-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(gfxtablet_ros)
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
-## 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
- roscpp
- sensor_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# sensor_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## 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 gfxtablet_ros
-# CATKIN_DEPENDS roscpp sensor_msgs
-# DEPENDS system_lib
-)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
- include
- ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/gfxtablet_ros.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
add_executable(gfxtablet_node src/gfxtablet_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(gfxtablet_node
- ${catkin_LIBRARIES}
+target_include_directories(gfxtablet_node PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>)
+target_compile_features(gfxtablet_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
+ament_target_dependencies(
+ gfxtablet_node
+ "rclcpp"
+ "sensor_msgs"
)
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(TARGETS gfxtablet_node
+ DESTINATION lib/${PROJECT_NAME})
-#############
-## Testing ##
-#############
+install(DIRECTORY launch
+ DESTINATION share/${PROJECT_NAME})
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_gfxtablet_ros.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # uncomment the line when a copyright and license is not present in all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # uncomment the line when this package is not in a git repo
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()
<?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
<name>gfxtablet_ros</name>
- <version>2.1.0</version>
+ <version>3.0.0</version>
<description>The gfxtablet_ros package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/gfxtablet_ros</url> -->
-
+ <depend>rclcpp</depend>
+ <depend>sensor_msgs</depend>
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>roscpp</build_depend>
- <build_depend>sensor_msgs</build_depend>
- <build_export_depend>roscpp</build_export_depend>
- <build_export_depend>sensor_msgs</build_export_depend>
- <exec_depend>roscpp</exec_depend>
- <exec_depend>sensor_msgs</exec_depend>
-
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
+ <build_type>ament_cmake</build_type>
</export>
</package>
/*
- gfxtablet_node: A ROS node publishing GfxTablet messages in a Joy message.
+ gfxtablet_node: A ROS 2 node publishing GfxTablet messages in a Joy message.
- Copyright (c) 2016, 2018 Walter Fetter Lages <w.fetter@ieee.org>
+ Copyright (c) 2016, 2018, 2021 Walter Fetter Lages <w.fetter@ieee.org>
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
#include <arpa/inet.h>
#include <errno.h>
+#include <unistd.h>
-#include <ros/ros.h>
-#include <sensor_msgs/Joy.h>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/joy.hpp>
#include <gfxtablet_ros/protocol.h>
int main(int argc,char* argv[])
{
- ros::init(argc,argv,"gfxtablet_node");
- ros::NodeHandle node;
+ rclcpp::init(argc,argv);
+ rclcpp::Node node("gfxtablet_node");
int udp_socket;
if((udp_socket=socket(AF_INET,SOCK_DGRAM,IPPROTO_UDP)) == -1)
{
- ROS_ERROR_STREAM("socket():" << strerror(errno) << "\n");
+ RCLCPP_ERROR_STREAM(node.get_logger(),"socket():" << strerror(errno) << "\n");
return -EXIT_FAILURE;
}
if(bind(udp_socket,(struct sockaddr *)&addr,sizeof(addr)) == -1)
{
- ROS_ERROR_STREAM("bind():" << strerror(errno) << "\n");
+ RCLCPP_ERROR_STREAM(node.get_logger(),"bind():" << strerror(errno) << "\n");
return -EXIT_FAILURE;
}
struct event_packet ev_pkt;
- ros::Publisher pub=node.advertise<sensor_msgs::Joy>("joy",100);
- sensor_msgs::Joy joy;
+ auto pub=node.create_publisher<sensor_msgs::msg::Joy>("joy",100);
+ sensor_msgs::msg::Joy joy;
joy.axes.resize(3);
joy.buttons.resize(2);
- ros::Rate loop(100);
+ rclcpp::Rate loop(100);
// every packet has at least 9 bytes
- while(ros::ok())
+ while(rclcpp::ok())
{
- ros::spinOnce();
+ rclcpp::spin_some(node.get_node_base_interface());
if(recv(udp_socket,&ev_pkt,sizeof(ev_pkt),0) < 9) continue;
if(memcmp(ev_pkt.signature,"GfxTablet",9) != 0)
{
- ROS_WARN_STREAM("\nGot unknown packet on port "
+ RCLCPP_WARN_STREAM(node.get_logger(),"\nGot unknown packet on port "
<< GFXTABLET_PORT << ", ignoring\n");
continue;
}
ev_pkt.version=ntohs(ev_pkt.version);
if(ev_pkt.version != PROTOCOL_VERSION)
{
- ROS_ERROR_STREAM("\nGfxTablet app speaks protocol version " << ev_pkt.version
+ RCLCPP_ERROR_STREAM(node.get_logger(),"\nGfxTablet app speaks protocol version " << ev_pkt.version
<< " but this program speaks version " << PROTOCOL_VERSION
<< ", please update\n");
break;
}
- joy.header.stamp=ros::Time::now();
+ joy.header.stamp=node.now();
joy.axes[0]=double(ntohs(ev_pkt.x))/UINT16_MAX*2.0 - 1.0;
joy.axes[1]=double(ntohs(ev_pkt.y))/UINT16_MAX*2.0 - 1.0;
joy.axes[2]=double(ntohs(ev_pkt.pressure))/UINT16_MAX*2.0 - 1.0;
case EVENT_TYPE_MOTION:
break;
case EVENT_TYPE_BUTTON:
- if(joy.buttons.size() < ev_pkt.button+2) joy.buttons.resize(ev_pkt.button+2);
+ if(joy.buttons.size() < (long unsigned int)ev_pkt.button+2) joy.buttons.resize(ev_pkt.button+2);
joy.buttons[ev_pkt.button+1]=ev_pkt.down;
break;
}
- pub.publish(joy);
+ pub->publish(joy);
}
close(udp_socket);
- pub.shutdown();
return 0;
}
projects / gfxtablet_ros.git / commitdiff