[cleanup] Move mapping into urc_perception and remove unused code in urc_perception

urc_bringup/launch/bringup_simulation.launch.py

@@ -16,7 +16,7 @@
 
 def generate_launch_description():
     pkg_gazebo_ros = get_package_share_directory("gazebo_ros")
-    pkg_urc_gazebo = get_package_share_directory("urc_gazebo")
+    # pkg_urc_gazebo = get_package_share_directory("urc_gazebo")
     pkg_urc_bringup = get_package_share_directory("urc_bringup")
     pkg_path_planning = get_package_share_directory("path_planning")
     pkg_trajectory_following = get_package_share_directory("trajectory_following")
@@ -29,8 +29,7 @@ def generate_launch_description():
     use_sim_time = LaunchConfiguration("use_sim_time", default="true")
 
     xacro_file = os.path.join(
-        get_package_share_directory("urc_hw_description"),
-        "urdf/walli.xacro"
+        get_package_share_directory("urc_hw_description"), "urdf/walli.xacro"
     )
     assert os.path.exists(xacro_file), "urdf path doesnt exist in " + str(xacro_file)
     robot_description_config = process_file(
@@ -148,13 +147,13 @@ def generate_launch_description():
     )
 
     elevation_mapping_node = Node(
-        package="mapping",
-        executable="mapping_ElevationMapping",
+        package="urc_perception",
+        executable="urc_perception_ElevationMapping",
         output="screen",
         parameters=[
             PathJoinSubstitution(
                 [
-                    FindPackageShare("mapping"),
+                    FindPackageShare("urc_perception"),
                     "config",
                     "mapping_params.yaml",
                 ]

urc_bringup/launch/bt.launch.py

@@ -28,7 +28,7 @@ def generate_launch_description():
     ros_lib_paths = [
         os.path.join(node_lib_path_base, lib_name) for lib_name in ros_lib_names
     ]
-    bt_file_name = "status_light.xml"
+    bt_file_name = "bt_test.xml"
 
     enable_color = SetEnvironmentVariable(name="RCUTILS_COLORIZED_OUTPUT", value="1")
 

urc_orchestrator/CMakeLists.txt

@@ -11,8 +11,6 @@ find_package(urc_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(nav_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)
@@ -35,10 +33,8 @@ set(dependencies
   urc_msgs
   std_msgs
   sensor_msgs
-  diagnostic_updater
   cv_bridge
   image_transport
-  OpenCV
   nav_msgs
 )
 
@@ -57,7 +53,6 @@ rclcpp_components_register_node(
 install(
   DIRECTORY
   launch
-  config
   DESTINATION share/${PROJECT_NAME}/
 )
 

urc_perception/CMakeLists.txt

@@ -3,83 +3,63 @@ project(urc_perception)
 
 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(nav_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(geometry_msgs REQUIRED)
 find_package(tf2 REQUIRED)
+find_package(tf2_sensor_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
-find_package(nav2_costmap_2d REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(PCL 1.10 REQUIRED)
 
 include_directories(
   include
-  ${nav2_costmap_2d_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
 )
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
 
 # Library creation
 add_library(${PROJECT_NAME} SHARED
-  src/aruco_detector.cpp
-  src/aruco_location.cpp
-  src/depth_laserscan.cpp
-  src/costmap_generator.cpp
+  src/elevation_mapping.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${PCL_LIBRARIES}
 )
 
 set(dependencies
   rclcpp
   rclcpp_components
-  urc_msgs
   std_msgs
   sensor_msgs
-  diagnostic_updater
-  cv_bridge
-  image_transport
-  OpenCV
+  geometry_msgs
   tf2
+  tf2_sensor_msgs
   tf2_geometry_msgs
-  nav2_costmap_2d
+  nav_msgs
+  pcl_conversions
 )
 
 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
-)
-
 rclcpp_components_register_node(
   ${PROJECT_NAME}
-  PLUGIN "depth_laserscan::DepthLaserScan"
-  EXECUTABLE ${PROJECT_NAME}_DepthLaserScan
-)
-
-rclcpp_components_register_node(
-  ${PROJECT_NAME}
-  PLUGIN "costmap_generator::CostmapGenerator"
-  EXECUTABLE ${PROJECT_NAME}_CostmapGenerator
+  PLUGIN "urc_perception::ElevationMapping"
+  EXECUTABLE ${PROJECT_NAME}_ElevationMapping
 )
 
 # Install launch files.
 install(
   DIRECTORY
-  launch
   config
+  launch
   DESTINATION share/${PROJECT_NAME}/
 )
 
@@ -93,18 +73,14 @@ install(TARGETS
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the copyright linker
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
   set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_export_include_directories(msg)
-
-ament_export_include_directories(include)
-
-ament_export_libraries(${PROJECT_NAME})
-ament_export_dependencies(${dependencies})
-
 ament_package()