ROS 2 port of fuse_viz

fuse_constraints/CMakeLists.txt

@@ -100,6 +100,8 @@ install(DIRECTORY include/
   DESTINATION include/${PROJECT_NAME}
 )
 
+install(DIRECTORY cmake DESTINATION share/${PROJECT_NAME})
+
 pluginlib_export_plugin_description_file(fuse_core fuse_plugins.xml)
 
 ament_export_targets(${PROJECT_NAME}-export HAS_LIBRARY_TARGET)

fuse_constraints/fuse_plugins.xml

@@ -1,4 +1,4 @@
-<library path="lib/libfuse_constraints">
+<library path="fuse_constraints">
   <class type="fuse_constraints::AbsoluteAccelerationAngular2DStampedConstraint" base_class_type="fuse_core::Constraint">
     <description>
     A constraint that represents either prior information about a 2D angular acceleration, or a direct measurement of

fuse_constraints/suitesparse-extras.cmake

@@ -26,4 +26,7 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+if(DEFINED fuse_constraints_DIR)
+    list(APPEND CMAKE_MODULE_PATH "${fuse_constraints_DIR}")
+endif()
 find_package(SUITESPARSE REQUIRED COMPONENTS CCOLAMD)

fuse_variables/fuse_plugins.xml

@@ -1,4 +1,4 @@
-<library path="lib/libfuse_variables">
+<library path="fuse_variables">
   <class type="fuse_variables::AccelerationAngular2DStamped" base_class_type="fuse_core::Variable">
     <description>
     Variable representing a 2D angular acceleration at a specific time, with a specific piece of hardware.

fuse_viz/CMakeLists.txt

@@ -1,50 +1,33 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.16)
 project(fuse_viz)
 
-set(build_depends
-  fuse_constraints
-  fuse_core
-  fuse_msgs
-  fuse_variables
-  geometry_msgs
-  rviz
-  tf2_geometry_msgs
-)
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CXX_STANDARD_REQUIRED YES)
+endif()
 
-find_package(catkin REQUIRED COMPONENTS
-  ${build_depends}
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_ros REQUIRED)
+find_package(fuse_constraints REQUIRED)
+find_package(fuse_core REQUIRED)
+find_package(fuse_msgs REQUIRED)
+find_package(fuse_variables REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rviz_common REQUIRED)
+find_package(rviz_rendering REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
-find_package(Boost REQUIRED)
 find_package(Eigen3 REQUIRED)
 
 find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
-set(QT_INCLUDE_DIRS
-  ${Qt5Core_INCLUDE_DIRS}
-  ${Qt5Widgets_INCLUDE_DIRS}
-)
-set(QT_LIBRARIES
-  ${Qt5Core_LIBRARIES}
-  ${Qt5Widgets_LIBRARIES}
-)
-
-add_definitions(-DQT_NO_KEYWORDS)
 
 ###########
 ## Build ##
 ###########
-add_compile_options(-Wall -Werror)
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS
-    ${build_depends}
-  DEPENDS
-    Boost
-    EIGEN3
-    QT
-)
 
 qt5_wrap_cpp(moc_files
   include/fuse_viz/mapped_covariance_property.h
@@ -53,7 +36,7 @@ qt5_wrap_cpp(moc_files
   include/fuse_viz/serialized_graph_display.h
 )
 
-set(source_files
+add_library(${PROJECT_NAME} SHARED
   src/mapped_covariance_property.cpp
   src/mapped_covariance_visual.cpp
   src/pose_2d_stamped_property.cpp
@@ -63,60 +46,46 @@ set(source_files
   src/serialized_graph_display.cpp
   ${moc_files}
 )
-
-add_library(${PROJECT_NAME}
-  ${source_files}
-)
-add_dependencies(${PROJECT_NAME}
-  ${catkin_EXPORTED_TARGETS}
-)
-target_include_directories(${PROJECT_NAME}
-  PUBLIC
-    include
-    ${Boost_INCLUDE_DIRS}
-    ${catkin_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIRS}
-    ${QT_INCLUDE_DIRS}
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  ${fuse_msgs_TARGETS}
+  Eigen3::Eigen
+  fuse_constraints::fuse_constraints
+  fuse_core::fuse_core
+  fuse_variables::fuse_variables
+  rviz_common::rviz_common
+  rviz_rendering::rviz_rendering
+  tf2::tf2
 )
-target_link_libraries(${PROJECT_NAME}
-  ${catkin_LIBRARIES}
-  ${Boost_LIBRARIES}
-  ${QT_LIBRARIES}
-)
-set_target_properties(${PROJECT_NAME}
-  PROPERTIES
-    CXX_STANDARD 14
-    CXX_STANDARD_REQUIRED YES
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+  ${Qt5Widgets_INCLUDE_DIRS}
 )
 
 #############
 ## Install ##
 #############
 
 install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+install(DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
-install(
-  FILES rviz_plugins.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+pluginlib_export_plugin_description_file(rviz_common rviz_plugins.xml)
 
 #############
 ## Testing ##
 #############
 
-if(CATKIN_ENABLE_TESTING)
-  find_package(roslint REQUIRED)
-
-  # Lint tests
-  set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references")
-  roslint_cpp()
-  roslint_add_test()
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 endif()
+
+ament_package()

fuse_viz/include/fuse_viz/conversions.h

@@ -46,12 +46,12 @@
 
 #include <OgreColourValue.h>
 #include <OgreQuaternion.h>
-#include <OgreVector3.h>
+#include <Ogre.h>
 
-#include <boost/array.hpp>
 
 #include <Eigen/Dense>
 
+#include <array>
 #include <stdexcept>
 
 namespace tf2
@@ -63,7 +63,7 @@ namespace tf2
  * @param[out] msg        6x6 covariance message, which is stored as a plain array with 36 elements.
  */
 template <typename Derived>
-inline void toMsg(const Eigen::MatrixBase<Derived>& covariance, boost::array<double, 36>& msg)
+inline void toMsg(const Eigen::MatrixBase<Derived>& covariance, std::array<double, 36>& msg)
 {
   using Scalar = typename Derived::Scalar;
   using Matrix6 = Eigen::Matrix<Scalar, 6, 6>;

fuse_viz/include/fuse_viz/mapped_covariance_property.h

@@ -34,8 +34,15 @@
 
 #include <OgreColourValue.h>
 
-#include <rviz/properties/bool_property.h>
+#include <fuse_viz/mapped_covariance_visual.h>
 
+#include <rviz_common/properties/bool_property.hpp>
+#include <rviz_common/properties/color_property.hpp>
+#include <rviz_common/properties/enum_property.hpp>
+#include <rviz_common/properties/float_property.hpp>
+#include <rviz_common/properties/property.hpp>
+
+#include <memory>
 #include <string>
 #include <unordered_map>
 
@@ -47,26 +54,19 @@ class SceneNode;
 
 }  // namespace Ogre
 
-namespace rviz
+namespace fuse_viz
 {
-
-class Property;
-class ColorProperty;
-class FloatProperty;
-class EnumProperty;
-class MappedCovarianceVisual;
-
 /**
  * @brief Property specialized to provide getter for booleans.
  *
  * This is mostly a copy of CovarianceProperty from rviz/default_plugin/covariance_property.h that instead of using an
  * std::deque to store the visuals, it uses an std::unordered_map, so the visuals can be indexed by their UUID.
  */
-class MappedCovarianceProperty : public rviz::BoolProperty
+class MappedCovarianceProperty : public rviz_common::properties::BoolProperty
 {
   Q_OBJECT
 public:
-  typedef boost::shared_ptr<MappedCovarianceVisual> MappedCovarianceVisualPtr;
+  typedef std::shared_ptr<MappedCovarianceVisual> MappedCovarianceVisualPtr;
 
   enum Frame
   {
@@ -81,7 +81,7 @@ class MappedCovarianceProperty : public rviz::BoolProperty
   };
 
   MappedCovarianceProperty(const QString& name = "Covariance", bool default_value = false,
-                           const QString& description = QString(), rviz::Property* parent = 0,
+                           const QString& description = QString(), rviz_common::properties::Property* parent = 0,
                            const char* changed_slot = 0, QObject* receiver = 0);
 
   virtual ~MappedCovarianceProperty();
@@ -111,17 +111,17 @@ private Q_SLOTS:
 
   std::unordered_map<std::string, MappedCovarianceVisualPtr> covariances_;
 
-  rviz::BoolProperty* position_property_;
-  rviz::ColorProperty* position_color_property_;
-  rviz::FloatProperty* position_alpha_property_;
-  rviz::FloatProperty* position_scale_property_;
-  rviz::BoolProperty* orientation_property_;
-  rviz::EnumProperty* orientation_frame_property_;
-  rviz::EnumProperty* orientation_colorstyle_property_;
-  rviz::ColorProperty* orientation_color_property_;
-  rviz::FloatProperty* orientation_alpha_property_;
-  rviz::FloatProperty* orientation_offset_property_;
-  rviz::FloatProperty* orientation_scale_property_;
+  rviz_common::properties::BoolProperty* position_property_;
+  rviz_common::properties::ColorProperty* position_color_property_;
+  rviz_common::properties::FloatProperty* position_alpha_property_;
+  rviz_common::properties::FloatProperty* position_scale_property_;
+  rviz_common::properties::BoolProperty* orientation_property_;
+  rviz_common::properties::EnumProperty* orientation_frame_property_;
+  rviz_common::properties::EnumProperty* orientation_colorstyle_property_;
+  rviz_common::properties::ColorProperty* orientation_color_property_;
+  rviz_common::properties::FloatProperty* orientation_alpha_property_;
+  rviz_common::properties::FloatProperty* orientation_offset_property_;
+  rviz_common::properties::FloatProperty* orientation_scale_property_;
 };
 
 }  // end namespace rviz

fuse_viz/include/fuse_viz/mapped_covariance_visual.h

@@ -32,16 +32,15 @@
 
 #include <cmath>
 
-#include <rviz/ogre_helpers/object.h>
+#include <rviz_rendering/objects/object.hpp>
+#include <rviz_rendering/objects/shape.hpp>
 
-#include <boost/scoped_ptr.hpp>
-
-#include <geometry_msgs/PoseWithCovariance.h>
+#include <geometry_msgs/msg/pose_with_covariance.hpp>
 
 #include <Eigen/Dense>
 
 #include <OgreColourValue.h>
-#include <OgreVector3.h>
+#include <Ogre.h>
 
 namespace Ogre
 {
@@ -55,20 +54,17 @@ namespace Eigen
 typedef Matrix<double, 6, 6> Matrix6d;
 }
 
-namespace rviz
+namespace fuse_viz
 {
 
-class Shape;
-class MappedCovarianceProperty;
-
 /**
  * \class MappedCovarianceVisual
  * \brief MappedCovarianceVisual consisting in a ellipse for position and 2D ellipses along the axis for orientation.
  *
  * This is mostly a copy of CovarianceVisual from rviz/default_plugin/covariance_visual.h that allows
  * MappedCovarianceProperty be a friend class of MappedCovarianceVisual, so it can call its constructor.
  */
-class MappedCovarianceVisual : public rviz::Object
+class MappedCovarianceVisual : public rviz_rendering::Object
 {
 public:
   enum ShapeIndex
@@ -137,7 +133,7 @@ class MappedCovarianceVisual : public rviz::Object
    * This effectively changes the orientation and scale of position and orientation
    * covariance shapes
    */
-  virtual void setCovariance(const geometry_msgs::PoseWithCovariance& pose);
+  virtual void setCovariance(const geometry_msgs::msg::PoseWithCovariance& pose);
 
   virtual const Ogre::Vector3& getPositionCovarianceScale();
   virtual const Ogre::Quaternion& getPositionCovarianceOrientation();
@@ -164,7 +160,7 @@ class MappedCovarianceVisual : public rviz::Object
    * \brief Get the shape used to display position covariance
    * @return the shape used to display position covariance
    */
-  rviz::Shape* getPositionShape()
+  rviz_rendering::Shape* getPositionShape()
   {
     return position_shape_;
   }
@@ -173,7 +169,7 @@ class MappedCovarianceVisual : public rviz::Object
    * \brief Get the shape used to display orientation covariance in an especific axis
    * @return the shape used to display orientation covariance in an especific axis
    */
-  rviz::Shape* getOrientationShape(ShapeIndex index);
+  rviz_rendering::Shape* getOrientationShape(ShapeIndex index);
 
   /**
    * \brief Sets user data on all ogre objects we own
@@ -225,8 +221,8 @@ class MappedCovarianceVisual : public rviz::Object
   Ogre::SceneNode* orientation_root_node_;
   Ogre::SceneNode* orientation_offset_node_[kNumOriShapes];
 
-  rviz::Shape* position_shape_;                    //!< Ellipse used for the position covariance
-  rviz::Shape* orientation_shape_[kNumOriShapes];  //!< Cylinders used for the orientation covariance
+  rviz_rendering::Shape* position_shape_;                    //!< Ellipse used for the position covariance
+  rviz_rendering::Shape* orientation_shape_[kNumOriShapes];  //!< Cylinders used for the orientation covariance
 
   bool local_rotation_;
 
@@ -242,10 +238,10 @@ class MappedCovarianceVisual : public rviz::Object
 private:
   // Hide Object methods we don't want to expose
   // NOTE: Apparently we still need to define them...
-  virtual void setScale(const Ogre::Vector3& scale)
+  virtual void setScale(const Ogre::Vector3&)
   {
   }
-  virtual void setColor(float r, float g, float b, float a)
+  virtual void setColor(float, float, float, float)
   {
   }
   virtual const Ogre::Vector3& getPosition();