Added point_cloud_transport_py (#26)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-perception · Sep 6, 2023 · 737f082 · 737f082
1 parent cae7437
commit 737f082
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Showing 59 changed files with 347 additions and 263 deletions.
diff --git a/CHANGELOG.rst → point_cloud_transport/CHANGELOG.rst b/CHANGELOG.rst → point_cloud_transport/CHANGELOG.rst
diff --git a/CMakeLists.txt → point_cloud_transport/CMakeLists.txt b/CMakeLists.txt → point_cloud_transport/CMakeLists.txt
@@ -13,17 +13,11 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
-find_package(ament_cmake_python REQUIRED)
 
 find_package(message_filters REQUIRED)
 find_package(pluginlib REQUIRED)
-find_package(pybind11 REQUIRED)
-find_package(pybind11_vendor REQUIRED)
-find_package(python_cmake_module REQUIRED)
-find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(rclpy REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
 include_directories(
@@ -105,33 +99,6 @@ target_link_libraries(list_transports
   ${PROJECT_NAME}
   pluginlib::pluginlib)
 
-
-# Install Python modules
-ament_python_install_package(${PROJECT_NAME})
-
-# Python bindings
-pybind11_add_module(_codec SHARED
-  src/pybind_codec.cpp
-)
-target_link_libraries(_codec PRIVATE
-  ${PROJECT_NAME}
-  pluginlib::pluginlib
-)
-
-# Install cython modules as sub-modules of the project
-install(
-  TARGETS
-    _codec
-  DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
-)
-
-# Install Python executables
-install(PROGRAMS
-  point_cloud_transport/publisher.py
-  point_cloud_transport/subscriber.py
-  DESTINATION lib/${PROJECT_NAME}
-)
-
 # Install plugin descriptions
 pluginlib_export_plugin_description_file(${PROJECT_NAME} default_plugins.xml)
 

diff --git a/ThirdParty/expected/COPYING → ...oud_transport/ThirdParty/expected/COPYING b/ThirdParty/expected/COPYING → ...oud_transport/ThirdParty/expected/COPYING
diff --git a/ThirdParty/expected/README.md → ...d_transport/ThirdParty/expected/README.md b/ThirdParty/expected/README.md → ...d_transport/ThirdParty/expected/README.md
diff --git a/ThirdParty/expected/include/tl/expected.hpp → ...irdParty/expected/include/tl/expected.hpp b/ThirdParty/expected/include/tl/expected.hpp → ...irdParty/expected/include/tl/expected.hpp
diff --git a/point_cloud_transport/__init__.py b/point_cloud_transport/__init__.py
diff --git a/default_plugins.xml → point_cloud_transport/default_plugins.xml b/default_plugins.xml → point_cloud_transport/default_plugins.xml
diff --git a/include/point_cloud_transport/exception.hpp → ...clude/point_cloud_transport/exception.hpp b/include/point_cloud_transport/exception.hpp → ...clude/point_cloud_transport/exception.hpp
diff --git a/...ude/point_cloud_transport/loader_fwds.hpp → ...ude/point_cloud_transport/loader_fwds.hpp b/...ude/point_cloud_transport/loader_fwds.hpp → ...ude/point_cloud_transport/loader_fwds.hpp
diff --git a/...int_cloud_transport/point_cloud_codec.hpp → ...int_cloud_transport/point_cloud_codec.hpp b/...int_cloud_transport/point_cloud_codec.hpp → ...int_cloud_transport/point_cloud_codec.hpp
diff --git a/...nt_cloud_transport/point_cloud_common.hpp → ...nt_cloud_transport/point_cloud_common.hpp b/...nt_cloud_transport/point_cloud_common.hpp → ...nt_cloud_transport/point_cloud_common.hpp
diff --git a/...cloud_transport/point_cloud_transport.hpp → ...cloud_transport/point_cloud_transport.hpp b/...cloud_transport/point_cloud_transport.hpp → ...cloud_transport/point_cloud_transport.hpp
@@ -151,12 +151,24 @@ class PointCloudTransport : public PointCloudTransportLoader
     return ret;
   }
 
+  //! Advertise a PointCloud2 topic, simple version.
+  POINT_CLOUD_TRANSPORT_PUBLIC
+  Publisher advertise(
+    const std::string & base_topic,
+    uint32_t queue_size)
+  {
+    rclcpp::PublisherOptions options = rclcpp::PublisherOptions();
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_sensor_data;
+    custom_qos.depth = queue_size;
+    return Publisher(node_, base_topic, pub_loader_, custom_qos, options);
+  }
+
   //! Advertise a PointCloud2 topic, simple version.
   POINT_CLOUD_TRANSPORT_PUBLIC
   Publisher advertise(
     const std::string & base_topic,
     uint32_t queue_size,
-    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions())
+    const rclcpp::PublisherOptions & options)
   {
     rmw_qos_profile_t custom_qos = rmw_qos_profile_sensor_data;
     custom_qos.depth = queue_size;
@@ -172,6 +184,19 @@ class PointCloudTransport : public PointCloudTransportLoader
     return Publisher(node_, base_topic, pub_loader_, custom_qos, options);
   }
 
+  // //! Subscribe to a point cloud topic, version for arbitrary std::function object.
+  // POINT_CLOUD_TRANSPORT_PUBLIC
+  // point_cloud_transport::Subscriber subscribe(
+  //   const std::string & base_topic,
+  //   uint32_t queue_size,
+  //   const std::function<void(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &)> & callback)
+  // {
+  //   rmw_qos_profile_t custom_qos = rmw_qos_profile_sensor_data;
+  //   custom_qos.depth = queue_size;
+  //   return subscribe(
+  //     base_topic, custom_qos, callback, {}, nullptr);
+  // }
+
   //! Advertise an PointCloud2 topic with subscriber status callbacks.
   // TODO(ros2) Implement when SubscriberStatusCallback is available
   // point_cloud_transport::Publisher advertise(const std::string& base_topic, uint32_t queue_size,

diff --git a/include/point_cloud_transport/publisher.hpp → ...clude/point_cloud_transport/publisher.hpp b/include/point_cloud_transport/publisher.hpp → ...clude/point_cloud_transport/publisher.hpp
diff --git a/...oint_cloud_transport/publisher_plugin.hpp → ...oint_cloud_transport/publisher_plugin.hpp b/...oint_cloud_transport/publisher_plugin.hpp → ...oint_cloud_transport/publisher_plugin.hpp
diff --git a/...e/point_cloud_transport/raw_publisher.hpp → ...e/point_cloud_transport/raw_publisher.hpp b/...e/point_cloud_transport/raw_publisher.hpp → ...e/point_cloud_transport/raw_publisher.hpp
diff --git a/.../point_cloud_transport/raw_subscriber.hpp → .../point_cloud_transport/raw_subscriber.hpp b/.../point_cloud_transport/raw_subscriber.hpp → .../point_cloud_transport/raw_subscriber.hpp
diff --git a/include/point_cloud_transport/republish.hpp → ...clude/point_cloud_transport/republish.hpp b/include/point_cloud_transport/republish.hpp → ...clude/point_cloud_transport/republish.hpp
diff --git a/...oud_transport/simple_publisher_plugin.hpp → ...oud_transport/simple_publisher_plugin.hpp b/...oud_transport/simple_publisher_plugin.hpp → ...oud_transport/simple_publisher_plugin.hpp
diff --git a/...ud_transport/simple_subscriber_plugin.hpp → ...ud_transport/simple_subscriber_plugin.hpp b/...ud_transport/simple_subscriber_plugin.hpp → ...ud_transport/simple_subscriber_plugin.hpp
diff --git a/...transport/single_subscriber_publisher.hpp → ...transport/single_subscriber_publisher.hpp b/...transport/single_subscriber_publisher.hpp → ...transport/single_subscriber_publisher.hpp
diff --git a/include/point_cloud_transport/subscriber.hpp → ...lude/point_cloud_transport/subscriber.hpp b/include/point_cloud_transport/subscriber.hpp → ...lude/point_cloud_transport/subscriber.hpp
diff --git a/...int_cloud_transport/subscriber_filter.hpp → ...int_cloud_transport/subscriber_filter.hpp b/...int_cloud_transport/subscriber_filter.hpp → ...int_cloud_transport/subscriber_filter.hpp
diff --git a/...int_cloud_transport/subscriber_plugin.hpp → ...int_cloud_transport/subscriber_plugin.hpp b/...int_cloud_transport/subscriber_plugin.hpp → ...int_cloud_transport/subscriber_plugin.hpp
diff --git a/...point_cloud_transport/transport_hints.hpp → ...point_cloud_transport/transport_hints.hpp b/...point_cloud_transport/transport_hints.hpp → ...point_cloud_transport/transport_hints.hpp
diff --git a/...nt_cloud_transport/visibility_control.hpp → ...nt_cloud_transport/visibility_control.hpp b/...nt_cloud_transport/visibility_control.hpp → ...nt_cloud_transport/visibility_control.hpp
diff --git a/package.xml → point_cloud_transport/package.xml b/package.xml → point_cloud_transport/package.xml
@@ -14,21 +14,16 @@
 
   <license>BSD</license>
 
-  <url type="repository">https://github.com/ctu-vras/point_cloud_transport</url>
-  <url type="bugtracker">https://github.com/ctu-vras/point_cloud_transport/issues</url>
+  <url type="repository">https://github.com/ros-perception/point_cloud_transport</url>
+  <url type="bugtracker">https://github.com/ros-perception/point_cloud_transport/issues</url>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
-  <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>message_filters</depend>
-  <depend>pybind11</depend>
-  <depend>pybind11_vendor</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp_components</depend>
   <depend>rclcpp</depend>
-  <depend>rclpy</depend>
   <depend>sensor_msgs</depend>
-  <depend>git</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_copyright</test_depend>

diff --git a/point_cloud_transport/publisher.py b/point_cloud_transport/publisher.py
diff --git a/src/list_transports.cpp → ...t_cloud_transport/src/list_transports.cpp b/src/list_transports.cpp → ...t_cloud_transport/src/list_transports.cpp
diff --git a/src/manifest.cpp → point_cloud_transport/src/manifest.cpp b/src/manifest.cpp → point_cloud_transport/src/manifest.cpp
diff --git a/src/point_cloud_codec.cpp → ...cloud_transport/src/point_cloud_codec.cpp b/src/point_cloud_codec.cpp → ...cloud_transport/src/point_cloud_codec.cpp
diff --git a/src/point_cloud_common.cpp → ...loud_transport/src/point_cloud_common.cpp b/src/point_cloud_common.cpp → ...loud_transport/src/point_cloud_common.cpp
diff --git a/src/point_cloud_transport.cpp → ...d_transport/src/point_cloud_transport.cpp b/src/point_cloud_transport.cpp → ...d_transport/src/point_cloud_transport.cpp
diff --git a/src/publisher.cpp → point_cloud_transport/src/publisher.cpp b/src/publisher.cpp → point_cloud_transport/src/publisher.cpp
diff --git a/src/publisher_plugin.cpp → ..._cloud_transport/src/publisher_plugin.cpp b/src/publisher_plugin.cpp → ..._cloud_transport/src/publisher_plugin.cpp
diff --git a/src/raw_subscriber.cpp → point_cloud_transport/src/raw_subscriber.cpp b/src/raw_subscriber.cpp → point_cloud_transport/src/raw_subscriber.cpp
diff --git a/src/republish.cpp → point_cloud_transport/src/republish.cpp b/src/republish.cpp → point_cloud_transport/src/republish.cpp
diff --git a/src/republish_program.cpp → ...cloud_transport/src/republish_program.cpp b/src/republish_program.cpp → ...cloud_transport/src/republish_program.cpp
diff --git a/src/single_subscriber_publisher.cpp → ...sport/src/single_subscriber_publisher.cpp b/src/single_subscriber_publisher.cpp → ...sport/src/single_subscriber_publisher.cpp
diff --git a/src/subscriber.cpp → point_cloud_transport/src/subscriber.cpp b/src/subscriber.cpp → point_cloud_transport/src/subscriber.cpp
diff --git a/src/utilities/utilities.cpp → ...oud_transport/src/utilities/utilities.cpp b/src/utilities/utilities.cpp → ...oud_transport/src/utilities/utilities.cpp
diff --git a/src/utilities/utilities.hpp → ...oud_transport/src/utilities/utilities.hpp b/src/utilities/utilities.hpp → ...oud_transport/src/utilities/utilities.hpp
diff --git a/point_cloud_transport/subscriber.py b/point_cloud_transport/subscriber.py
diff --git a/test/test_message_filter.cpp → ...ud_transport/test/test_message_filter.cpp b/test/test_message_filter.cpp → ...ud_transport/test/test_message_filter.cpp
diff --git a/test/test_message_passing.cpp → ...d_transport/test/test_message_passing.cpp b/test/test_message_passing.cpp → ...d_transport/test/test_message_passing.cpp
diff --git a/test/test_point_cloud_codec.cpp → ...transport/test/test_point_cloud_codec.cpp b/test/test_point_cloud_codec.cpp → ...transport/test/test_point_cloud_codec.cpp
diff --git a/test/test_point_cloud_common.cpp → ...ransport/test/test_point_cloud_common.cpp b/test/test_point_cloud_common.cpp → ...ransport/test/test_point_cloud_common.cpp
diff --git a/test/test_publisher.cpp → ...t_cloud_transport/test/test_publisher.cpp b/test/test_publisher.cpp → ...t_cloud_transport/test/test_publisher.cpp
diff --git a/test/test_qos_override.cpp → ...loud_transport/test/test_qos_override.cpp b/test/test_qos_override.cpp → ...loud_transport/test/test_qos_override.cpp
diff --git a/test/test_remapping.cpp → ...t_cloud_transport/test/test_remapping.cpp b/test/test_remapping.cpp → ...t_cloud_transport/test/test_remapping.cpp
diff --git a/test/test_single_subscriber_publisher.cpp → ...test/test_single_subscriber_publisher.cpp b/test/test_single_subscriber_publisher.cpp → ...test/test_single_subscriber_publisher.cpp
diff --git a/test/test_subscriber.cpp → ..._cloud_transport/test/test_subscriber.cpp b/test/test_subscriber.cpp → ..._cloud_transport/test/test_subscriber.cpp
diff --git a/test/utils.hpp → point_cloud_transport/test/utils.hpp b/test/utils.hpp → point_cloud_transport/test/utils.hpp