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Jochen Sprickerhof edited this page Jul 17, 2013 · 14 revisions

Removal of all ROS related stuff from the PCL

Work in progress

Issues

ROS conversions

3rd Party conversion

To make it safe to mix PCL and ROS library- and include- paths, the following changes have been made:

  • The namespaces sensor_msgs and std_msgs no longer exist. Use the pcl namespace
  • PointCloud2 -> PCLPointCloud2, Image -> PCLImage, PointField -> PCLPointField, Header -> PCLHeader
  • The include paths reflect the new conventions. i.e., #include <std_msgs/Header.h> -> #include <pcl/PCLHeader.h>
  • Conversion functions no longer reference ROS. toROSMsg -> toPCLPointCloud2, fromROSMsg -> fromPCLPointCloud2
  • Conversion functions are now located in the pcl namespace. #include <pcl/ros/conversions.h> -> #include <pcl/conversions.h>
  • USE_ROS is deprecated -- your code should operate as if USE_ROS were set to false. E.g., PCLHeader.stamp is always an unsigned long.

To help with the migration process, you can use the following interactive script to do all the replacements. Replace DIFF_CMD and EDIT_CMD with your favorite diff and editing tools, and run

./remove_ros_3rdparty.bash path/to/my/project

This will only modify files once you've explicitly accepted the diffs with "(y)". Til then, the proposed changes are stored in .tomerge files. To break out of this, simply Ctrl+C and run

find path/to/my/project -name "*.tomerge" | xargs rm

remove_ros_3rdparty.bash

#!/bin/bash
if [ -z "$1" ]; then
  echo "Usage: $0 path/to/project/directory"
  exit 1
fi
PROJECT_ROOT=$1
DIFF_CMD="diff" #input your favorite diff viewer. Examples:
#DIFF_CMD="colordiff" 
#DIFF_CMD="git diff --color-words --no-index"
EDIT_CMD="vim" #input your favorite editor

# Use sed to find and replace classes and namespaces
#Namespaces
PATTERNS="sensor_msgs:pcl std_msgs:pcl"
#Classes
PATTERNS="${PATTERNS} PointField:PCLPointField PointCloud2:PCLPointCloud2 Image:PCLImage Header:PCLHeader"
#Functions
PATTERNS="${PATTERNS} toROSMsg:toPCLPointCloud2 fromROSMsg:fromPCLPointCloud2"
#Moved files
PATTERNS="${PATTERNS} pcl\/ros\/conversions.h:pcl\/conversions.h"

CFILES=`find ${PROJECT_ROOT} -regextype posix-egrep -regex '.*\.h$|.*\.hpp$|.*\.c$|.*\.cpp$'`
if [ "${CFILES}" == "" ]; then
  echo "No C files found"
  exit 1
fi

for PATTERN in $PATTERNS; do
  OLD=`echo ${PATTERN} | sed "s/:.*//g"`
  NEW=`echo ${PATTERN} | sed "s/.*://g"`_CHANGEDWITHSED
  echo "Going from ${OLD} to ${NEW}"
  FILES=`grep -l ${OLD} ${CFILES} | grep -v build`
  for f in ${FILES}; do
    echo "Replacing ${OLD} to ${NEW} in ${f}"
    tmpfile=${f}.tomerge
    if [ ! -e ${tmpfile} ]; then
      cp ${f} ${tmpfile}
    fi
    sed -i "s/${OLD}/${NEW}/g" ${tmpfile}
    sed -i "s/\([a-zA-Z0-9_]\)${NEW}/\\1${OLD}/g" ${tmpfile} #fix broken prefixes
    sed -i "s/${NEW}\([a-zA-Z0-9_]\)/${OLD}\\1/g" ${tmpfile} #fix broken suffixes
    sed -i "s/_CHANGEDWITHSED//g" ${tmpfile}
  done
done
# View all proposed changes
for tmpfile in `find ${PROJECT_ROOT} -name "*.tomerge"`; do
  f=${tmpfile%.tomerge}
  if [ `diff ${f} ${tmpfile} | wc -l` -gt 0 ]; then
    while [ 1 ]; do
      echo ${DIFF_CMD} ${f} ${tmpfile}
      ${DIFF_CMD} ${f} ${tmpfile}
      echo -n "Hit (y) to accept, (n) to reject, (e) to edit, (m) to mark for later: "
      read -n 1 answer
      echo
      if [ "$answer" == "y" ]; then
        mv ${tmpfile} ${f}
        echo MERGED
        break;
      elif [ "$answer" == "n" ]; then
        echo IGNORED
        break;
      elif [ "$answer" == "m" ]; then
        mv ${tmpfile} ${f}.toreview
        echo Proposed change saved to ${f}.toreview
        break;
      elif [ "$answer" == "e" ]; then
        ${EDIT_CMD} ${tmpfile}
      else
        echo "Not a valid option: " $answer
      fi
    done
  fi
  rm -f ${tmpfile}
done
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