Initial port to ROS 2

CMakeLists.txt

@@ -1,23 +1,88 @@
 cmake_minimum_required(VERSION 3.10.2)
 project(point_cloud_transport_tutorial)
 
-find_package(catkin REQUIRED COMPONENTS cras_cpp_common point_cloud_transport rosbag rosgraph_msgs sensor_msgs topic_tools)
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
 
-catkin_package()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-include_directories(${catkin_INCLUDE_DIRS})
+find_package(ament_cmake REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(point_cloud_transport REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rosbag2_cpp REQUIRED)
+find_package(rosbag2_storage REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
-# publisher
-add_executable(publisher_test src/my_publisher.cpp)
-add_dependencies(publisher_test ${catkin_EXPORTED_TARGETS})
-target_link_libraries(publisher_test ${catkin_LIBRARIES})
+add_executable(my_publisher
+  src/my_publisher.cpp
+)
+ament_target_dependencies(my_publisher
+  pluginlib
+  point_cloud_transport
+  rclcpp
+  rosbag2_cpp
+  rosbag2_storage
+  sensor_msgs
+)
 
-# subscriber
-add_executable(subscriber_test src/my_subscriber.cpp)
-add_dependencies(subscriber_test ${catkin_EXPORTED_TARGETS})
-target_link_libraries(subscriber_test ${catkin_LIBRARIES})
+add_executable(my_subscriber
+  src/my_subscriber.cpp
+)
 
-# encoder
-add_executable(encoder_test src/my_encoder.cpp)
-add_dependencies(encoder_test ${catkin_EXPORTED_TARGETS})
-target_link_libraries(encoder_test ${catkin_LIBRARIES})
+ament_target_dependencies(my_subscriber
+  pluginlib
+  point_cloud_transport
+  rclcpp
+  sensor_msgs
+)
+
+add_executable(my_encoder
+  src/my_encoder.cpp
+)
+
+ament_target_dependencies(my_encoder
+  pluginlib
+  point_cloud_transport
+  rclcpp
+  sensor_msgs
+)
+
+# Install executables
+install(
+  TARGETS my_publisher my_subscriber my_encoder
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+
+ament_package()
+# find_package(catkin REQUIRED COMPONENTS cras_cpp_common point_cloud_transport rosbag rosgraph_msgs sensor_msgs topic_tools)
+#
+# catkin_package()
+#
+# include_directories(${catkin_INCLUDE_DIRS})
+#
+# # publisher
+# add_executable(publisher_test src/my_publisher.cpp)
+# add_dependencies(publisher_test ${catkin_EXPORTED_TARGETS})
+# target_link_libraries(publisher_test ${catkin_LIBRARIES})
+#
+# # subscriber
+# add_executable(subscriber_test src/my_subscriber.cpp)
+# add_dependencies(subscriber_test ${catkin_EXPORTED_TARGETS})
+# target_link_libraries(subscriber_test ${catkin_LIBRARIES})
+#
+# # encoder
+# add_executable(encoder_test src/my_encoder.cpp)
+# add_dependencies(encoder_test ${catkin_EXPORTED_TARGETS})
+# target_link_libraries(encoder_test ${catkin_LIBRARIES})

CONTRIBUTING.md

@@ -0,0 +1,3 @@
+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).

LICENSE

@@ -1,30 +1,25 @@
-BSD 3-Clause License
-
-Copyright (c) Czech Technical University in Prague
-Copyright (c) 2019, paplhjak
-All rights reserved.
-
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
 
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
 
-2. 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.
+   * 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.
 
-3. 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.
+   * 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.
+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.