Get launch file running aside from resources

* Update docs
* Remove ROS1 cruft

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

CMakeLists.txt

@@ -38,6 +38,28 @@ endif()
 
 target_link_libraries(${PROJECT_NAME} Eigen3::Eigen GDAL::GDAL grid_map_core::grid_map_core)
 
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+ament_export_dependencies(GDAL)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}Targets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
 include(CTest)
 if(BUILD_TESTING)
     add_subdirectory(test)

README.md

@@ -10,30 +10,22 @@ This package provides a georeferenced extension to the elevation map [grid_map](
 Affiliation: [ETH Zurich, Autonomous Systems Lab](https://asl.ethz.ch/)<br />**
 ## Setup
 Install the dependencies. This package depends on gdal, to read georeferenced images and GeoTIFF files.
-```
-apt install libgdal-dev
-```
-Configure the catkin workspace
-```
-catkin config --extend "/opt/ros/noetic"
-catkin config --merge-devel
-```
 
-Pull in dependencies using rosinstall / rosdep
+Pull in dependencies using rosdep
 ```
-wstool init src src/grid_map_geo/dependencies.rosinstall
-wstool update -t src -j4
+source /opt/ros/humble/setup.bash
 rosdep update
-rosdep install --from-paths src --ignore-src -y --rosdistro noetic
+# Assuming the package is cloned in the src folder of a ROS workspace...
+rosdep install --from-paths src --ignore-src -y
 ```
 
 Build the package
 ```
-catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
-catkin build -j$(nproc) -l$(nproc) grid_map_geo
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False --packages-up-to grid_map_geo
 ```
 ## Running the package
 The default launch file can be run as the following command. 
 ```
-roslaunch grid_map_geo load_tif.launch
+source install/setup.bash
+ros2 launch grid_map_geo load_tif_launch.xml
 ```

launch/load_tif_launch.xml

@@ -0,0 +1,14 @@
+<launch>
+    <arg name="visualization" default="true"/>
+    <arg name="location" default="sargans"/>
+    <node pkg="tf2_ros" exec="static_transform_publisher" name="world_map" args="--frame-id world --child-frame-id map"/>
+
+    <node pkg="grid_map_geo" exec="test_tif_loader" name="test_tif_loader" output="screen">
+        <param name="tif_path" value="$(find-pkg-share grid_map_geo)/resources/sertig.tif"/>
+        <param name="color_path" value="$(find-pkg-share grid_map_geo)/resources/sertig_color.tif"/>
+    </node>
+
+    <group if="$(var visualization)">
+        <node exec="rviz" name="rviz" pkg="rviz"  args="-d $(find-pkg-share grid_map_geo)/launch/config.rviz" />
+    </group>
+</launch>

package.xml

@@ -1,24 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>grid_map_geo</name>
   <version>0.0.1</version>
   <description>Georeferenced grid map</description>
-
   <maintainer email="jalim@ethz.ch">Jaeyoung Lim</maintainer>
   <maintainer email="ryanfriedman5410+github@gmail.com">Ryan Friedman</maintainer>
-
   <author>Jaeyoung Lim</author>
-
   <license>BSD-3</license>
 
   <url type="website">https://github.com/Jaeyoung-Lim/grid_map_geo</url>
   <url type="bugtracker">https://github.com/Jaeyoung-Lim/grid_map_geo/issues</url>
 
-  <!-- Dependencies which this package needs to build itself. -->
-  <buildtool_depend>colcon</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>eigen</depend>
   <depend>grid_map_core</depend>
   <depend>grid_map_ros</depend>
+  <depend>libgdal-dev</depend>
+  <depend>rclcpp</depend>
+  <exec_depend>ros2launch</exec_depend>
 
   <export>
+    <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>