Merge pull request #91 from luis-camero/noetic-devel

ROS Industrial CI
ros-drivers · Mar 10, 2022 · 117ca3c · 117ca3c
2 parents a88dd2a + f24b0a8
commit 117ca3c
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diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
@@ -0,0 +1,43 @@
+# This is a basic workflow to help you get started with Actions
+
+name: CI
+
+# Controls when the workflow will run
+on:
+  # Triggers the workflow on push or pull request events but only for the noetic-devel branch
+  push:
+    branches: [ noetic-devel ]
+  pull_request:
+    branches: [ noetic-devel ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ROS_DISTRO: [noetic]
+        ROS_REP: [testing, main]
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          # This configuration will always create a new ccache cache starting off from the previous one (if any).
+          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
+          # and might need some fine-tuning to match the use case
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
+        env: # either pass all entries explicitly
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+        # with: # or pass the full matrix as config
+        #    config: ${{toJSON(matrix)}
diff --git a/flir_camera_description/CMakeLists.txt b/flir_camera_description/CMakeLists.txt
@@ -5,6 +5,6 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch meshes rviz urdf
+install(DIRECTORY meshes urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
diff --git a/spinnaker_camera_driver/cmake/DownloadSpinnaker.cmake b/spinnaker_camera_driver/cmake/DownloadSpinnaker.cmake
@@ -16,6 +16,6 @@ function(download_spinnaker FLIR_LIB_VAR FLIR_INCLUDE_DIR_VAR)
   message(STATUS "Running download_spinnaker script with arguments: ${FLIR_ARCH} ${FLIR_DIR} ${OS_CODE_NAME}")
   execute_process(
     COMMAND ${DOWNLOAD_SCRIPT} ${FLIR_ARCH} "${FLIR_DIR}" ${OS_CODE_NAME})
-  set(${FLIR_LIB_VAR} "${FLIR_DIR}/libSpinnaker.so" PARENT_SCOPE)
-  set(${FLIR_INCLUDE_DIR_VAR} "${CMAKE_CURRENT_BINARY_DIR}/usr/include/spinnaker" PARENT_SCOPE)
+  set(${FLIR_LIB_VAR} "${CMAKE_BINARY_DIR}/opt/spinnaker/lib/libSpinnaker.so" PARENT_SCOPE)
+  set(${FLIR_INCLUDE_DIR_VAR} "${CMAKE_BINARY_DIR}/opt/spinnaker/include/" PARENT_SCOPE)
 endfunction()
diff --git a/spinnaker_camera_driver/cmake/download_spinnaker b/spinnaker_camera_driver/cmake/download_spinnaker
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Software License Agreement (BSD)
 #
@@ -26,127 +26,78 @@
 # NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import cookielib
-import cStringIO
+import http.cookiejar
+import io
 import logging
 import shutil
 import subprocess
 import sys
 import tarfile
 import urllib
-import urllib2
 import os
 import glob
 
 logging.basicConfig(level=logging.INFO)
 
 URL_TEMPLATE = URL_TEMPLATES = {
-    'deb': 'https://packages.clearpathrobotics.com/stable/flir/Spinnaker/Ubuntu{version}/spinnaker-1.27.0.48-Ubuntu{version}-{arch}-pkg.tar.gz',
+    'deb': 'https://packages.clearpathrobotics.com/stable/flir/Spinnaker/Ubuntu{version}/spinnaker-2.2.0.48-Ubuntu{version}-{arch}-pkg.tar.gz',
     'src': None         # if we ever have non-deb archives that require manual extraction, those package URLS will go here.
 }
 
 ARCHS = {
-    'i386': {
-        'linux_arch': 'i386',
-        'current': '16.04',
-        'type': 'deb',
-        'folder_name': 'spinnaker-1.27.0.48-i386',
-        'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
-        'debs': [
-            'libspinnaker-1.27.0.48_i386.deb',
-            'libspinnaker-1.27.0.48_i386-dev.deb',
-            'libspinnaker-c-1.27.0.48_i386.deb',
-            'libspinnaker-c-1.27.0.48_i386-dev.deb',
-            'libspinvideo-1.27.0.48_i386.deb',
-            'libspinvideo-1.27.0.48_i386-dev.deb',
-            'libspinvideo-c-1.27.0.48_i386.deb',
-            'libspinvideo-c-1.27.0.48_i386-dev.deb',
-            'spinnaker-1.27.0.48_i386.deb',
-            'spinnaker-doc-1.27.0.48_i386.deb',
-            'spinupdate-1.27.0.48_i386.deb',
-            'spinupdate-1.27.0.48_i386-dev.deb',
-            'spinview-qt-1.27.0.48_i386.deb',
-            'spinview-qt-1.27.0.48_i386-dev.deb'
-        ]
-    },
     'x86_64': {
         'linux_arch': 'amd64',
-        'current': '16.04',
-        'future': '18.04',
+        'current': '20.04',
         'type': 'deb',
-        'folder_name': 'spinnaker-1.27.0.48-amd64',
-        'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
-        'debs': [
-            'libspinnaker-1.27.0.48_amd64.deb',
-            'libspinnaker-1.27.0.48_amd64-dev.deb',
-            'libspinnaker-c-1.27.0.48_amd64.deb',
-            'libspinnaker-c-1.27.0.48_amd64-dev.deb',
-            'libspinvideo-1.27.0.48_amd64.deb',
-            'libspinvideo-1.27.0.48_amd64-dev.deb',
-            'libspinvideo-c-1.27.0.48_amd64.deb',
-            'libspinvideo-c-1.27.0.48_amd64-dev.deb',
-            'spinnaker-1.27.0.48_amd64.deb',
-            'spinnaker-doc-1.27.0.48_amd64.deb',
-            'spinupdate-1.27.0.48_amd64.deb',
-            'spinupdate-1.27.0.48_amd64-dev.deb',
-            'spinview-qt-1.27.0.48_amd64.deb',
-            'spinview-qt-1.27.0.48_amd64-dev.deb'
-        ]
-    },
-    'armv7': {
-        'linux_arch': 'armhf',
-        'current': '16.04',
-        'type': 'deb',
-        'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
-        'folder_name': 'spinnaker-1.27.0.48_armhf',
-        'debs': [
-            'libspinnaker-1.27.0.48_armhf.deb',
-            'libspinnaker-1.27.0.48_armhf-dev.deb',
-            'libspinnaker-c-1.27.0.48_armhf.deb',
-            'libspinnaker-c-1.27.0.48_armhf-dev.deb',
-            'libspinvideo-1.27.0.48_armhf.deb',
-            'libspinvideo-1.27.0.48_armhf-dev.deb',
-            'libspinvideo-c-1.27.0.48_armhf.deb',
-            'libspinvideo-c-1.27.0.48_armhf-dev.deb',
-            'spinnaker-1.27.0.48_armhf.deb',
-            'spinnaker-doc-1.27.0.48_armhf.deb',
-            'spinupdate-1.27.0.48_armhf.deb',
-            'spinupdate-1.27.0.48_armhf-dev.deb',
-            'spinview-qt-1.27.0.48_armhf.deb',
-            'spinview-qt-1.27.0.48_armhf-dev.deb'
+        'folder_name': 'spinnaker-2.2.0.48-amd64',
+        'shared_library': 'opt/spinnaker/lib/libSpinnaker.so.2.2.0.48',
+        'debs':[
+            'libgentl_2.2.0.48_amd64.deb',
+            'libspinnaker_2.2.0.48_amd64.deb',
+            'libspinnaker-c_2.2.0.48_amd64.deb',
+            'libspinnaker-c-dev_2.2.0.48_amd64.deb',
+            'libspinnaker-dev_2.2.0.48_amd64.deb',
+            'libspinvideo_2.2.0.48_amd64.deb',
+            'libspinvideo-c_2.2.0.48_amd64.deb',
+            'libspinvideo-c-dev_2.2.0.48_amd64.deb',
+            'libspinvideo-dev_2.2.0.48_amd64.deb',
+            'spinnaker_2.2.0.48_amd64.deb',
+            'spinnaker-doc_2.2.0.48_amd64.deb',
+            'spinupdate_2.2.0.48_amd64.deb',
+            'spinupdate-dev_2.2.0.48_amd64.deb',
+            'spinview-qt_2.2.0.48_amd64.deb',
+            'spinview-qt-dev_2.2.0.48_amd64.deb'
         ]
     },
     'armv8':  {
         'linux_arch': 'armh64',
-        'current': '16.04',
-        'future': '18.04',
+        'current': '20.04',
         'type': 'deb',
-        'shared_library': 'usr/lib/libSpinnaker.so.1.27.0.48',
-        'folder_name': 'spinnaker-1.27.0.48_arm64',
+        'shared_library': 'opt/spinnaker/lib/libSpinnaker.so.2.2.0.48',
+        'folder_name': 'spinnaker-2.2.0.48_arm64',
         'debs': [
-            'libspinnaker-1.27.0.48_arm64.deb',
-            'libspinnaker-1.27.0.48_arm64-dev.deb',
-            'libspinnaker-c-1.27.0.48_arm64.deb',
-            'libspinnaker-c-1.27.0.48_arm64-dev.deb',
-            'libspinvideo-1.27.0.48_arm64.deb',
-            'libspinvideo-1.27.0.48_arm64-dev.deb',
-            'libspinvideo-c-1.27.0.48_arm64.deb',
-            'libspinvideo-c-1.27.0.48_arm64-dev.deb',
-            'spinnaker-1.27.0.48_arm64.deb',
-            'spinnaker-doc-1.27.0.48_arm64.deb',
-            'spinupdate-1.27.0.48_arm64.deb',
-            'spinupdate-1.27.0.48_arm64-dev.deb',
-            'spinview-qt-1.27.0.48_arm64.deb',
-            'spinview-qt-1.27.0.48_arm64-dev.deb'
+            'libgentl_2.2.0.48_arm64.deb',
+            'libspinnaker_2.2.0.48_arm64.deb',
+            'libspinnaker-c_2.2.0.48_arm64.deb',
+            'libspinnaker-c-dev_2.2.0.48_arm64.deb',
+            'libspinnaker-dev_2.2.0.48_arm64.deb',
+            'libspinvideo_2.2.0.48_arm64.deb',
+            'libspinvideo-c_2.2.0.48_arm64.deb',
+            'libspinvideo-c-dev_2.2.0.48_arm64.deb',
+            'libspinvideo-dev_2.2.0.48_arm64.deb',
+            'spinnaker_2.2.0.48_arm64.deb',
+            'spinnaker-doc_2.2.0.48_arm64.deb',
+            'spinupdate_2.2.0.48_arm64.deb',
+            'spinupdate-dev_2.2.0.48_arm64.deb',
+            'spinview-qt_2.2.0.48_arm64.deb',
+            'spinview-qt-dev_2.2.0.48_arm64.deb'
         ]
     }
 }
 
 
 OS_LIBRARY_VERSION = {
-  'jessie': 'current',
-  'xenial': 'current',
-  'bionic': 'future'
+  'focal': 'current'
 }
 
 arch = sys.argv[1]
@@ -167,8 +118,8 @@ logging.info("Destination folder is %s", destination_folder)
 
 if not os.path.exists(os.path.join(os.getcwd(), "usr/lib/")):
     if not os.path.exists(os.path.join(os.getcwd(), folder_name)):
-        cj = cookielib.CookieJar()
-        opener = urllib2.build_opener(urllib2.HTTPCookieProcessor(cj))
+        cj = http.cookiejar.CookieJar()
+        opener = urllib.request.build_opener(urllib.request.HTTPCookieProcessor(cj))
         opener.addheaders = [
             ('User-agent', 'Mozilla/5.0'),
             ('Referer', 'https://www.ptgrey.com')]
@@ -177,11 +128,12 @@ if not os.path.exists(os.path.join(os.getcwd(), "usr/lib/")):
         resp = opener.open(archive_url)
 
         logging.info("Unpacking tarball.")
-        with tarfile.open(mode="r:gz", fileobj=cStringIO.StringIO(resp.read())) as tar:
+        with tarfile.open(mode="r:gz", fileobj=io.BytesIO(resp.read())) as tar:
             tar.extractall()
 
     logging.info("Unpacking debs.")
-    debs = glob.glob(os.path.join(os.getcwd(), folder_name, "*spinnaker-*.deb"))
+    #debs = glob.glob(os.path.join(os.getcwd(), folder_name, "*spinnaker-*.deb"))
+    debs = glob.glob(os.path.join(os.getcwd(), folder_name, "*.deb"))
     unpack_dir = os.path.join(os.getcwd())
     if not os.path.exists(unpack_dir):
         os.makedirs(unpack_dir)
@@ -190,7 +142,7 @@ if not os.path.exists(os.path.join(os.getcwd(), "usr/lib/")):
         subprocess.call(['dpkg', '--extract', deb, unpack_dir])
 
     # finally, copy the shared libraries into the output folder
-    src_file = os.path.join(unpack_dir, ARCHS[arch]['shared_library'])
+    src_file = os.path.join(unpack_dir, shared_library)
     logging.info('Copying shared library to {0}'.format(destination_folder))
     if not os.path.exists(destination_folder):
         os.makedirs(destination_folder)

diff --git a/spinnaker_camera_driver/include/spinnaker_camera_driver/SpinnakerCamera.h b/spinnaker_camera_driver/include/spinnaker_camera_driver/SpinnakerCamera.h
@@ -48,8 +48,9 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <sensor_msgs/fill_image.h>
 #include <spinnaker_camera_driver/camera_exceptions.h>
 
-#include <sstream>
+#include <memory>
 #include <mutex>
+#include <sstream>
 #include <string>
 
 // Header generated by dynamic_reconfigure

diff --git a/spinnaker_camera_driver/include/spinnaker_camera_driver/diagnostics.h b/spinnaker_camera_driver/include/spinnaker_camera_driver/diagnostics.h
@@ -49,16 +49,19 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <ros/ros.h>
 #include <bondcpp/bond.h>
 
-#include <utility>
+#include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 namespace spinnaker_camera_driver
 {
 class DiagnosticsManager
 {
 public:
-  DiagnosticsManager(const std::string name, const std::string serial, std::shared_ptr<ros::Publisher> const& pub, ros::NodeHandle& nh);
+  DiagnosticsManager(const std::string name, const std::string serial,
+                      std::shared_ptr<ros::Publisher> const& pub,
+                      const ros::NodeHandle& nh);
   ~DiagnosticsManager();
 
   /*!

diff --git a/spinnaker_camera_driver/src/SpinnakerCamera.cpp b/spinnaker_camera_driver/src/SpinnakerCamera.cpp
@@ -346,15 +346,17 @@ void SpinnakerCamera::grabImage(sensor_msgs::Image* image, const std::string& fr
       //  std::string format(image_ptr->GetPixelFormatName());
       //  std::printf("\033[100m format: %s \n", format.c_str());
 
-      //throw std::runtime_error("[SpinnakerCamera::grabImage] Image received from camera " + std::to_string(serial_) +
-      //                         " is incomplete.");
+      //  throw std::runtime_error("[SpinnakerCamera::grabImage] Image received from camera "
+      //                            + std::to_string(serial_)
+      //                            + " is incomplete.");
       while (image_ptr->IsIncomplete())
       {
-        ROS_WARN_STREAM_ONCE("[SpinnakerCamera::grabImage] Image received from camera " << std::to_string(serial_) << " is incomplete. Trying again.");
+        ROS_WARN_STREAM_ONCE("[SpinnakerCamera::grabImage] Image received from camera "
+                              << std::to_string(serial_)
+                              << " is incomplete. Trying again.");
         image_ptr = pCam_->GetNextImage(timeout_);
       }
-
-
+
       // Set Image Time Stamp
       image->header.stamp.sec = image_ptr->GetTimeStamp() * 1e-9;
       image->header.stamp.nsec = image_ptr->GetTimeStamp();
@@ -450,7 +452,6 @@ void SpinnakerCamera::grabImage(sensor_msgs::Image* image, const std::string& fr
       // ROS_INFO_ONCE("\033[93m wxh: (%d, %d), stride: %d \n", width, height, stride);
       fillImage(*image, imageEncoding, height, width, stride, image_ptr->GetData());
       image->header.frame_id = frame_id;
-
     }
     catch (const Spinnaker::Exception& e)
     {