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Improved ROS package structure.
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‎CMakeLists.txt‎

Lines changed: 71 additions & 200 deletions
Original file line numberDiff line numberDiff line change
@@ -1,226 +1,97 @@
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cmake_minimum_required(VERSION 3.0.2)
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cmake_minimum_required(VERSION 3.16.3)
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project(cuzk_tools)
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#a
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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rospy
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sensor_msgs
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geometry_msgs
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geographic_msgs
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std_msgs
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visualization_msgs
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geometry_msgs
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jsk_recognition_msgs
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message_generation
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sensor_msgs
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std_msgs
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visualization_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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catkin_python_setup()
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
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Polygons.msg
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LineString.msg
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LineStringArray.msg
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OrtoImage.msg
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PointArray.msg
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Topography.msg
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TopographyCategory.msg
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add_message_files(FILES
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LineString.msg
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LineStringArray.msg
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OrtoImage.msg
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PointArray.msg
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Polygons.msg
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Topography.msg
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TopographyCategory.msg
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)
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## Generate services in the 'srv' folder
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add_service_files(
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FILES
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ElevationGet.srv
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ElevationPublish.srv
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GetTopography.srv
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MarkerGet.srv
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PointElevationGet.srv
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GeoPointElevationGet.srv
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ElevationSetTF.srv
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)
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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sensor_msgs
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std_msgs
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visualization_msgs
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geometry_msgs
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geographic_msgs
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jsk_recognition_msgs
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add_service_files(FILES
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ElevationGet.srv
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ElevationPublish.srv
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ElevationSetTF.srv
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GeoPointElevationGet.srv
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GetTopography.srv
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MarkerGet.srv
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PointElevationGet.srv
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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generate_messages(DEPENDENCIES
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geographic_msgs
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geometry_msgs
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jsk_recognition_msgs
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sensor_msgs
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std_msgs
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visualization_msgs
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)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES elevation
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# CATKIN_DEPENDS rospy sensor_msgs std_msgs
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# DEPENDS system_lib
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CATKIN_DEPENDS
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geographic_msgs
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geometry_msgs
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jsk_recognition_msgs
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message_runtime
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sensor_msgs
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std_msgs
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visualization_msgs
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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catkin_install_python(PROGRAMS
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nodes/elevation
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nodes/gpkg_parser
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nodes/marker_pub
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nodes/orto2mesh
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nodes/pcd2mesh
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nodes/pose_elevation_srv
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nodes/pose_elevation_tf
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nodes/topography
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nodes/viz_map
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/elevation.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/elevation_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# catkin_install_python(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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install(DIRECTORY
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config/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
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)
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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install(DIRECTORY
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launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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# install(TARGETS ${PROJECT_NAME}
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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# )
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install(DIRECTORY
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rviz/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
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)
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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if (CATKIN_ENABLE_TESTING)
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find_package(roslint REQUIRED)
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find_package(roslaunch REQUIRED)
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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roslint_custom(catkin_lint "-W2" .)
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#############
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## Testing ##
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#############
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# Run roslint on Python sources
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# file(GLOB_RECURSE python_files nodes/*.py src/${PROJECT_NAME}/*.py setup.py)
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# roslint_python("${python_files}")
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_elevation.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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roslint_add_test()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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roslaunch_add_file_check(launch IGNORE_UNSET_ARGS)
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endif()

‎README.md‎

Lines changed: 30 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -56,7 +56,7 @@ The latter is also used in the elevation service provided by this node.
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`roslaunch cuzk_tools elevation.launch`
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2. Call the elevation service:
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```
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```bash
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rosservice call /elevation_publish "point: {x: 14.0, y: 50.0, z: 0.0}
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radius: {data: 300.0}
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sjtsk: {data: false}
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#### Example Service Calls
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```
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```bash
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rosservice call /elevation_get "point: {x: 14.0, y: 50.0, z: 0.0}
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radius: {data: 400.0}
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sjtsk: {data: false}
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wgs: {data: false}"
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```
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```
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```bash
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rosservice call /elevation_publish "point: {x: 14.0, y: 50.0, z: 0.0}
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radius: {data: 400.0}
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sjtsk: {data: false}
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9090
wgs: {data: true}"
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```
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```
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```bash
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rosservice call /geopoint_elevation_get "point:
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latitude: 50.0
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longitude: 14.0
@@ -99,7 +99,7 @@ frame:
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data: 'wgs'"
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```
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```
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```bash
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rosservice call /point_elevation_get "point:
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x: 21.0
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y: 42.0
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data: 'utm_local'"
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```
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```
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```bash
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rosservice call /set_elevation_tf "frame:
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data: 'base_link'"
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```
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6. Launch `roslaunch cuzk_tools topography.launch`
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7. Call topography service:
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```rosservice call /topography "point:
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```bash
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rosservice call /topography "point:
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x: 14.0
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y: 50.0
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z: 0.0
@@ -153,6 +154,28 @@ As with the elevation node, the input point is in WGS coordinates (x=long (!!!),
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If you are looking to combine both visualizations (i.e. elevation & ortofoto mesh with topography markers) you can run `elev_topo.launch`. You then call the `elevation_publish` and `topography` services as indicated above and both visualizations should appear in rviz.
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Example commands:
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```bash
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rosservice call /topography "point:
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x: 16.9610800
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y: 49.3802000
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z: 0.0
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radius:
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data: 500.0
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frame:
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data: 'utm_local'"
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rosservice call /elevation_publish "point: {x: 16.9610800, y: 49.380200, z: 500.0}
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radius: {data: 500.0}
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sjtsk: {data: false}
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utm: {data: false}
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utm_local: {data: true}
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wgs: {data: false}"
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rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link_fake base_link
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```
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### Remarks
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- The topography node produces a GeographicMap for the ZABAGED data. It should be relatively simple to use a different GeographicMap source together with the visualization (e.g. OSM data). The categories that I use with ZABAGED (I reduce their 139 categories to 11 custom ones) should overlap well with OSM.
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