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Merge 47b09c60af into 83e9d1019e

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Lucas Walter 2024-11-25 22:15:30 +00:00 committed by GitHub
parent 83e9d1019e 47b09c60af
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108
.github/workflows/roslibrust_noetic.yml vendored Normal file
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@ -0,0 +1,108 @@
name: roslibrust_noetic
on:
push:
branches-ignore:
- rclrs
pull_request:
branches-ignore:
- rclrs
workflow_dispatch:
jobs:
build:
runs-on: ubuntu-20.04
env:
ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...]
# CI_SOURCE_PATH: $(pwd)
ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
ROS_PARALLEL_JOBS: "-j8 -l6"
# Set the python path manually to include /usr/-/python2.7/dist-packages
# as this is where apt-get installs python packages.
PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
ROS_DISTRO: noetic
steps:
- name: roslibrust
uses: actions/checkout@v1
- name: Install latest rust
run: |
curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
rustc --version
cargo --version
- name: Configure ROS for install
run: |
sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update -qq
sudo apt-get install dpkg
sudo apt-get install -y libyaml-cpp-dev
- name: Install ROS basic packages
run: |
sudo apt-get install -y python3-catkin-pkg
sudo apt-get install -y python3-catkin-tools
sudo apt-get install -y python3-rosdep
sudo apt-get install -y python3-wstool
sudo apt-get install -y python3-osrf-pycommon
sudo apt-get install -y ros-cmake-modules
sudo apt-get install -y ros-$ROS_DISTRO-ros-base
source /opt/ros/$ROS_DISTRO/setup.bash
sudo rosdep init
rosdep update # --include-eol-distros # Support EOL distros.
- name: Install ROS additional packages
# Does installing these mean roslibrust_msg builds more messages, which is a better
# check? Or does it just slow down the action?
run: |
sudo apt-get install -y ros-$ROS_DISTRO-actionlib
sudo apt-get install -y ros-$ROS_DISTRO-actionlib-msgs
sudo apt-get install -y ros-$ROS_DISTRO-camera-info-manager
sudo apt-get install -y ros-$ROS_DISTRO-compressed-image-transport
sudo apt-get install -y ros-$ROS_DISTRO-catkin
sudo apt-get install -y ros-$ROS_DISTRO-class-loader
sudo apt-get install -y ros-$ROS_DISTRO-cmake-modules
sudo apt-get install -y ros-$ROS_DISTRO-cv-bridge
sudo apt-get install -y ros-$ROS_DISTRO-dynamic-reconfigure
sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure
# Not in noetic yet
# sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure-python
sudo apt-get install -y ros-$ROS_DISTRO-eigen-conversions
sudo apt-get install -y ros-$ROS_DISTRO-geometry-msgs
sudo apt-get install -y ros-$ROS_DISTRO-genmsg
sudo apt-get install -y ros-$ROS_DISTRO-image-geometry
sudo apt-get install -y ros-$ROS_DISTRO-image-proc
sudo apt-get install -y ros-$ROS_DISTRO-image-transport
sudo apt-get install -y ros-$ROS_DISTRO-message-generation
sudo apt-get install -y ros-$ROS_DISTRO-message-runtime
# sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core
# sudo apt-get install -y ros-$ROS_DISTRO-nodelet-topic-tools
# sudo apt-get install -y ros-$ROS_DISTRO-pcl-conversions
# sudo apt-get install -y ros-$ROS_DISTRO-pcl-ros
sudo apt-get install -y ros-$ROS_DISTRO-pluginlib
sudo apt-get install -y ros-$ROS_DISTRO-roscpp
sudo apt-get install -y ros-$ROS_DISTRO-roslib
sudo apt-get install -y ros-$ROS_DISTRO-roslint
sudo apt-get install -y ros-$ROS_DISTRO-rospy
sudo apt-get install -y ros-$ROS_DISTRO-rospy-message-converter
sudo apt-get install -y ros-$ROS_DISTRO-rostest
sudo apt-get install -y ros-$ROS_DISTRO-sensor-msgs
sudo apt-get install -y ros-$ROS_DISTRO-std-msgs
sudo apt-get install -y ros-$ROS_DISTRO-tf
sudo apt-get install -y ros-$ROS_DISTRO-tf-conversions
sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs
sudo apt-get install -y ros-$ROS_DISTRO-tf2-msgs
sudo apt-get install -y ros-$ROS_DISTRO-tf2-py
sudo apt-get install -y ros-$ROS_DISTRO-tf2-ros
sudo apt-get install -y ros-$ROS_DISTRO-tf2-sensor-msgs
- name: build
run: |
source /opt/ros/$ROS_DISTRO/setup.bash
ROS_PACKAGE_PATH=`rospack find geometry_msgs`:`rospack find tf2_msgs`:`rospack find sensor_msgs`:`rospack find std_msgs`:`rospack find actionlib_msgs` cargo build # --verbose
- name: Install ROS packages for tests
run: |
sudo apt-get install -y ros-$ROS_DISTRO-actionlib-tutorials
sudo apt-get install -y ros-$ROS_DISTRO-roscpp-tutorials
sudo apt-get install -y ros-$ROS_DISTRO-rospy-tutorials
- name: test
run: |
source /opt/ros/$ROS_DISTRO/setup.bash
ROS_PACKAGE_PATH=`rospack find geometry_msgs`:`rospack find tf2_msgs`:`rospack find sensor_msgs`:`rospack find std_msgs`:`rospack find actionlib_msgs` cargo test --features roslibrust_msg,derive,nalgebra,rayon

14
rpcl2/Cargo.toml
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@ -38,6 +38,19 @@ rayon = { version = "1", optional = true }
nalgebra = { version = "0.33", optional = true, default-features = false }
rpcl2-derive = { version = "0.4", optional = true, path = "../rpcl2-derive" }
[dependencies.roslibrust]
version = "0.10.2"
optional = true
features = ["ros1"]
[dependencies.roslibrust_codegen]
version = "0.10"
optional = true
[dependencies.roslibrust_codegen_macro]
version = "0.10"
optional = true
[dev-dependencies]
rand = "0.8"
criterion = { version = "0.5", features = ["html_reports"] }
@ -49,6 +62,7 @@ harness = false
path = "benches/roundtrip.rs"
[features]
roslibrust_msg = ["dep:roslibrust", "dep:roslibrust_codegen", "dep:roslibrust_codegen_macro"]
rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
r2r_msg = ["dep:r2r"]
rayon = ["dep:rayon"]

97
rpcl2/src/ros.rs
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@ -25,6 +25,9 @@
use alloc::string::String;
#[cfg(feature = "roslibrust_msg")]
roslibrust_codegen_macro::find_and_generate_ros_messages!();
/// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.
#[derive(Clone, Debug, Default)]
pub struct TimeMsg {
@ -32,6 +35,16 @@ pub struct TimeMsg {
pub nanosec: u32,
}
#[cfg(feature = "roslibrust_msg")]
impl From<roslibrust_codegen::Time> for TimeMsg {
fn from(time: roslibrust_codegen::Time) -> Self {
Self {
sec: time.secs as i32,
nanosec: time.nsecs,
}
}
}
#[cfg(feature = "rosrust_msg")]
impl From<rosrust::Time> for TimeMsg {
fn from(time: rosrust::Time) -> Self {
@ -151,6 +164,90 @@ impl From<crate::PointCloud2Msg> for r2r::sensor_msgs::msg::PointCloud2 {
}
}
#[cfg(feature = "roslibrust_msg")]
impl From<sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
fn from(msg: sensor_msgs::PointCloud2) -> Self {
Self {
header: HeaderMsg {
seq: msg.header.seq,
stamp: TimeMsg {
sec: msg.header.stamp.secs as i32,
nanosec: msg.header.stamp.nsecs,
},
frame_id: msg.header.frame_id,
},
dimensions: crate::CloudDimensions {
width: msg.width,
height: msg.height,
},
fields: msg
.fields
.into_iter()
.map(|field| PointFieldMsg {
name: field.name,
offset: field.offset,
datatype: field.datatype,
count: field.count,
})
.collect(),
endian: if msg.is_bigendian {
crate::Endian::Big
} else {
crate::Endian::Little
},
point_step: msg.point_step,
row_step: msg.row_step,
data: msg.data,
dense: if msg.is_dense {
crate::Denseness::Dense
} else {
crate::Denseness::Sparse
},
}
}
}
#[cfg(feature = "roslibrust_msg")]
impl From<crate::PointCloud2Msg> for sensor_msgs::PointCloud2 {
fn from(msg: crate::PointCloud2Msg) -> Self {
sensor_msgs::PointCloud2 {
header: std_msgs::Header {
seq: msg.header.seq,
stamp: roslibrust_codegen::Time {
secs: msg.header.stamp.sec as u32,
nsecs: msg.header.stamp.nanosec,
},
frame_id: msg.header.frame_id,
},
height: msg.dimensions.height,
width: msg.dimensions.width,
fields: msg
.fields
.into_iter()
.map(|field| sensor_msgs::PointField {
name: field.name,
offset: field.offset,
datatype: field.datatype,
count: field.count,
})
.collect(),
is_bigendian: if msg.endian == crate::Endian::Big {
true
} else {
false
},
point_step: msg.point_step,
row_step: msg.row_step,
data: msg.data,
is_dense: if msg.dense == crate::Denseness::Dense {
true
} else {
false
},
}
}
}
#[cfg(feature = "rosrust_msg")]
impl From<rosrust_msg::sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
fn from(msg: rosrust_msg::sensor_msgs::PointCloud2) -> Self {