Port usb_cam to ROS2

CMakeLists.txt

@@ -1,72 +1,80 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(usb_cam)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS image_transport roscpp std_msgs std_srvs sensor_msgs camera_info_manager)
+# Default ro C++14
+if(NOT CMAKE_CXX_STANDARD)
+  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 dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rmw_implementation REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
 ## pkg-config libraries
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(avcodec libavcodec REQUIRED)
 pkg_check_modules(swscale libswscale REQUIRED)
 
-###################################################
-## Declare things to be passed to other projects ##
-###################################################
-
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-)
 
 ###########
 ## Build ##
 ###########
 
-include_directories(include
-  ${catkin_INCLUDE_DIRS}
-  ${avcodec_INCLUDE_DIRS}
-  ${swscale_INCLUDE_DIRS}
-)
+include_directories(include)
 
 ## Build the USB camera library
 add_library(${PROJECT_NAME} src/usb_cam.cpp)
-target_link_libraries(${PROJECT_NAME}
-  ${avcodec_LIBRARIES}
-  ${swscale_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
+ament_target_dependencies(${PROJECT_NAME}
+  "rclcpp"
+  "rmw_implementation"
+  "std_msgs"
+  "std_srvs"
+  "sensor_msgs"
+  "avcodec"
+  "swscale")
+list(APPEND ${PROJECT_NAME}_LIBRARIES "${PROJECT_NAME}")
 
 ## Declare a cpp executable
 add_executable(${PROJECT_NAME}_node nodes/usb_cam_node.cpp)
-target_link_libraries(${PROJECT_NAME}_node
+ament_target_dependencies(${PROJECT_NAME}_node
   ${PROJECT_NAME}
-  ${avcodec_LIBRARIES}
-  ${swscale_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-
+  "rclcpp"
+  "rmw_implementation"
+  "std_msgs"
+  "std_srvs"
+  "sensor_msgs"
+  "avcodec"
+  "swscale")
+target_link_libraries(${PROJECT_NAME}_node
+  avutil)
+
 #############
 ## Install ##
 #############
 
 ## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+install(TARGETS
+  ${PROJECT_NAME}_node
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
 ## Copy launch files
 install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-  FILES_MATCHING PATTERN "*.launch"
+  DESTINATION share/${PROJECT_NAME}
+  FILES_MATCHING PATTERN "*.launch.py" PATTERN "*.yaml"
 )
 
 install(DIRECTORY include/${PROJECT_NAME}/
-   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   DESTINATION include
    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
 )
+
+ament_package()

include/usb_cam/usb_cam.h

@@ -55,7 +55,7 @@ extern "C"
 #include <string>
 #include <sstream>
 
-#include <sensor_msgs/Image.h>
+#include <sensor_msgs/msg/image.hpp>
 
 namespace usb_cam {
 
@@ -81,7 +81,7 @@ class UsbCam {
   void shutdown(void);
 
   // grabs a new image from the camera
-  void grab_image(sensor_msgs::Image* image);
+  void grab_image(sensor_msgs::msg::Image* image);
 
   // enables/disable auto focus
   void set_auto_focus(int value);

launch/test_params.yaml

@@ -0,0 +1,8 @@
+usb_cam:
+  ros__parameters:
+    video_device: "/dev/video0"
+    image_width: 640
+    image_height: 480
+    pixel_format: "yuyv"
+    camera_frame_id: "usb_cam"
+    io_method: "mmap"

launch/usb_cam-test.launch.py

@@ -0,0 +1,14 @@
+import os
+
+import launch
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import ThisLaunchFileDir
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(package='usb_cam', node_executable='usb_cam_node',
+             output='screen', arguments=[['__params:=', ThisLaunchFileDir(), '/test_params.yaml']]),
+        Node(package='image_tools', node_executable='showimage',
+             output='screen', arguments=['-t', '/image_raw', '-r', '0'])
+])