Jazzy devel

CMakeLists.txt

@@ -1,75 +1,60 @@
-cmake_minimum_required(VERSION 3.0.0)
+cmake_minimum_required(VERSION 3.5)
 project(pi_sonar)
 
-FIND_LIBRARY(pigpio REQUIRED)
+set(CMAKE_CXX_STANDARD 17) # use C++14
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  diagnostic_updater
-  roscpp
-  sensor_msgs
-)
-
-###################################
-## catkin specific configuration ##
-###################################
-
-catkin_package(
-   CATKIN_DEPENDS diagnostic_updater roscpp sensor_msgs
-)
-
-###########
-## Build ##
-###########
+# Compiler flags for warnings
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(diagnostic_updater REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
-include_directories(
-  include
-  pigpio_INCLUDES
-  ${catkin_INCLUDE_DIRS}
-)
+# Locate pigpio library
+find_library(PIGPIO_LIBRARY pigpio PATHS /usr/local/lib)
+find_path(PIGPIO_INCLUDE_DIR pigpio.h PATHS /usr/local/include)
 
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*)
+if (NOT PIGPIO_LIBRARY OR NOT PIGPIO_INCLUDE_DIR)
+  message(FATAL_ERROR "Could not find pigpio library or headers")
+endif()
 
+# Create the executable
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch*")
   add_executable(pi_sonar src/pi_sonar.cpp)
-  target_compile_options(pi_sonar PRIVATE -std=c++11)
-  target_link_libraries(pi_sonar ${catkin_LIBRARIES}
-                        ${roscpp_LIBRARIES} pigpiod_if2 pthread)
+  target_compile_options(pi_sonar PRIVATE -std=c++17)
+
+  # Link libraries
+  target_link_libraries(pi_sonar
+    pigpiod_if2
+    pthread
+  )
+
+  # Install the executable
+  install(TARGETS pi_sonar
+    DESTINATION lib/${PROJECT_NAME}
+  )
 endif()
 
-#############
-## Install ##
-#############
-
-if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*)
-install(TARGETS pi_sonar
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-    PERMISSIONS OWNER_WRITE OWNER_READ OWNER_EXECUTE
-                GROUP_READ GROUP_EXECUTE
-                WORLD_READ WORLD_EXECUTE
-                SETUID SETGID
+# Install launch files
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
 )
-endif()
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-install(DIRECTORY launch/
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+# Link the ROS 2 libraries to the executable using ament_target_dependencies
+ament_target_dependencies(${PROJECT_NAME}
+  "rclcpp"
+  "sensor_msgs"
+  "diagnostic_updater"
 )
 
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hercules_sonar_skirt.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+# Install the executable
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+# Package information
+ament_package()

README.md

@@ -8,23 +8,25 @@ To build:
 cd ~/catkin_ws/src
 git clone https://github.com/UbiquityRobotics/pi_sonar.git
 cd ..
-catkin_make
-source devel/setup.bash
+colcon build
+source install/setup.bash
 ```
 
 The node needs to access the pigpio daemon, hence the following steps to have it run at startup (if it does not do so already):
 
 ```
-wget https://raw.githubusercontent.com/joan2937/pigpio/master/util/pigpiod.service
-sudo cp pigpiod.service /etc/systemd/system
-sudo systemctl enable pigpiod.service
-sudo systemctl start pigpiod.service
+git clone https://raw.githubusercontent.com/joan2937/pigpio.git
+cd pigpio
+make
+sudo make install
+
+sudo pigpiod
 ```
 
 To run:
 
 ```
-roslaunch pi_sonar ubiquity_sonar.launch
+ros2 launch pi_sonar ubiquity_sonar.launch.py
 ```
 
 ## For developers only

launch/ubiquity_sonar.launch.py

@@ -0,0 +1,11 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='pi_sonar',
+            executable='pi_sonar',
+            name='pi_sonar',
+        ),
+    ])

package.xml

@@ -11,7 +11,7 @@
 
   <url type="website">http://github.com/UbiquityRobotics/pi_sonar</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>diagnostic_updater</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
@@ -24,5 +24,6 @@
   <run_depend>libpigpio</run_depend>
 
   <export>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>