Merge pull request #27 from ichiro-its/feature/adapt-main-to-ros2-launch

[Feature / PD-420] Adapt Shisen Main to ROS2 Launch

Author: hiikariri

CMakeLists.txt

@@ -93,6 +93,10 @@ target_link_libraries(${PROJECT_NAME}
 
 install(DIRECTORY "include" DESTINATION ".")
 
+install(DIRECTORY
+  launch
+  DESTINATION "share/${PROJECT_NAME}")
+
 install(TARGETS ${PROJECT_NAME}
 EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION "lib"

launch/shisen_cpp_launch.py

@@ -0,0 +1,40 @@
+# Copyright (c) 2024 ICHIRO ITS
+# 
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+# 
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+# 
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+import os
+import socket
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    hostname = socket.gethostname()
+    config_path = os.path.expanduser(f'~/ros2-ws/configuration/{hostname}/camera/')
+
+    return LaunchDescription([
+        Node(
+            package='shisen_cpp',
+            executable='camera',
+            name='camera',
+            output='screen',
+            arguments=[config_path],
+            respawn=True,
+            respawn_delay=1
+        )
+    ])

src/shisen_cpp_main.cpp

@@ -26,7 +26,7 @@
 
 int main(int argc, char ** argv)
 {
-  rclcpp::init(argc, argv);
+  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
 
   shisen_cpp::Options options;
   options.field_of_view = 78;
@@ -50,20 +50,20 @@ int main(int argc, char ** argv)
   try {
     int i = 1;
     int pos = 0;
-    while (i < argc) {
-      std::string arg = argv[i++];
+    while (i < args.size()) {
+      const std::string& arg = args[i++];
       if (arg[0] == '-') {
         if (arg == "-h" || arg == "--help") {
           std::cout << help_message << std::endl;
           return 1;
         } else if (arg == "--camera-prefix") {
-          options.camera_prefix = argv[i++];
+          options.camera_prefix = args[i++];
         } else if (arg == "--compression") {
-          options.compression_quality = atoi(argv[i++]);
+          options.compression_quality = stoi(args[i++]);
         } else if (arg == "--capture-fps") {
-          options.capture_fps = atoi(argv[i++]);
+          options.capture_fps = stoi(args[i++]);
         } else if (arg == "--field-of-view") {
-          options.field_of_view = atoi(argv[i++]);
+          options.field_of_view = stoi(args[i++]);
         } else {
           std::cout << "Unknown option `" << arg << "`!\n\n" << help_message << std::endl;
           return 1;