Port to ROS 2 ros_gz_point_cloud

ros_gz/package.xml

@@ -18,8 +18,7 @@
   <exec_depend>ros_gz_sim</exec_depend>
   <exec_depend>ros_gz_sim_demos</exec_depend>
   <exec_depend>ros_gz_image</exec_depend>
-  <!-- See https://github.com/gazebosim/ros_gz/issues/40 -->
-  <!--exec_depend>ros_gz_point_cloud</exec_depend-->
+  <exec_depend>ros_gz_point_cloud</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

ros_gz_point_cloud/CMakeLists.txt

@@ -1,67 +1,65 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 
 project(ros_gz_point_cloud)
 
-# Default to C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  sensor_msgs)
-
-find_package(ignition-gazebo2 2.1 QUIET REQUIRED)
-set(GZ_SIM_VER ${ignition-gazebo2_VERSION_MAJOR})
-
-find_package(ignition-rendering2 QUIET REQUIRED)
-set(GZ_RENDERING_VER ${ignition-rendering2_VERSION_MAJOR})
-
-find_package(ignition-sensors2 QUIET REQUIRED)
-set(GZ_SENSORS_VER ${ignition-sensors2_VERSION_MAJOR})
-
-catkin_package()
+find_package(ament_cmake REQUIRED)
+# Provides the ament_cmake_ros_core::ament_ros_cxx_standard interface target,
+# which sets the C++ standard (C++20 on Rolling) used across the ROS 2 core.
+find_package(ament_cmake_ros_core REQUIRED)
+find_package(point_cloud_transport REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-)
+find_package(gz_common_vendor REQUIRED)
+find_package(gz-common REQUIRED)
+find_package(gz_math_vendor REQUIRED)
+find_package(gz-math REQUIRED)
+find_package(gz_plugin_vendor REQUIRED)
+find_package(gz-plugin REQUIRED)
+find_package(gz_rendering_vendor REQUIRED)
+find_package(gz-rendering REQUIRED)
+find_package(gz_sim_vendor REQUIRED)
+find_package(gz-sim REQUIRED)
 
 set(plugin_name RosGzPointCloud)
 add_library(${plugin_name} SHARED
-  src/point_cloud.cc
+  src/point_cloud.cpp
+)
+target_include_directories(${plugin_name} PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/src
 )
 target_link_libraries(${plugin_name}
-  ignition-gazebo${GZ_SIM_VER}::core
-  ignition-rendering${GZ_RENDERING_VER}::core
-  ignition-sensors${GZ_SENSORS_VER}::core
-  ${catkin_LIBRARIES}
+  ament_cmake_ros_core::ament_ros_cxx_standard
+  gz-common::gz-common
+  gz-math::gz-math
+  gz-plugin::register
+  gz-rendering::gz-rendering
+  gz-sim::gz-sim
+  point_cloud_transport::point_cloud_transport
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
 )
+
 install(TARGETS ${plugin_name}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
+
 install(
   DIRECTORY
     examples/
   DESTINATION
-    ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples
+    share/${PROJECT_NAME}/examples
 )
 
-# TODO(CH3): Install symlink to deprecated library name. Remove on tock.
-string(REPLACE "RosGz" "RosIgn" plugin_name_ign ${plugin_name})
-if(WIN32)
-  # symlinks on Windows require admin privileges, fallback to copy
-  ADD_CUSTOM_COMMAND(TARGET ${plugin_name} POST_BUILD
-    COMMAND "${CMAKE_COMMAND}" -E copy
-      "$<TARGET_FILE:${plugin_name}>"
-      "$<TARGET_FILE_DIR:${CATKIN_PACKAGE_LIB_DESTINATION}>/${plugin_name_ign}")
-else()
-  file(MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/lib")
-  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${plugin_name} ${plugin_name_ign} WORKING_DIRECTORY "${PROJECT_BINARY_DIR}/lib")
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/lib/${plugin_name_ign} DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 endif()
+
+ament_package()

ros_gz_point_cloud/examples/depth_camera.sdf

@@ -4,25 +4,32 @@
 
   Try it out:
 
-  1. Start ROS core:
+  1. Source your ROS 2 workspace, for example:
 
-          roscore
+          . <ws>/install/setup.bash
 
-  2. Make sure Gazebo Sim can find the point cloud plugin by adding your lib install directory
+  2. Make sure Gazebo Sim can find the point cloud plugin by adding its lib install directory
      to the path, for example:
 
-          export GZ_SIM_SYSTEM_PLUGIN_PATH=<ws>/install/lib/
+          export GZ_SIM_SYSTEM_PLUGIN_PATH=<ws>/install/ros_gz_point_cloud/lib
+
+     or, if the workspace was built with `--merge-install`:
+
+          export GZ_SIM_SYSTEM_PLUGIN_PATH=<ws>/install/lib
 
   3. Load the example world, unpaused:
 
           gz sim -r examples/depth_camera.sdf
 
   4. Launch RViz to visualize the point cloud:
 
-          rosrun rviz rviz
+          ros2 run rviz2 rviz2
 
-  5. On RViz, add the `/depth_camera/points` topic for `PointCloud2` messages and change the fixed frame
-     to `map`. You should see the point cloud.
+  5. On RViz, add the `/ros_gz/custom_params/link/depth_camera/points` topic for `PointCloud2`
+     messages and change the fixed frame to `map`. You should see the point cloud.
+
+     The plugin has no `<namespace>`, so the topic is placed under the sensor's scoped name,
+     `/<world>/<model>/<link>/<sensor>`.
 
 -->
 <sdf version="1.6">
@@ -32,28 +39,28 @@
       <real_time_factor>1.0</real_time_factor>
     </physics>
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-sensors-system"
-      name="ignition::gazebo::systems::Sensors">
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
       <render_engine>ogre2</render_engine>
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <gui fullscreen="0">
 
       <!-- 3D scene -->
-      <plugin filename="GzScene3D" name="3D View">
-        <ignition-gui>
+      <plugin filename="MinimalScene" name="3D View">
+        <gz-gui>
           <title>3D View</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="string" key="state">docked</property>
-        </ignition-gui>
+        </gz-gui>
 
         <engine>ogre2</engine>
         <scene>scene</scene>
@@ -62,9 +69,46 @@
         <camera_pose>-6 0 6 0 0.5 0</camera_pose>
       </plugin>
 
+      <!-- Plugins that add functionality to the scene -->
+      <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+        <gz-gui>
+          <property key="state" type="string">floating</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="GzSceneManager" name="Scene Manager">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="InteractiveViewControl" name="Interactive view control">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+      <plugin filename="CameraTracking" name="Camera Tracking">
+        <gz-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="width" type="double">5</property>
+          <property key="height" type="double">5</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+        </gz-gui>
+      </plugin>
+
       <!-- World control -->
       <plugin filename="WorldControl" name="World control">
-        <ignition-gui>
+        <gz-gui>
           <title>World control</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="bool" key="resizable">false</property>
@@ -77,7 +121,7 @@
             <line own="left" target="left"/>
             <line own="bottom" target="bottom"/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
 
         <play_pause>true</play_pause>
         <step>true</step>
@@ -89,7 +133,7 @@
 
       <!-- World statistics -->
       <plugin filename="WorldStats" name="World stats">
-        <ignition-gui>
+        <gz-gui>
           <title>World stats</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="bool" key="resizable">false</property>
@@ -102,7 +146,7 @@
             <line own="right" target="right"/>
             <line own="bottom" target="bottom"/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
 
         <sim_time>true</sim_time>
         <real_time>true</real_time>
@@ -112,9 +156,9 @@
       </plugin>
 
       <plugin filename="ImageDisplay" name="Image Display">
-        <ignition-gui>
+        <gz-gui>
           <property key="state" type="string">docked</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
     </gui>
 
@@ -308,7 +352,7 @@
     <include>
       <pose>0 1 3 0.0 0.0 1.57</pose>
       <uri>
-      https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Construction Cone
+      https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone
       </uri>
     </include>