ros-perception · JWhitleyWork · Jul 30, 2020 · Jul 30, 2020
diff --git a/camera_calibration/package.xml b/camera_calibration/package.xml
@@ -7,14 +7,16 @@
      camera_calibration allows easy calibration of monocular or stereo
      cameras using a checkerboard calibration target. 
   </description>
-  <author>James Bowman</author>
-  <author>Patrick Mihelich</author>
+
   <maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steven Macenski</maintainer>
-  <maintainer email="software@autonomoustuff.com">Autonomoustuff team</maintainer>
-
+  <maintainer email="whitleysoftwareservices@gmail.com">Joshua Whitley</maintainer>
   <license>BSD</license>
-  <url>http://www.ros.org/wiki/camera_calibration</url>
+  <url type="website">https://index.ros.org/p/camera_calibration/github-ros-perception-image_pipeline/</url>
+  <url type="bugtracker">https://github.com/ros-perception/image_pipeline/issues</url>
+  <url type="repository">https://github.com/ros-perception/image_pipeline</url>
+  <author>James Bowman</author>
+  <author>Patrick Mihelich</author>
 
   <depend>cv_bridge</depend>
   <depend>image_geometry</depend>

diff --git a/camera_calibration/setup.py b/camera_calibration/setup.py
@@ -5,7 +5,7 @@
 
 setup(
     name=PACKAGE_NAME,
-    version='1.12.23',
+    version='2.2.0',
     packages=["camera_calibration", "camera_calibration.nodes"],
     data_files=[
     ('share/ament_index/resource_index/packages',
@@ -19,8 +19,8 @@
     ],
     zip_safe=True,
     author='James Bowman, Patrick Mihelich',
-    maintainer='Vincent Rabaud, Steven Macenski',
-    maintainer_email='vincent.rabaud@gmail.com, stevenmacenski@gmail.com, software@autonomoustuff.com',
+    maintainer='Vincent Rabaud, Steven Macenski, Joshua Whitley',
+    maintainer_email='vincent.rabaud@gmail.com, stevenmacenski@gmail.com, whitleysoftwareservices@gmail.com',
     keywords=['ROS2'],
     description='Camera_calibration allows easy calibration of monocular or stereo cameras using a checkerboard calibration target .',
     license='BSD',

diff --git a/depth_image_proc/CMakeLists.txt b/depth_image_proc/CMakeLists.txt
@@ -10,29 +10,19 @@ 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(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(cv_bridge REQUIRED)
-find_package(tf2_eigen REQUIRED)
-find_package(image_geometry REQUIRED)
-find_package(image_transport REQUIRED)
-find_package(message_filters REQUIRED)
-find_package(class_loader REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(stereo_msgs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_ros REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 find_package(Eigen3 QUIET)
 if(NOT EIGEN3_FOUND)
   find_package(Eigen REQUIRED)
   set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+  include_directories(include ${EIGEN3_INCLUDE_DIRS})
 endif()
+
 find_package(OpenCV REQUIRED)
-include_directories(include ${BOOST_INCLUDE_DIRS} ${rclcpp_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
 
-add_library(${PROJECT_NAME} SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/convert_metric.cpp
   src/crop_foremost.cpp
   src/disparity.cpp
@@ -43,47 +33,24 @@ add_library(${PROJECT_NAME} SHARED
   src/point_cloud_xyzi_radial.cpp
   src/register.cpp
 )
-ament_target_dependencies(${PROJECT_NAME}
-  "image_transport"
-  "image_geometry"
-  "cv_bridge"
-  "class_loader"
-  "message_filters"
-  "rclcpp"
-  "rclcpp_components"
-  "tf2_ros"
-  "tf2"
-  "tf2_eigen"
-  "stereo_msgs"
-  "sensor_msgs"
-)
-
-rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::ConvertMetricNode")
-rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::CropForemostNode")
-rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::DisparityNode")
-rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyzNode")
-rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyzRadialNode")
-rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyziNode")
-rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyziRadialNode")
-rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::PointCloudXyzrgbNode")
-rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::RegisterNode")
-
-target_link_libraries(${PROJECT_NAME} ${ament_LIBRARIES} ${OpenCV_LIBRARIES})
 
-install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION include/${PROJECT_NAME}
-    FILES_MATCHING PATTERN "*.h")
-
-install(TARGETS ${PROJECT_NAME}
-        DESTINATION lib
-)
-install(DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME}/
+rclcpp_components_register_nodes(${PROJECT_NAME}
+  "${PROJECT_NAME}::ConvertMetricNode"
+  "${PROJECT_NAME}::CropForemostNode"
+  "${PROJECT_NAME}::DisparityNode"
+  "${PROJECT_NAME}::PointCloudXyzNode"
+  "${PROJECT_NAME}::PointCloudXyzRadialNode"
+  "${PROJECT_NAME}::PointCloudXyziNode"
+  "${PROJECT_NAME}::PointCloudXyziRadialNode"
+  "${PROJECT_NAME}::PointCloudXyzrgbNode"
+  "${PROJECT_NAME}::RegisterNode"
 )
 
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+ament_auto_package(INSTALL_TO_SHARE launch)
diff --git a/depth_image_proc/package.xml b/depth_image_proc/package.xml
@@ -1,4 +1,6 @@
-<package format="2">
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>depth_image_proc</name>
   <version>2.1.0</version>
   <description>
@@ -9,41 +11,35 @@
      a depth image into another camera frame.
 
   </description>
-  <author>Patrick Mihelich</author>
+
   <maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steven Macenski</maintainer>
-  <maintainer email="software@autonomoustuff.com">Autonomoustuff team</maintainer>
+  <maintainer email="whitleysoftwareservices@gmail.com">Joshua Whitley</maintainer>
   <maintainer email="chris.ye@intel.com">Chris Ye</maintainer>
   <license>BSD</license>
-  <url>http://ros.org/wiki/depth_image_proc</url>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <url type="website">https://index.ros.org/p/depth_image_proc/github-ros-perception-image_pipeline/</url>
+  <url type="bugtracker">https://github.com/ros-perception/image_pipeline/issues</url>
+  <url type="repository">https://github.com/ros-perception/image_pipeline</url>
+  <author>Patrick Mihelich</author>
 
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>tf2_eigen</build_depend>
-  <build_depend>image_geometry</build_depend>
-  <build_depend>image_transport</build_depend>
   <build_depend>message_filters</build_depend>
   <build_depend>class_loader</build_depend>
-  <build_depend>rclcpp</build_depend>
-  <build_depend>rclcpp_components</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>stereo_msgs</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_ros</build_depend>
-
-  <exec_depend>cv_bridge</exec_depend>
-  <exec_depend>tf2_eigen</exec_depend>
-  <exec_depend>image_geometry</exec_depend>
-  <exec_depend>image_transport</exec_depend>
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>rclcpp_components</exec_depend>
-  <exec_depend>tf2</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
+
+  <depend>cv_bridge</depend>
+  <depend>image_geometry</depend>
+  <depend>image_transport</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>sensor_msgs</depend>
+  <depend>stereo_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_eigen</depend>
+  <depend>tf2_ros</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/image_pipeline/CMakeLists.txt b/image_pipeline/CMakeLists.txt
@@ -11,4 +11,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
diff --git a/image_pipeline/package.xml b/image_pipeline/package.xml
@@ -1,31 +1,36 @@
-<package>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>image_pipeline</name>
   <version>2.1.0</version>
   <description>image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.</description>
-  <author>Patrick Mihelich</author>
-  <author>James Bowman</author>
+
   <maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
   <maintainer email="stevenmacenski@gmail.com">Steven Macenski</maintainer>
-  <maintainer email="software@autonomoustuff.com">Autonomoustuff team</maintainer>
+  <maintainer email="whitleysoftwareservices@gmail.com">Joshua Whitley</maintainer>
   <license>BSD</license>
-
-  <url type="website">http://www.ros.org/wiki/image_pipeline</url>
+  <url type="website">https://index.ros.org/p/image_pipeline/github-ros-perception-image_pipeline/</url>
   <url type="bugtracker">https://github.com/ros-perception/image_pipeline/issues</url>
   <url type="repository">https://github.com/ros-perception/image_pipeline</url>
+  <author>Patrick Mihelich</author>
+  <author>James Bowman</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <!-- stack contents -->
-  <run_depend>camera_calibration</run_depend>
-  <run_depend>depth_image_proc</run_depend>
-  <run_depend>image_proc</run_depend>
-  <run_depend>image_publisher</run_depend>
-  <run_depend>image_rotate</run_depend>
-  <!-- <run_depend>image_view</run_depend> -->
-  <!-- <run_depend>stereo_image_proc</run_depend> -->
+  <exec_depend>camera_calibration</exec_depend>
+  <exec_depend>depth_image_proc</exec_depend>
+  <exec_depend>image_proc</exec_depend>
+  <exec_depend>image_publisher</exec_depend>
+  <exec_depend>image_rotate</exec_depend>
+  <exec_depend>image_view</exec_depend>
+  <exec_depend>stereo_image_proc</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-
 </package>