Merge branch 'master' into maint/hybridize_delphi_srr

.circleci/config.yml

@@ -74,13 +74,13 @@ jobs:
           command: |
             source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
             cd ..
-            colcon build --packages-up-to delphi_esr_msgs delphi_mrr_msgs delphi_srr_msgs
+            colcon build --packages-skip astuff_sensor_msgs neobotix_usboard_msgs pacmod_msgs
       - run:
           name: Run Tests
           command: |
             source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
             cd ..
-            colcon test --packages-up-to delphi_esr_msgs delphi_mrr_msgs delphi_srr_msgs
+            colcon build --packages-skip astuff_sensor_msgs neobotix_usboard_msgs pacmod_msgs
             colcon test-result
     working_directory: ~/src
 

derived_object_msgs/CMakeLists.txt

@@ -1,40 +1,99 @@
-cmake_minimum_required(VERSION 2.8.3)
 project(derived_object_msgs)
 
-find_package(catkin REQUIRED
-  COMPONENTS
-  message_generation
-  std_msgs
-  geometry_msgs
-  shape_msgs
-  radar_msgs
-)
+set(ROS_VERSION $ENV{ROS_VERSION})
 
-## Declare ROS messages and services
-add_message_files(DIRECTORY msg FILES
-  CipvTrack.msg
-  LaneModels.msg
-  Lane.msg
-  ObjectArray.msg
-  Object.msg
-  ObjectWithCovarianceArray.msg
-  ObjectWithCovariance.msg
-  SolidPrimitiveWithCovariance.msg
+set(MSG_FILES
+  "CipvTrack.msg"
+  "Lane.msg"
+  "LaneModels.msg"
+  "Object.msg"
+  "ObjectArray.msg"
+  "ObjectWithCovariance.msg"
+  "ObjectWithCovarianceArray.msg"
+  "SolidPrimitiveWithCovariance.msg"
 )
 
-## Generate added messages and services
-generate_messages(DEPENDENCIES
-  std_msgs
-  geometry_msgs
-  shape_msgs
-  radar_msgs
-)
+if(${ROS_VERSION} EQUAL 1)
 
-## Declare a catkin package
-catkin_package(CATKIN_DEPENDS
-  message_runtime
-  std_msgs
-  geometry_msgs
-  shape_msgs
-  radar_msgs
-)
+  cmake_minimum_required(VERSION 2.8.3)
+
+  # Default to C++11
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 11)
+  endif()
+
+  find_package(catkin REQUIRED
+    COMPONENTS
+      geometry_msgs
+      message_generation
+      radar_msgs
+      shape_msgs
+      std_msgs
+  )
+
+  add_message_files(FILES
+    ${MSG_FILES}
+    DIRECTORY msg
+  )
+
+  generate_messages(
+    DEPENDENCIES
+      geometry_msgs
+      radar_msgs
+      shape_msgs
+      std_msgs
+  )
+
+  catkin_package(
+    CATKIN_DEPENDS message_runtime
+  )
+
+elseif(${ROS_VERSION} EQUAL 2)
+
+  cmake_minimum_required(VERSION 3.5)
+
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+  endif()
+
+  find_package(ament_cmake REQUIRED)
+  find_package(builtin_interfaces REQUIRED)
+  find_package(geometry_msgs REQUIRED)
+  find_package(radar_msgs REQUIRED)
+  find_package(rosidl_default_generators REQUIRED)
+  find_package(shape_msgs REQUIRED)
+  find_package(std_msgs REQUIRED)
+
+  # Apend "msg/" to each file name
+  set(TEMP_LIST "")
+  foreach(MSG_FILE ${MSG_FILES})
+    list(APPEND TEMP_LIST "msg/${MSG_FILE}")
+  endforeach()
+  set(MSG_FILES ${TEMP_LIST})
+
+  rosidl_generate_interfaces(${PROJECT_NAME}
+    ${MSG_FILES}
+    DEPENDENCIES
+      builtin_interfaces
+      geometry_msgs
+      shape_msgs
+      std_msgs
+      radar_msgs
+    ADD_LINTER_TESTS
+  )
+
+  ament_export_dependencies(rosidl_default_runtime)
+
+  if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+  endif()
+
+  ament_package()
+
+endif()

derived_object_msgs/msg/Lane.msg

@@ -43,8 +43,5 @@ float64 marker_offset         # Lateral distance from sensor to marker (m)
 float64 heading_angle         # Angle of marker relative to sensor (rad)
 float64 curvature             # Curvature of the lane marker at the camera (1/m)
 float64 curvature_derivative  # Amount curvature changes as you move away from the camera (1/m^2)
-
 float64 marker_width          # Width of the painted marker (not distance between lane markers) (m)
-
 float64 view_range            # Physical view range of the lane mark (m)
-

derived_object_msgs/msg/Object.msg

@@ -1,6 +1,6 @@
 # This represents a detected or tracked object with reference coordinate frame and timestamp.
 
-Header header
+std_msgs/Header header
 
 # The id of the object (presumably from the detecting sensor).
 uint32 id
@@ -10,7 +10,6 @@ uint32 id
 # An object which is detected can only be assumed to have valid pose and shape properties.
 # An object which is tracked should also be assumed to have valid twist and accel properties.
 uint8 detection_level
-
 uint8 OBJECT_DETECTED=0
 uint8 OBJECT_TRACKED=1
 
@@ -35,7 +34,6 @@ shape_msgs/SolidPrimitive shape
 
 # The type of classification given to this object.
 uint8 classification
-
 uint8 CLASSIFICATION_UNKNOWN=0
 uint8 CLASSIFICATION_UNKNOWN_SMALL=1
 uint8 CLASSIFICATION_UNKNOWN_MEDIUM=2

derived_object_msgs/msg/ObjectArray.msg

@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 
-Object[] objects
+derived_object_msgs/Object[] objects

derived_object_msgs/msg/ObjectWithCovariance.msg

@@ -1,5 +1,5 @@
 # This represents an estimated object with reference coordinate frame and timestamp.
-Header header
+std_msgs/Header header
 
 # The id of the object (presumably from the detecting sensor).
 uint32 id
@@ -10,7 +10,6 @@ uint32 id
 # An object which is tracked should also be assumed to have valid twist and accel properties.
 # The validity of the individual components of each object property are defined by the property's covariance matrix.
 uint8 detection_level
-
 uint8 OBJECT_DETECTED=0
 uint8 OBJECT_TRACKED=1
 
@@ -35,7 +34,6 @@ derived_object_msgs/SolidPrimitiveWithCovariance shape
 
 # The type of classification given to this object.
 uint8 classification
-
 uint8 CLASSIFICATION_UNKNOWN=0
 uint8 CLASSIFICATION_UNKNOWN_SMALL=1
 uint8 CLASSIFICATION_UNKNOWN_MEDIUM=2

derived_object_msgs/msg/ObjectWithCovarianceArray.msg

@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 
 derived_object_msgs/ObjectWithCovariance[] objects

derived_object_msgs/msg/SolidPrimitiveWithCovariance.msg

@@ -2,47 +2,40 @@
 # All shapes are defined to have their bounding boxes centered around 0,0,0.
 # This message based on shape_msgs/SolidPrimitive
 
+# The type of the shape
+uint8 type
 uint8 BOX=1
 uint8 SPHERE=2
 uint8 CYLINDER=3
 uint8 CONE=4
 
-# The type of the shape
-uint8 type
-
-
 # The dimensions of the shape
 float64[] dimensions
 
 # The meaning of the shape dimensions: each constant defines the index in the 'dimensions' array
-
 # For the BOX type, the X, Y, and Z dimensions are the length of the corresponding
 # sides of the box.
 uint8 BOX_X=0
 uint8 BOX_Y=1
 uint8 BOX_Z=2
 
-
 # For the SPHERE type, only one component is used, and it gives the radius of
 # the sphere.
 uint8 SPHERE_RADIUS=0
 
-
 # For the CYLINDER and CONE types, the center line is oriented along
 # the Z axis.  Therefore the CYLINDER_HEIGHT (CONE_HEIGHT) component
 # of dimensions gives the height of the cylinder (cone).  The
 # CYLINDER_RADIUS (CONE_RADIUS) component of dimensions gives the
 # radius of the base of the cylinder (cone).  Cone and cylinder
 # primitives are defined to be circular. The tip of the cone is
 # pointing up, along +Z axis.
-
 uint8 CYLINDER_HEIGHT=0
 uint8 CYLINDER_RADIUS=1
 
 uint8 CONE_HEIGHT=0
 uint8 CONE_RADIUS=1
 
-
 # Row-major representation of the covariance matrix associated with the shape.
 # For the BOX type, this should be a 3x3 matrix defining the uncertainty of the X, Y, and Z measurements.
 # For the SPHERE type, this should contain only one value for the radius.