Ros2 devel #90
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| See [ROS wiki](http://wiki.ros.org/ar_track_alvar) for the users document. | ||
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| ### Testing (Build from Source) | ||
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| The testing suite for this package makes use of a ros1 bag, and depends on the following [repo](https://github.com/ros2/rosbag2_bag_v2). In order to get it to work | ||
| you need to source both the ros1 underlay and the ros2 underlay in your ~/.bashrc file. Do this in a new terminal. | ||
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| ``` | ||
| # ROS1 | ||
| source /opt/ros/noetic/setup.bash | ||
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| # ROS2 | ||
| source /opt/ros/foxy/setup.bash | ||
| source /usr/share/colcon_cd/function/colcon_cd.sh | ||
| export _colcon_cd_root=/opt/ros/foxy | ||
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| ``` | ||
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| ### Deprecation Warning | ||
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| As far as we can tell the vendor package for Alvar is no longer being actively being maintained. | ||
| The underlying OpenCV Implementation has been upgraded, but it is unclear how worthwhile it is to keep maintaining this package. | ||
| Users should consider using the tag tracking [libraries](https://docs.opencv.org/4.2.0/d5/dae/tutorial_aruco_detection.html) natively supported by OpenCV as they handle a greater variety of tags, and provide similar functionality. | ||
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| # Miscellaneous | ||
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| Building this package requires building [perception_pcl](https://github.com/ros-perception/perception_pcl/tree/foxy-devel) from source. | ||
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| In your workspace perform the following: | ||
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| ``` | ||
| git clone https://github.com/ros-perception/perception_pcl/ -b foxy-devel | ||
| ``` | ||
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| cmake_minimum_required(VERSION 3.5) | ||
| project(ar_track_alvar) | ||
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| find_package(ament_cmake REQUIRED) | ||
| find_package(ament_cmake_auto REQUIRED) | ||
| ament_auto_find_build_dependencies() | ||
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| find_package(OpenCV REQUIRED) | ||
| if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS) | ||
| set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings") | ||
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| endif() | ||
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| find_package(rclcpp REQUIRED) | ||
| find_package(tf2_ros REQUIRED) | ||
| find_package(tf2 REQUIRED) | ||
| find_package(image_transport REQUIRED) | ||
| find_package(resource_retriever REQUIRED) | ||
| find_package(cv_bridge REQUIRED) | ||
| find_package(perception_pcl REQUIRED) | ||
| find_package(pcl_conversions REQUIRED) | ||
| find_package(ar_track_alvar_msgs REQUIRED) | ||
| find_package(std_msgs REQUIRED) | ||
| find_package(sensor_msgs REQUIRED) | ||
| find_package(tf2_geometry_msgs REQUIRED) | ||
| find_package(geometry_msgs REQUIRED) | ||
| find_package(rosbag2_bag_v2_plugins REQUIRED) | ||
| find_package(visualization_msgs REQUIRED) | ||
| find_package(PCL REQUIRED QUIET COMPONENTS common io) | ||
| find_package(PCL REQUIRED) | ||
| find_package(Eigen3 REQUIRED) | ||
| find_package(tinyxml_vendor REQUIRED) | ||
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| include_directories(include) | ||
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| # Kinect filtering code | ||
| set(KINECT_FILTERING_TARGETS kinect_filtering medianFilter) | ||
| set(ALVAR_TARGETS ar_track_alvar individualMarkers individualMarkersNoKinect trainMarkerBundle findMarkerBundles findMarkerBundlesNoKinect createMarker) | ||
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| set(dependencies | ||
| OpenCV | ||
| tf2_ros | ||
| tf2 | ||
| pcl_conversions | ||
| std_msgs | ||
| tinyxml_vendor | ||
| image_transport | ||
| perception_pcl | ||
| visualization_msgs | ||
| rclcpp | ||
| resource_retriever | ||
| geometry_msgs | ||
| tf2_geometry_msgs | ||
| cv_bridge | ||
| sensor_msgs | ||
| ar_track_alvar_msgs | ||
| ) | ||
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| include_directories(include | ||
| ${OpenCV_INCLUDE_DIRS} | ||
| ${TinyXML_INCLUDE_DIRS} | ||
| ${PCL_COMMON_INCLUDE_DIRS} | ||
| ) | ||
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| add_library(${PROJECT_NAME} | ||
| src/Bitset.cpp | ||
| src/Camera.cpp | ||
| src/CaptureDevice.cpp | ||
| src/CaptureFactory.cpp | ||
| src/CaptureFactory_unix.cpp | ||
| src/ConnectedComponents.cpp | ||
| src/CvTestbed.cpp | ||
| src/DirectoryIterator.cpp | ||
| src/DirectoryIterator_unix.cpp | ||
| src/Draw.cpp | ||
| src/FileFormatUtils.cpp | ||
| src/Filter.cpp | ||
| src/Kalman.cpp | ||
| src/Line.cpp | ||
| src/Marker.cpp | ||
| src/MarkerDetector.cpp | ||
| src/MultiMarker.cpp | ||
| src/MultiMarkerBundle.cpp | ||
| src/MultiMarkerInitializer.cpp | ||
| src/Mutex.cpp | ||
| src/Mutex_unix.cpp | ||
| src/Optimization.cpp | ||
| src/Plugin.cpp | ||
| src/Plugin_unix.cpp | ||
| src/Pose.cpp | ||
| src/Rotation.cpp | ||
| src/Threads.cpp | ||
| src/Threads_unix.cpp | ||
| src/Util.cpp | ||
| ) | ||
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| target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} tinyxml) | ||
| ament_target_dependencies(ar_track_alvar ${dependencies}) | ||
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| add_library(kinect_filtering src/kinect_filtering.cpp) | ||
| ament_target_dependencies(kinect_filtering ${dependencies}) | ||
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| add_library(medianFilter src/medianFilter.cpp) | ||
| target_link_libraries(medianFilter ar_track_alvar ${PCL_LIBRARIES} ${TinyXML_LIBRARIES}) | ||
| ament_target_dependencies(medianFilter ${dependencies}) | ||
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| add_executable(individualMarkers nodes/IndividualMarkers.cpp) | ||
| target_link_libraries(individualMarkers ar_track_alvar kinect_filtering ${PCL_LIBRARIES} ${TinyXML_LIBRARIES}) | ||
| ament_target_dependencies(individualMarkers ${dependencies}) | ||
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| add_executable(individualMarkersNoKinect nodes/IndividualMarkersNoKinect.cpp) | ||
| target_link_libraries(individualMarkersNoKinect ar_track_alvar) | ||
| ament_target_dependencies(individualMarkersNoKinect ${dependencies}) | ||
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| add_executable(trainMarkerBundle nodes/TrainMarkerBundle.cpp) | ||
| target_link_libraries(trainMarkerBundle ar_track_alvar ${PCL_LIBRARIES} ${TinyXML_LIBRARIES}) | ||
| ament_target_dependencies(trainMarkerBundle ${dependencies}) | ||
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| add_executable(findMarkerBundles nodes/FindMarkerBundles.cpp) | ||
| target_link_libraries(findMarkerBundles ar_track_alvar kinect_filtering medianFilter ${PCL_LIBRARIES} ${TinyXML_LIBRARIES}) | ||
| ament_target_dependencies(findMarkerBundles ${dependencies}) | ||
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| add_executable(findMarkerBundlesNoKinect nodes/FindMarkerBundlesNoKinect.cpp) | ||
| target_link_libraries(findMarkerBundlesNoKinect ar_track_alvar ${PCL_LIBRARIES} ${TinyXML_LIBRARIES}) | ||
| ament_target_dependencies(findMarkerBundlesNoKinect ${dependencies}) | ||
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| add_executable(createMarker src/SampleMarkerCreator.cpp) | ||
| target_link_libraries(createMarker ar_track_alvar ${PCL_LIBRARIES} ${TinyXML_LIBRARIES}) | ||
| ament_target_dependencies(createMarker ${dependencies}) | ||
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| ament_export_include_directories(include) | ||
| ament_export_libraries(ar_track_alvar) | ||
| ament_export_dependencies(OpenCV ar_track_alvar_msgs std_msgs rclcpp tf2_ros tf2 message_runtime image_transport sensor_msgs geometry_msgs visualization_msgs resource_retriever cv_bridge perception_pcl pcl_conversions) | ||
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| install(TARGETS ${ALVAR_TARGETS} ${KINECT_FILTERING_TARGETS} | ||
| ARCHIVE DESTINATION lib | ||
| LIBRARY DESTINATION lib | ||
| RUNTIME DESTINATION lib/${PROJECT_NAME} | ||
| ) | ||
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| install(DIRECTORY include/${PROJECT_NAME}/ | ||
| DESTINATION include/${PROJECT_NAME} | ||
| ) | ||
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| install(DIRECTORY launch bundles | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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| if(BUILD_TESTING) | ||
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| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
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| set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}") | ||
| if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug") | ||
| set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}") | ||
| endif() | ||
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| # Test bag playing (if this fails all other tests will fail) | ||
| add_launch_test("test/test_ar_track_alvar_bag.py" | ||
| PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}" | ||
| ) | ||
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| # Test Individual Markers in launch test | ||
| add_launch_test("test/test_ar_track_alvar_individual_markers.py" | ||
| PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}" | ||
| ) | ||
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| # Legacy Tests | ||
| add_launch_test("test/test_ar_legacy.py" | ||
| PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}" | ||
| ) | ||
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| # Test Launch Files | ||
| add_launch_test("test/test_launch_files.py" | ||
| PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}" | ||
| ) | ||
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| endif() | ||
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| ament_package() | ||
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