ROS2 Migration

.github/workflows/build_and_test.yml

@@ -0,0 +1,45 @@
+name: ROS2 CI
+
+on:
+  pull_request:
+    branches:
+      - 'ros2'
+
+jobs:
+  test_environment:
+    runs-on: [ubuntu-latest]
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - foxy
+          - galactic
+          - rolling
+        include:
+          # Foxy Fitzroy (June 2020 - May 2023)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
+            ros_distribution: foxy
+            ros_version: 2
+          # Galactic Geochelone (May 2021 - November 2022)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
+            ros_distribution: galactic
+            ros_version: 2
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: setup directories
+        run: mkdir -p ros_ws/src
+      - name: checkout
+        uses: actions/checkout@v2
+        with:
+          path: ros_ws/src
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@master
+        with:
+          package-name: octomap_ros
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: ""

CMakeLists.txt

@@ -1,29 +1,34 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.5)
 project(octomap_ros)
 
-find_package(catkin REQUIRED COMPONENTS octomap_msgs sensor_msgs tf)
-find_package(OCTOMAP REQUIRED)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS octomap_msgs sensor_msgs tf
-  DEPENDS OCTOMAP)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
-include_directories(include ${catkin_INCLUDE_DIRS})
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/conversions.cpp
+)
 
-add_library(${PROJECT_NAME} src/conversions.cpp)
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES})
-target_include_directories(${PROJECT_NAME}
-  SYSTEM PUBLIC ${catkin_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS}
-  PUBLIC include)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  ament_add_gtest(test_${PROJECT_NAME}
+    test/test_conversions.cpp
+  )
+  target_link_libraries(test_${PROJECT_NAME}
+    gtest_main
+    octomap
+    octomap_ros
+  )
+endif()
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}/
-  FILES_MATCHING PATTERN "*.h"
-  PATTERN ".svn" EXCLUDE)
+ament_auto_package()

CONTRIBUTING.md

@@ -0,0 +1,18 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
+
+~~~
+1. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

LICENSE

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2011, A. Hornung, University of Freiburg
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.