Include noetic build in CI

.travis.yml

@@ -24,6 +24,7 @@ env:
   matrix: # each line is a job
     - ROS_DISTRO="kinetic"
     - ROS_DISTRO="melodic"
+    - ROS_DISTRO="noetic"
 
 # clone and run industrial_ci
 install:

spinnaker_camera_driver/CMakeLists.txt

@@ -16,11 +16,11 @@ generate_dynamic_reconfigure_options(
 )
 
 catkin_package(CATKIN_DEPENDS
-  image_exposure_msgs nodelet roscpp sensor_msgs wfov_camera_msgs
+  image_exposure_msgs nodelet roscpp sensor_msgs wfov_camera_msgs dynamic_reconfigure
 )
 
 
-# If Spinnacker is already present, use the found version. If not, download it.
+# If Spinnaker is already present, use the found version. If not, download it.
 # We can't resolve this dependency using the usual rosdep means because
 # the Point Grey EULA prohibits redistributing the headers or the packages which
 # contains them. We work around this by downloading the archive directly from
@@ -101,19 +101,6 @@ install(TARGETS
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-# Redistributing the flycapture .so file is permitted by the SDK EULA:
-# http://www.ptgrey.com/support/kb/data/PGR-FlyCap-SDK-LA.pdf
-if(EXISTS ${CMAKE_CURRENT_BINARY_DIR}/usr/lib)
-  install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/usr/lib/ DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-           PATTERN libQt* EXCLUDE)
-else()
-  get_filename_component(Spinnaker_LIB_DIR ${Spinnaker_LIBRARIES} DIRECTORY)
-  file(READ ${PROJECT_SOURCE_DIR}/cmake/install_files filenames)
-  foreach(filename ${filenames})
-    install(FILES ${Spinnaker_LIB_DIR}/${filename} DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-  endforeach()
-endif()
-
 install(FILES nodelet_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )
 
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

spinnaker_camera_driver/cmake/DownloadSpinnaker.cmake

@@ -9,13 +9,24 @@ function(download_spinnaker FLIR_LIB_VAR FLIR_INCLUDE_DIR_VAR)
     OUTPUT_STRIP_TRAILING_WHITESPACE)
 
   include(cmake/TargetArch.cmake)
-  target_architecture(FLIR_ARCH)
-  set(FLIR_DIR ${CMAKE_CURRENT_BINARY_DIR}/usr/lib)
+  target_architecture(TARGET_ARCH)
   set(DOWNLOAD_SCRIPT "${PROJECT_SOURCE_DIR}/cmake/download_spinnaker")
 
-  message(STATUS "Running download_spinnaker script with arguments: ${FLIR_ARCH} ${FLIR_DIR} ${OS_CODE_NAME}")
+  set(SPINNAKER_SDK_DIR ${CMAKE_CURRENT_BINARY_DIR}/spinnaker-sdk)
+
+  message(STATUS "Running download_spinnaker script with arguments: ${TARGET_ARCH} ${OS_CODE_NAME} ${SPINNAKER_SDK_DIR}")
   execute_process(
-    COMMAND ${DOWNLOAD_SCRIPT} ${FLIR_ARCH} "${FLIR_DIR}" ${OS_CODE_NAME})
-  set(${FLIR_LIB_VAR} "${FLIR_DIR}/libSpinnaker.so" PARENT_SCOPE)
-  set(${FLIR_INCLUDE_DIR_VAR} "${CMAKE_CURRENT_BINARY_DIR}/usr/include/spinnaker" PARENT_SCOPE)
+    COMMAND ${DOWNLOAD_SCRIPT} ${TARGET_ARCH} ${FLIR_DIR} ${OS_CODE_NAME} ${SPINNAKER_SDK_DIR}
+    RESULT_VARIABLE DOWNLOAD_EXIT_CODE)
+  if(NOT DOWNLOAD_EXIT_CODE EQUAL "0")
+    message(FATAL_ERROR "Could not download Spinnaker SDK!")
+  endif()
+
+  set(SPINNAKER_SEARCH_PATHS ${SPINNAKER_SDK_DIR}/usr ${SPINNAKER_SDK_DIR}/opt/spinnaker)
+
+  find_path(_Spinnaker_INCLUDE_DIR NAMES Spinnaker.h PATHS ${SPINNAKER_SEARCH_PATHS} NO_DEFAULT_PATH PATH_SUFFIXES include include/spinnaker REQUIRED)
+  find_library(_Spinnaker_LIBRARY NAMES Spinnaker PATHS ${SPINNAKER_SEARCH_PATHS} NO_DEFAULT_PATH PATH_SUFFIXES lib REQUIRED)
+
+  set(${FLIR_INCLUDE_DIR_VAR} "${_Spinnaker_INCLUDE_DIR}" PARENT_SCOPE)
+  set(${FLIR_LIB_VAR} "${_Spinnaker_LIBRARY}" PARENT_SCOPE)
 endfunction()

spinnaker_camera_driver/cmake/download_spinnaker

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Software License Agreement (BSD)
 #
@@ -26,172 +26,86 @@
 # NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import cookielib
-import cStringIO
+import argparse
+import http.cookiejar
+import io
 import logging
 import shutil
 import subprocess
 import sys
 import tarfile
-import urllib
-import urllib2
+import urllib.request, urllib.parse, urllib.error
 import os
 import glob
 
 logging.basicConfig(level=logging.INFO)
 
-URL_TEMPLATE = URL_TEMPLATES = {
-    'deb': 'https://packages.clearpathrobotics.com/stable/flir/Spinnaker/Ubuntu{version}/spinnaker-1.27.0.48-Ubuntu{version}-{arch}-pkg.tar.gz',
-    'src': None         # if we ever have non-deb archives that require manual extraction, those package URLS will go here.
-}
+URL_TEMPLATE = 'https://packages.clearpathrobotics.com/stable/flir/Spinnaker/Ubuntu{os_version}/spinnaker-{spinnaker_version}-Ubuntu{os_version}-{arch}-pkg.tar.gz'
 
-ARCHS = {
-    'i386': {
-        'linux_arch': 'i386',
-        'current': '16.04',
-        'type': 'deb',
-        'folder_name': 'spinnaker-1.27.0.48-i386',
-        'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
-        'debs': [
-            'libspinnaker-1.27.0.48_i386.deb',
-            'libspinnaker-1.27.0.48_i386-dev.deb',
-            'libspinnaker-c-1.27.0.48_i386.deb',
-            'libspinnaker-c-1.27.0.48_i386-dev.deb',
-            'libspinvideo-1.27.0.48_i386.deb',
-            'libspinvideo-1.27.0.48_i386-dev.deb',
-            'libspinvideo-c-1.27.0.48_i386.deb',
-            'libspinvideo-c-1.27.0.48_i386-dev.deb',
-            'spinnaker-1.27.0.48_i386.deb',
-            'spinnaker-doc-1.27.0.48_i386.deb',
-            'spinupdate-1.27.0.48_i386.deb',
-            'spinupdate-1.27.0.48_i386-dev.deb',
-            'spinview-qt-1.27.0.48_i386.deb',
-            'spinview-qt-1.27.0.48_i386-dev.deb'
-        ]
-    },
-    'x86_64': {
-        'linux_arch': 'amd64',
-        'current': '16.04',
-        'future': '18.04',
-        'type': 'deb',
-        'folder_name': 'spinnaker-1.27.0.48-amd64',
-        'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
-        'debs': [
-            'libspinnaker-1.27.0.48_amd64.deb',
-            'libspinnaker-1.27.0.48_amd64-dev.deb',
-            'libspinnaker-c-1.27.0.48_amd64.deb',
-            'libspinnaker-c-1.27.0.48_amd64-dev.deb',
-            'libspinvideo-1.27.0.48_amd64.deb',
-            'libspinvideo-1.27.0.48_amd64-dev.deb',
-            'libspinvideo-c-1.27.0.48_amd64.deb',
-            'libspinvideo-c-1.27.0.48_amd64-dev.deb',
-            'spinnaker-1.27.0.48_amd64.deb',
-            'spinnaker-doc-1.27.0.48_amd64.deb',
-            'spinupdate-1.27.0.48_amd64.deb',
-            'spinupdate-1.27.0.48_amd64-dev.deb',
-            'spinview-qt-1.27.0.48_amd64.deb',
-            'spinview-qt-1.27.0.48_amd64-dev.deb'
-        ]
-    },
-    'armv7': {
-        'linux_arch': 'armhf',
-        'current': '16.04',
-        'type': 'deb',
-        'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
-        'folder_name': 'spinnaker-1.27.0.48_armhf',
-        'debs': [
-            'libspinnaker-1.27.0.48_armhf.deb',
-            'libspinnaker-1.27.0.48_armhf-dev.deb',
-            'libspinnaker-c-1.27.0.48_armhf.deb',
-            'libspinnaker-c-1.27.0.48_armhf-dev.deb',
-            'libspinvideo-1.27.0.48_armhf.deb',
-            'libspinvideo-1.27.0.48_armhf-dev.deb',
-            'libspinvideo-c-1.27.0.48_armhf.deb',
-            'libspinvideo-c-1.27.0.48_armhf-dev.deb',
-            'spinnaker-1.27.0.48_armhf.deb',
-            'spinnaker-doc-1.27.0.48_armhf.deb',
-            'spinupdate-1.27.0.48_armhf.deb',
-            'spinupdate-1.27.0.48_armhf-dev.deb',
-            'spinview-qt-1.27.0.48_armhf.deb',
-            'spinview-qt-1.27.0.48_armhf-dev.deb'
-        ]
-    },
-    'armv8':  {
-        'linux_arch': 'armh64',
-        'current': '16.04',
-        'future': '18.04',
-        'type': 'deb',
-        'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
-        'folder_name': 'spinnaker-1.27.0.48_arm64',
-        'debs': [
-            'libspinnaker-1.27.0.48_arm64.deb',
-            'libspinnaker-1.27.0.48_arm64-dev.deb',
-            'libspinnaker-c-1.27.0.48_arm64.deb',
-            'libspinnaker-c-1.27.0.48_arm64-dev.deb',
-            'libspinvideo-1.27.0.48_arm64.deb',
-            'libspinvideo-1.27.0.48_arm64-dev.deb',
-            'libspinvideo-c-1.27.0.48_arm64.deb',
-            'libspinvideo-c-1.27.0.48_arm64-dev.deb',
-            'spinnaker-1.27.0.48_arm64.deb',
-            'spinnaker-doc-1.27.0.48_arm64.deb',
-            'spinupdate-1.27.0.48_arm64.deb',
-            'spinupdate-1.27.0.48_arm64-dev.deb',
-            'spinview-qt-1.27.0.48_arm64.deb',
-            'spinview-qt-1.27.0.48_arm64-dev.deb'
-        ]
-    }
+ARCH_MAPPINGS = {
+  'i386'  : 'i386',
+  'x86_64': 'amd64',
+  'armv7' : 'armhf',
+  'armv8' : 'armh64'
 }
 
-
 OS_LIBRARY_VERSION = {
-  'jessie': 'current',
-  'xenial': 'current',
-  'bionic': 'future'
+  'jessie': '16.04',
+  'xenial': '16.04',
+  'bionic': '18.04',
+  'focal' : '20.04'
+}
+
+SPINNAKER_SDK_VERSIONS = {
+  'jessie': '1.27.0.48',
+  'xenial': '1.27.0.48',
+  'bionic': '1.27.0.48',
+  'focal' : '2.2.0.48'
 }
 
-arch = sys.argv[1]
-destination_folder = sys.argv[2]
-os_code_name = sys.argv[3]
+parser = argparse.ArgumentParser()
+parser.add_argument('arch', choices=ARCH_MAPPINGS.keys())
+parser.add_argument('os', choices=OS_LIBRARY_VERSION.keys())
+parser.add_argument('target_folder')
+args = parser.parse_args()
+arch = args.arch
+os_code_name = args.os
+target_folder = args.target_folder
 
 os_version = OS_LIBRARY_VERSION[os_code_name]
-archive_url = URL_TEMPLATES[ARCHS[arch]['type']].format(
-    arch=ARCHS[arch]['linux_arch'],
-    version=ARCHS[arch][os_version])
-folder_name = ARCHS[arch]['folder_name']
-shared_library = ARCHS[arch]['shared_library']
-
+spinnaker_version = SPINNAKER_SDK_VERSIONS[os_code_name]
+archive_url = URL_TEMPLATE.format(
+    arch=ARCH_MAPPINGS[arch],
+    os_version=os_version,
+    spinnaker_version=spinnaker_version)
 
 logging.info("CPU architecture is %s", arch)
 logging.info("OS code name is %s", os_code_name)
-logging.info("Destination folder is %s", destination_folder)
 
-if not os.path.exists(os.path.join(os.getcwd(), "usr/lib/")):
-    if not os.path.exists(os.path.join(os.getcwd(), folder_name)):
-        cj = cookielib.CookieJar()
-        opener = urllib2.build_opener(urllib2.HTTPCookieProcessor(cj))
-        opener.addheaders = [
-            ('User-agent', 'Mozilla/5.0'),
-            ('Referer', 'https://www.ptgrey.com')]
+if not os.path.exists(target_folder):
+    os.makedirs(target_folder)
+    cj = http.cookiejar.CookieJar()
+    opener = urllib.request.build_opener(urllib.request.HTTPCookieProcessor(cj))
+    opener.addheaders = [
+        ('User-agent', 'Mozilla/5.0'),
+        ('Referer', 'https://www.ptgrey.com')]
 
-        logging.info("Downloading SDK archive from {0}...".format(archive_url))
-        resp = opener.open(archive_url)
+    logging.info("Downloading SDK archive from {0}...".format(archive_url))
+    resp = opener.open(archive_url)
 
-        logging.info("Unpacking tarball.")
-        with tarfile.open(mode="r:gz", fileobj=cStringIO.StringIO(resp.read())) as tar:
-            tar.extractall()
+    with tarfile.open(mode="r:gz", fileobj=io.BytesIO(resp.read())) as tar:
+        tar.extractall()
 
-    logging.info("Unpacking debs.")
-    debs = glob.glob(os.path.join(os.getcwd(), folder_name, "*spinnaker-*.deb"))
-    unpack_dir = os.path.join(os.getcwd())
-    if not os.path.exists(unpack_dir):
-        os.makedirs(unpack_dir)
+    debs = glob.glob(os.path.join(os.getcwd(), "*", "*spinnaker*.deb"))
+    logging.info('Unpacking debs to {}.'.format(target_folder))
     for deb in debs:
         logging.info('Extracting {0}'.format(deb))
-        subprocess.call(['dpkg', '--extract', deb, unpack_dir])
-
-    # finally, copy the shared libraries into the output folder
-    src_file = os.path.join(unpack_dir, ARCHS[arch]['shared_library'])
-    logging.info('Copying shared library to {0}'.format(destination_folder))
-    if not os.path.exists(destination_folder):
-        os.makedirs(destination_folder)
-    shutil.copyfile(src_file, os.path.join(destination_folder, 'libSpinnaker.so'))
+        subprocess.call(['dpkg', '--extract', deb, target_folder])
+    # SDK version 1.27.0.48 has broken symlinks
+    if spinnaker_version == '1.27.0.48':
+        logging.info('Patching broken symlink.')
+        lib_path = os.path.join(target_folder, 'usr', 'lib')
+        os.unlink(os.path.join(lib_path, 'libspinnaker.so.1'))
+        os.symlink(os.path.join(lib_path, 'libSpinnaker.so.1.27.0.48'), os.path.join(lib_path, 'libSpinnaker.so.1'))
+else:
+    logging.info('Download folder {} already exists. Skipping.'.format(target_folder))

spinnaker_camera_driver/include/spinnaker_camera_driver/SpinnakerCamera.h

@@ -51,6 +51,7 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sstream>
 #include <mutex>
 #include <string>
+#include <memory>
 
 // Header generated by dynamic_reconfigure
 #include <spinnaker_camera_driver/SpinnakerConfig.h>

spinnaker_camera_driver/include/spinnaker_camera_driver/diagnostics.h

@@ -50,6 +50,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <utility>
 #include <string>
 #include <vector>
+#include <memory>
 
 namespace spinnaker_camera_driver
 {

spinnaker_camera_driver/src/diagnostics.cpp

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <utility>
 #include <string>
+#include <memory>
 
 namespace spinnaker_camera_driver
 {

spinnaker_camera_driver/src/nodelet.cpp

@@ -70,6 +70,8 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <fstream>
 #include <string>
+#include <memory>
+#include <utility>
 
 namespace spinnaker_camera_driver
 {