Add realsense packages as rosdep dependencies, rename urc_aruco (#…

…138) * Remove unnecessary executable, add realsense as rosdep dependency * Rename urc_aruco to urc_perception * added comment to installation guide --------- Co-authored-by: davidcalderon03 <[email protected]>
RoboJackets · Oct 22, 2023 · feefb59 · feefb59
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diff --git a/documents/installation/camera_setup.md b/documents/installation/camera_setup.md
@@ -4,7 +4,7 @@ For now, we are using an Intel RealSense D435 as our depth camera.
 ### Installation Steps 
 (from https://github.com/IntelRealSense/realsense-ros):
 1. [Download Intel RealSense SDK](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
-2. Install ROS2 wrapper with `sudo apt install ros-humble-realsense2-*`
+2. Install ROS2 wrapper with `sudo apt install ros-humble-realsense2-*` if not already installed.
 
 ### Usage
 - Launch the launch node: `ros2 launch realsense2_camera rs_launch.py`

diff --git a/urc_aruco/CMakeLists.txt b/urc_aruco/CMakeLists.txt
diff --git a/urc_aruco/package.xml b/urc_aruco/package.xml
diff --git a/urc_perception/CMakeLists.txt b/urc_perception/CMakeLists.txt
@@ -5,31 +5,89 @@ include(../cmake/default_settings.cmake)
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(urc_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(diagnostic_updater REQUIRED)
+find_package(OpenCV 4 REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
-install(
-  PROGRAMS
-  multiclass_segmentation/multiclass_segmentation.py
-  DESTINATION lib/${PROJECT_NAME}
+include_directories(
+  include
+)
+
+# Library creation
+add_library(${PROJECT_NAME} SHARED
+  src/aruco_detector.cpp
+  src/aruco_location.cpp
+)
+
+set(dependencies
+  rclcpp
+  rclcpp_components
+  urc_msgs
+  std_msgs
+  sensor_msgs
+  diagnostic_updater
+  cv_bridge
+  image_transport
+  OpenCV
+  tf2
+  tf2_geometry_msgs
+)
+
+ament_target_dependencies(${PROJECT_NAME}
+  ${dependencies}
+)
+
+# Node registration
+rclcpp_components_register_node(
+  ${PROJECT_NAME}
+  PLUGIN "aruco_detector::ArucoDetector"
+  EXECUTABLE ${PROJECT_NAME}_ArucoDetector
+)
+
+rclcpp_components_register_node(
+  ${PROJECT_NAME}
+  PLUGIN "aruco_location::ArucoLocation"
+  EXECUTABLE ${PROJECT_NAME}_ArucoLocation
 )
 
 # Install launch files.
 install(
   DIRECTORY
   launch
-  multiclass_segmentation
+  config
   DESTINATION share/${PROJECT_NAME}/
 )
 
+# Install library
+install(TARGETS
+  ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the copyright linker
   set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
   set(ament_cmake_cpplint_FOUND TRUE)
-
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+ament_export_include_directories(msg)
 
+ament_export_include_directories(include)
 
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
+
+ament_package()
diff --git a/urc_aruco/README.md → urc_perception/README.md b/urc_aruco/README.md → urc_perception/README.md
@@ -1,4 +1,4 @@
-# URC Aruco
+# URC Perception
 
 This package is a collection of nodes focused on detecting and mapping ARUCO tags.
 

diff --git a/urc_aruco/config/aruco_detector_params.yaml → ...ception/config/aruco_detector_params.yaml b/urc_aruco/config/aruco_detector_params.yaml → ...ception/config/aruco_detector_params.yaml
diff --git a/urc_aruco/config/aruco_location_params.yaml → ...ception/config/aruco_location_params.yaml b/urc_aruco/config/aruco_location_params.yaml → ...ception/config/aruco_location_params.yaml
diff --git a/urc_aruco/include/aruco_detector.hpp → urc_perception/include/aruco_detector.hpp b/urc_aruco/include/aruco_detector.hpp → urc_perception/include/aruco_detector.hpp
diff --git a/urc_aruco/include/aruco_location.hpp → urc_perception/include/aruco_location.hpp b/urc_aruco/include/aruco_location.hpp → urc_perception/include/aruco_location.hpp
diff --git a/urc_aruco/launch/aruco_detector.launch.py → ...erception/launch/aruco_detector.launch.py b/urc_aruco/launch/aruco_detector.launch.py → ...erception/launch/aruco_detector.launch.py
diff --git a/urc_perception/launch/multiclass_segmentation.launch.py b/urc_perception/launch/multiclass_segmentation.launch.py
diff --git a/urc_perception/multiclass_segmentation/.gitignore b/urc_perception/multiclass_segmentation/.gitignore
diff --git a/urc_perception/multiclass_segmentation/README.md b/urc_perception/multiclass_segmentation/README.md
diff --git a/urc_perception/multiclass_segmentation/__init__.py b/urc_perception/multiclass_segmentation/__init__.py
diff --git a/urc_perception/multiclass_segmentation/config/multiclass_segmentation_params.yaml b/urc_perception/multiclass_segmentation/config/multiclass_segmentation_params.yaml