Port grid_map_costmap_2d to ros2

.circleci/config.yml

@@ -1,28 +1,45 @@
 version: 2
+
 jobs:
   build_and_test:
     docker:
       - image: ros:foxy
+    environment:
+      ROS_WS: "/opt/ros"
+      UNDERLAY_WS: "/opt/underlay_ws"
+      OVERLAY_WS: "/opt/overlay_ws"
     steps:
       - checkout
       - run:
           name: Set Up Container
           command: |
             apt update -qq && apt install -y build-essential cmake python3-colcon-common-extensions python3-rosdep libeigen3-dev
             apt upgrade -y
-            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
-            mkdir -p src/grid_map && mv `find -maxdepth 1 -not -name . -not -name src` src/grid_map/
+            source `find $ROS_WS -maxdepth 2 -name local_setup.bash | sort | head -1`
             rosdep update
+            mkdir -p $OVERLAY_WS/src/grid_map && mv `find -maxdepth 1 -not -name . -not -name src` $OVERLAY_WS/src/grid_map/
+            mkdir -p $UNDERLAY_WS/src && cp $OVERLAY_WS/src/grid_map/tools/ros2_dependencies.repos \
+              $UNDERLAY_WS/ros2_dependencies.repos
+            cd $UNDERLAY_WS && vcs import src < ros2_dependencies.repos
+            cp $UNDERLAY_WS/src/ros-planning/navigation2/tools/ros2_dependencies.repos \
+              $UNDERLAY_WS/ros2_dependencies.repos
+            vcs import src < ros2_dependencies.repos
             rosdep install -y --ignore-src --from-paths src
+            colcon build --symlink-install --packages-up-to nav2_costmap_2d
+            source $UNDERLAY_WS/install/local_setup.bash
+            cd $OVERLAY_WS && rosdep install -y --ignore-src --from-paths src
       - run:
           name: Debug Build
           command: |
-            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
-            colcon build --parallel-workers 1
+            source `find $ROS_WS -maxdepth 2 -name local_setup.bash | sort | head -1`
+            source $UNDERLAY_WS/install/local_setup.bash
+            cd $OVERLAY_WS && colcon build --parallel-workers 1
       - run:
           name: Run Tests
           command: |
-            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            source `find $ROS_WS -maxdepth 2 -name local_setup.bash | sort | head -1`
+            source $UNDERLAY_WS/install/local_setup.bash
+            cd $OVERLAY_WS
             colcon test --parallel-workers 1
             colcon test-result --verbose
 workflows:

grid_map_costmap_2d/CMakeLists.txt

@@ -1,47 +1,34 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(grid_map_costmap_2d)
 
-set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+## Find ament_cmake macros and libraries
+find_package(ament_cmake REQUIRED)
+find_package(grid_map_cmake_helpers REQUIRED)
+find_package(grid_map_core REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 
-## Find catkin macros and libraries
-find_package(catkin REQUIRED COMPONENTS
-  grid_map_core
-  costmap_2d
-  tf
-)
+find_package(Eigen3 REQUIRED)
 
-## System dependencies are found with CMake's conventions
-#find_package(Eigen3 REQUIRED)
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  INCLUDE_DIRS
-    include
-  LIBRARIES
-  CATKIN_DEPENDS
-    grid_map_core
-    costmap_2d
-    tf
-  DEPENDS
-)
-
-###########
-## Build ##
-###########
+grid_map_package()
 
 ## Specify additional locations of header files
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
+  ${grid_map_core_INCLUDE_DIRS}
+  ${nav2_costmap_2d_INCLUDE_DIRS}
+  ${geometry_msgs_INCLUDE_DIRS}
+)
+
+set(dependencies
+  grid_map_core
+  geometry_msgs
+  nav2_costmap_2d
+  tf2_ros
+  tf2_geometry_msgs
 )
 
 #############
@@ -51,25 +38,44 @@ include_directories(
 # Mark cpp header files for installation
 install(
   DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DESTINATION include/${PROJECT_NAME}
   FILES_MATCHING PATTERN "*.hpp"
 )
 
 #############
 ## Testing ##
 #############
 
-if(CATKIN_ENABLE_TESTING)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
-  ## Add gtest based cpp test target and link libraries
-  catkin_add_gtest(
-  	${PROJECT_NAME}-test
-  	test/test_grid_map_costmap_2d.cpp
-  	test/Costmap2DConverterTest.cpp
-  )
-  add_subdirectory(rostest)
-endif()
+if(BUILD_TESTING)
+  # Linting is setup this way to add a filter
+  # to ament_cpplint to ignore the lack of
+  # copyright messages at the top of files.
+  # Copyright messages are being checked for by both
+  # ament_cmake_cpplint & ament_cmake_copyright.
+
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_lint_auto QUIET)
+  if(ament_lint_auto_FOUND)
+    # exclude copyright checks
+    list(APPEND AMENT_LINT_AUTO_EXCLUDE
+      ament_cmake_cpplint
+      ament_cmake_copyright
+    )
+    ament_lint_auto_find_test_dependencies()
 
-if(TARGET ${PROJECT_NAME}-test)
-  target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES})
+    # run cpplint without copyright filter
+    find_package(ament_cmake_cpplint)
+    ament_cpplint(
+      FILTERS -legal/copyright
+    )
+  endif()
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+
+  add_subdirectory(test)
 endif()
+
+ament_export_include_directories(include)
+ament_export_dependencies(${dependencies})
+ament_package()