+from vision_stack import VisionStack
+import rclpy
+
+def main():
+    rclpy.init()
+    print(VisionStack(layers=[]))
+    print('Hi from subjugator_perception.')
+
+
+if __name__ == '__main__':
+    main()

src/subjugator/perception/subjugator_perception/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'