Port to ROS 2 (#44)

* Rename headers
Now with .hpp suffix

* Add linter tests

* Uncrustify

* Lint

* Do not run flake8 linter test

* Add LICENSE and CONTRIBUTING.md
This satisfies the ament_copyright linter.

* Fix deprecation warning

* Use rcutils log macro instead of custom macro

* Use tf2::BufferCoreInterface
Using this abstract interface enables use of the interactive marker client with other buffer implementations.
Also, switched to using shared pointers to avoid potential dangling reference.

* Replace 'init' topic with a ROS service
It seems more intuitive for clients to call a service to get the latest state for interactive
markers, versus subscribing to a latched topic and waiting for the server to publish.

* Add tests for InteractiveMarkerServer

* Add getter for client state
Useful for introspection, especially during testing.

* Add tests for InteractiveMarkerClient

* Merge SingleClient logic into InteractiveMarkerClient.
 Now it is assumed that there is maximum one server per client.
 This helps simplify the implementation.

* Update doc-block comment style

* Renaming of variables for clarity

* Remove old test code and unused single_client.hpp

* Refactor tools docs

* Remove notion of server ID

* Refactor interactive marker client docs

* Update copyright license

* Make shared library

* Add feedback publisher to client

* Implement client request timeout

If a response for the request isn't received within the provided timeout, then try again.

* Add logic for 'extrapolation into future' error

Rename custom exception and throw it in replace of tf2 exceptions.

* Default to C++14 and set stricter compiler flags
Fix compiler warnings

* Fix Windows compiler warnings

* Remove StateMachine class
The functionality it provided is not needed.

* Fix Clang warnings

* Move message context header into same directory as other headers

* Use visibility macros

CMakeLists.txt

@@ -1,67 +1,92 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(interactive_markers)
-find_package(catkin REQUIRED 
-  rosconsole
-  roscpp
-  rospy
-  rostest
-  std_msgs
-  tf
-  visualization_msgs
-)
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES interactive_markers
-  CATKIN_DEPENDS roscpp rosconsole rospy tf visualization_msgs
-)
-catkin_python_setup()
 
-include_directories(include ${catkin_INCLUDE_DIRS})
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-add_library(${PROJECT_NAME} 
-src/interactive_marker_server.cpp
-src/tools.cpp
-src/menu_handler.cpp
-src/interactive_marker_client.cpp
-src/single_client.cpp
-src/message_context.cpp
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rmw REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+  src/interactive_marker_server.cpp
+  src/tools.cpp
+  src/menu_handler.cpp
+  src/interactive_marker_client.cpp
+  src/message_context.cpp
+)
+target_include_directories(${PROJECT_NAME} PUBLIC include)
+ament_target_dependencies(${PROJECT_NAME}
+  "rclcpp"
+  "rmw"
+  "tf2"
+  "tf2_geometry_msgs"
+  "visualization_msgs")
 
 install(TARGETS ${PROJECT_NAME}
-  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-install(DIRECTORY include/interactive_markers/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h")
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
-# C++ Unit Tests
-#
-if(CATKIN_ENABLE_TESTING)
-  include_directories(${GTEST_INCLUDE_DIRS})
+install(
+  DIRECTORY include/
+  DESTINATION include)
 
-  add_executable(server_test EXCLUDE_FROM_ALL src/test/server_test.cpp)
-  target_link_libraries(server_test ${PROJECT_NAME} ${GTEST_LIBRARIES})
-  add_dependencies(tests server_test)
-  add_rostest(test/cpp_server.test)
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE "INTERACTIVE_MARKERS_BUILDING_LIBRARY")
 
-  add_executable(client_test EXCLUDE_FROM_ALL src/test/client_test.cpp)
-  target_link_libraries(client_test ${PROJECT_NAME} ${GTEST_LIBRARIES})
-  add_dependencies(tests client_test)
-  add_rostest(test/cpp_client.test)
+ament_export_dependencies("rclcpp")
+ament_export_dependencies("rmw")
+ament_export_dependencies("tf2")
+ament_export_dependencies("tf2_geometry_msgs")
+ament_export_dependencies("visualization_msgs")
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
 
-  add_executable(server_client_test EXCLUDE_FROM_ALL src/test/server_client_test.cpp)
-  target_link_libraries(server_client_test ${PROJECT_NAME} ${GTEST_LIBRARIES})
-  add_dependencies(tests server_client_test)
-  add_rostest(test/cpp_server_client.test)
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(geometry_msgs REQUIRED)
+  find_package(std_msgs REQUIRED)
 
-  # Test program to simulate Interactive Marker with missing tf information
-  add_executable(bursty_tf EXCLUDE_FROM_ALL src/test/bursty_tf.cpp)
-  target_link_libraries(bursty_tf ${PROJECT_NAME})
-  add_dependencies(tests bursty_tf)
+  set(ament_cmake_flake8_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
 
-  # Test program to simulate Interactive Marker with wrong tf information
-  add_executable(missing_tf EXCLUDE_FROM_ALL src/test/missing_tf.cpp)
-  target_link_libraries(missing_tf ${PROJECT_NAME})
-  add_dependencies(tests missing_tf)
+  ament_add_gtest(test_interactive_marker_server
+    test/${PROJECT_NAME}/test_interactive_marker_server.cpp
+  )
+  ament_target_dependencies(test_interactive_marker_server
+    "geometry_msgs"
+    "rclcpp"
+    "std_msgs"
+  )
+  target_link_libraries(test_interactive_marker_server
+    ${PROJECT_NAME}
+  )
+
+  ament_add_gtest(test_interactive_marker_client
+    test/${PROJECT_NAME}/test_interactive_marker_client.cpp
+  )
+  ament_target_dependencies(test_interactive_marker_client
+    "geometry_msgs"
+    "rclcpp"
+    "std_msgs"
+    "tf2"
+  )
+  target_link_libraries(test_interactive_marker_client
+    ${PROJECT_NAME}
+  )
 endif()
+
+ament_package()

CONTRIBUTING.md

@@ -0,0 +1,3 @@
+Any contribution that you make to this repository will
+be under the BSD license 2.0, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).

LICENSE

@@ -0,0 +1,32 @@
+Copyright (c) 2012, Willow Garage, Inc.
+Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+All rights reserved.
+
+Software License Agreement (BSD License 2.0)
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * 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.
+ * 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 OWNER 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.