Switch from rcpputils::fs to std::filesystem (#300)

Signed-off-by: Christophe Bedard <[email protected]>
ros-perception · Feb 27, 2024 · feab173 · feab173
1 parent 1a559ed
commit feab173
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Showing 8 changed files with 20 additions and 25 deletions.
diff --git a/camera_calibration_parsers/CMakeLists.txt b/camera_calibration_parsers/CMakeLists.txt
@@ -15,7 +15,6 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rclcpp REQUIRED)
-find_package(rcpputils REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 
@@ -32,8 +31,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   ${sensor_msgs_TARGETS}
   ${yaml_cpp_vendor_TARGETS})
 target_link_libraries(${PROJECT_NAME} PRIVATE
-  rclcpp::rclcpp
-  rcpputils::rcpputils)
+  rclcpp::rclcpp)
 
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
@@ -86,7 +84,7 @@ install(
   DESTINATION include/${PROJECT_NAME}
 )
 
-ament_export_dependencies(rclcpp rcpputils sensor_msgs yaml_cpp_vendor)
+ament_export_dependencies(rclcpp sensor_msgs yaml_cpp_vendor)
 
 if(BUILD_TESTING)
   #TODO(mjcarroll) switch back to this once I can fix copyright check
@@ -106,12 +104,12 @@ if(BUILD_TESTING)
 
   ament_add_gtest(${PROJECT_NAME}-parse_ini test/test_parse_ini.cpp)
   if(TARGET ${PROJECT_NAME}-parse_ini)
-    target_link_libraries(${PROJECT_NAME}-parse_ini ${PROJECT_NAME} rcpputils::rcpputils)
+    target_link_libraries(${PROJECT_NAME}-parse_ini ${PROJECT_NAME})
   endif()
 
   ament_add_gtest(${PROJECT_NAME}-parse_yml test/test_parse_yml.cpp)
   if(TARGET ${PROJECT_NAME}-parse_yml)
-    target_link_libraries(${PROJECT_NAME}-parse_yml ${PROJECT_NAME} rcpputils::rcpputils)
+    target_link_libraries(${PROJECT_NAME}-parse_yml ${PROJECT_NAME})
   endif()
 endif()
 

diff --git a/camera_calibration_parsers/package.xml b/camera_calibration_parsers/package.xml
@@ -21,7 +21,6 @@
 
   <depend>sensor_msgs</depend>
   <depend>rclcpp</depend>
-  <depend>rcpputils</depend>
   <depend>yaml_cpp_vendor</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

diff --git a/camera_calibration_parsers/src/parse.cpp b/camera_calibration_parsers/src/parse.cpp
@@ -34,13 +34,13 @@
 
 #include "camera_calibration_parsers/parse.hpp"
 
+#include <filesystem>
 #include <string>
 
 #include "camera_calibration_parsers/parse_ini.hpp"
 #include "camera_calibration_parsers/parse_yml.hpp"
 
 #include "rclcpp/rclcpp.hpp"
-#include "rcpputils/filesystem_helper.hpp"
 
 namespace camera_calibration_parsers
 {
@@ -49,7 +49,7 @@ bool writeCalibration(
   const std::string & file_name, const std::string & camera_name,
   const CameraInfo & cam_info)
 {
-  rcpputils::fs::path p(file_name);
+  std::filesystem::path p(file_name);
 
   if (p.extension().string() == ".ini") {
     return writeCalibrationIni(file_name, camera_name, cam_info);
@@ -68,7 +68,7 @@ bool readCalibration(
   const std::string & file_name, std::string & camera_name,
   CameraInfo & cam_info)
 {
-  rcpputils::fs::path p(file_name);
+  std::filesystem::path p(file_name);
 
   if (p.extension().string() == ".ini") {
     return readCalibrationIni(file_name, camera_name, cam_info);

diff --git a/camera_calibration_parsers/src/parse_ini.cpp b/camera_calibration_parsers/src/parse_ini.cpp
@@ -42,14 +42,14 @@
 
 #include <algorithm>
 #include <array>
+#include <filesystem>
 #include <fstream>
 #include <limits>
 #include <sstream>
 #include <string>
 #include <vector>
 
 #include "rclcpp/logging.hpp"
-#include "rcpputils/filesystem_helper.hpp"
 #include "sensor_msgs/distortion_models.hpp"
 
 namespace camera_calibration_parsers
@@ -308,9 +308,9 @@ bool writeCalibrationIni(
   const std::string & file_name, const std::string & camera_name,
   const CameraInfo & cam_info)
 {
-  rcpputils::fs::path dir(rcpputils::fs::path(file_name).parent_path());
-  if (!dir.empty() && !rcpputils::fs::exists(dir) &&
-    !rcpputils::fs::create_directories(dir))
+  std::filesystem::path dir(std::filesystem::path(file_name).parent_path());
+  if (!dir.empty() && !std::filesystem::exists(dir) &&
+    !std::filesystem::create_directories(dir))
   {
     RCLCPP_ERROR(
       kIniLogger, "Unable to create directory for camera calibration file [%s]",

diff --git a/camera_calibration_parsers/src/parse_yml.cpp b/camera_calibration_parsers/src/parse_yml.cpp
@@ -38,11 +38,11 @@
 #include <cstring>
 #include <ctime>
 
+#include <filesystem>
 #include <fstream>
 #include <string>
 
 #include "rclcpp/logging.hpp"
-#include "rcpputils/filesystem_helper.hpp"
 #include "sensor_msgs/distortion_models.hpp"
 
 #ifdef _WIN32
@@ -188,9 +188,9 @@ bool writeCalibrationYml(
   const std::string & file_name, const std::string & camera_name,
   const CameraInfo & cam_info)
 {
-  rcpputils::fs::path dir(rcpputils::fs::path(file_name).parent_path());
-  if (!dir.empty() && !rcpputils::fs::exists(dir) &&
-    !rcpputils::fs::create_directories(dir))
+  std::filesystem::path dir(std::filesystem::path(file_name).parent_path());
+  if (!dir.empty() && !std::filesystem::exists(dir) &&
+    !std::filesystem::create_directories(dir))
   {
     RCLCPP_ERROR(
       kYmlLogger, "Unable to create directory for camera calibration file [%s]",

diff --git a/camera_calibration_parsers/test/test_parse_ini.cpp b/camera_calibration_parsers/test/test_parse_ini.cpp
@@ -18,7 +18,6 @@
 #include <string>
 
 #include "camera_calibration_parsers/parse_ini.hpp"
-#include "rcpputils/filesystem_helper.hpp"
 #include "sensor_msgs/distortion_models.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"
 

diff --git a/camera_calibration_parsers/test/test_parse_yml.cpp b/camera_calibration_parsers/test/test_parse_yml.cpp
@@ -19,7 +19,6 @@
 #include <string>
 
 #include "camera_calibration_parsers/parse_yml.hpp"
-#include "rcpputils/filesystem_helper.hpp"
 #include "sensor_msgs/distortion_models.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"
 

diff --git a/camera_info_manager/src/camera_info_manager.cpp b/camera_info_manager/src/camera_info_manager.cpp
@@ -38,11 +38,11 @@
 
 #include <algorithm>
 #include <cstdlib>
+#include <filesystem>
 #include <locale>
 #include <memory>
 #include <string>
 
-#include "rcpputils/filesystem_helper.hpp"
 #include "rcpputils/env.hpp"
 #include "camera_calibration_parsers/parse.hpp"
 #include "ament_index_cpp/get_package_share_directory.hpp"
@@ -508,11 +508,11 @@ CameraInfoManager::saveCalibrationFile(
 {
   RCLCPP_INFO(logger_, "writing calibration data to %s", filename.c_str());
 
-  rcpputils::fs::path filepath(filename);
-  rcpputils::fs::path parent = filepath.parent_path();
+  std::filesystem::path filepath(filename);
+  std::filesystem::path parent = filepath.parent_path();
 
-  if (!rcpputils::fs::exists(parent)) {
-    if (!rcpputils::fs::create_directories(parent)) {
+  if (!std::filesystem::exists(parent)) {
+    if (!std::filesystem::create_directories(parent)) {
       RCLCPP_ERROR(logger_, "unable to create path directory [%s]", parent.string().c_str());
       return false;
     }