First ROS2 (Galactic) version

ajtudela · Dec 12, 2022 · ec3c07d · ec3c07d
1 parent 0b12a96
commit ec3c07d
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Showing 24 changed files with 812 additions and 1,011 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package object_detection_openvino
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.0 (12-12-2022)
+------------------
+* First ROS2 (Galactic) version.
+
 3.2.2 (26-05-2022)
 ------------------
 * Improve documentation.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,78 +1,57 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(object_detection_openvino)
 
-# Boost
-find_package(Boost REQUIRED)
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    #add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-# OpenCV
-find_package(OpenCV 3 REQUIRED COMPONENTS core imgproc imgcodecs highgui QUIET)
+################################################
+## Find  dependencies                         ##
+################################################
+## Find ament macros and libraries
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(message_filters REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(pcl_ros REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(Boost REQUIRED)
 
 # Ngraph and InferenceEngine
 find_package(ngraph REQUIRED)
-find_package(InferenceEngine 2.0 REQUIRED)
+find_package(InferenceEngine 2021.4.1 REQUIRED)
 if(NOT(InferenceEngine_FOUND))
     message(WARNING "InferenceEngine is disabled or not found.")
     return()
 else()
     include_directories(${InferenceEngine_INCLUDE_DIRS}/../samples/cpp/common/)
-    #include_directories(${InferenceEngine_INCLUDE_DIRS}/../samples/cpp/common/utils/include/)
+    include_directories(${InferenceEngine_INCLUDE_DIRS}/../samples/cpp/common/utils/include/)
 endif()
 
 if(TARGET IE::ie_cpu_extension)
     add_definitions(-DWITH_EXTENSIONS)
 endif()
 
-# Find catkin macros and libraries
-find_package(catkin REQUIRED COMPONENTS
-    roscpp
-    nodelet
-    std_msgs
-    sensor_msgs
-    geometry_msgs
-    cv_bridge
-    image_transport
-    message_filters
-    vision_msgs
-    pcl_ros
-    pcl_conversions
-)
-
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-###################################
-## catkin specific configuration ##
-###################################
-# The catkin_package macro generates cmake config files for your package
-# Declare things to be passed to dependent projects
-catkin_package(
-    INCLUDE_DIRS include
-    CATKIN_DEPENDS
-        roscpp
-        nodelet
-        std_msgs
-        sensor_msgs
-        geometry_msgs
-        cv_bridge
-        image_transport
-        message_filters
-        vision_msgs
-        pcl_ros
-        pcl_conversions
-    DEPENDS Boost
-)
-
 ###########
 ## Build ##
 ###########
-
-# Specify additional locations of header files
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
 include_directories(
-	include
-	${catkin_INCLUDE_DIRS}
-	${Boost_INCLUDE_DIRS}
+    include
+    ${Boost_INCLUDE_DIRS}
+    ${InferenceEngine_INCLUDE_DIRS}
 )
 
 # Set SOURCES
@@ -81,29 +60,30 @@ set(SOURCES
     src/openvino.cpp
 )
 
-# Declare a C++ executable 
-add_executable(${PROJECT_NAME}_node ${SOURCES} src/objectDetectionVPU_node.cpp)
-
-# Declare a C++ library
-add_library(${PROJECT_NAME}_nodelet ${SOURCES} src/objectDetectionVPU_nodelet.cpp)
-
-# Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_node
-    PRIVATE 
-    ${InferenceEngine_LIBRARIES}
-    ${OpenCV_LIBRARIES}
-    ${NGRAPH_LIBRARIES}
-    ${Boost_LIBRARIES}
-    ${catkin_LIBRARIES}
+# Executable node
+add_executable (${PROJECT_NAME}
+    ${SOURCES}
+    src/objectDetectionVPU_node.cpp
+)
+ament_target_dependencies(${PROJECT_NAME}
+    rclcpp
+    tf2
+    std_msgs 
+    sensor_msgs
+    vision_msgs
+    image_transport
+    message_filters
+    visualization_msgs
+    cv_bridge
+    pcl_ros
+    pcl_conversions
 )
 
-target_link_libraries(${PROJECT_NAME}_nodelet
-    PRIVATE 
+# Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}
     ${InferenceEngine_LIBRARIES}
-    ${OpenCV_LIBRARIES}
     ${NGRAPH_LIBRARIES}
     ${Boost_LIBRARIES}
-    ${catkin_LIBRARIES}
 )
 
 if(TARGET IE::ie_cpu_extension)
@@ -114,26 +94,32 @@ endif()
 #############
 ## Install ##
 #############
-
-# Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}_nodelet
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-## Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-  PATTERN ".svn" EXCLUDE
+    DESTINATION include/${PROJECT_NAME}
+    FILES_MATCHING PATTERN "*.hpp"
+    #   PATTERN ".svn" EXCLUDE
 )
 
-install(FILES nodelet_plugins.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}/
+)
 
-## Mark launch files for installation
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-  FILES_MATCHING PATTERN "*.launch"
+install(DIRECTORY params
+    DESTINATION share/${PROJECT_NAME}/
 )
+
+#############
+## Testing ##
+#############
+if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/...ject_detection_openvino/detectionObject.h → ...ct_detection_openvino/detectionObject.hpp b/...ject_detection_openvino/detectionObject.h → ...ct_detection_openvino/detectionObject.hpp
@@ -1,16 +1,16 @@
 /*
  * DETECTION OBJECT STRUCT
  *
- * Copyright (c) 2020-2021 Alberto José Tudela Roldán <[email protected]>
+ * Copyright (c) 2020-2022 Alberto José Tudela Roldán <[email protected]>
  * 
  * This file is part of object_detection_openvino project.
  * 
  * All rights reserved.
  *
  */
 
-#ifndef DETECTION_OBJECT_H
-#define DETECTION_OBJECT_H
+#ifndef OBJECT_DETECTION_OPENVINO__DETECTION_OBJECT_HPP_
+#define OBJECT_DETECTION_OPENVINO__DETECTION_OBJECT_HPP_
 
 #include <string>
 
@@ -118,12 +118,7 @@ struct DetectionObject{
 	}
 
 	/**
-	 * @brief Relational operator of the confidence of the detected object.
-	 * 
-	 * @param s2 Object to compare to. 
-	 * @return True if the left object has lower confidence than the right one. False, otherwise.
-	 */
-	bool operator<(const DetectionObject &s2) const {
+	 * @brief Relational operator of OBJECT_DETECTION_OPENVINO__YOLO_PARAMS_HPP_bject &s2) const {
 		return this->confidence < s2.confidence;
 	}
 
@@ -138,4 +133,4 @@ struct DetectionObject{
 	}
 };
 
-#endif
+#endif // OBJECT_DETECTION_OPENVINO__DETECTION_OBJECT_HPP_
diff --git a/include/object_detection_openvino/nodeletHelper.h b/include/object_detection_openvino/nodeletHelper.h