feat: ros2 migration

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Author: wep21

CMakeLists.txt

@@ -1,68 +1,58 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5z)
 project(octomap_rviz_plugins)
 
-find_package(catkin REQUIRED COMPONENTS octomap_msgs
-                                        roscpp
-                                        rviz
-                                        
-)
-
-find_package(octomap REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread )
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
-set(QT_LIBRARIES Qt5::Widgets)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
+find_package(Qt5 REQUIRED COMPONENTS Widgets)
 set(CMAKE_AUTOMOC ON)
 
-add_definitions(-DQT_NO_KEYWORDS)
-
-catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS octomap_msgs
-                   roscpp
-                   rviz
-    DEPENDS OCTOMAP
+set(octomap_rviz_plugins_headers_to_moc
+  include/octomap_rviz_plugins/occupancy_grid_display.hpp
+  include/octomap_rviz_plugins/occupancy_map_display.hpp
 )
-                                        
-
-include_directories(include 
-                    ${catkin_INCLUDE_DIRS} 
-                    ${Boost_INCLUDE_DIRS} 
-                    ${OCTOMAP_INCLUDE_DIRS})
-
-link_directories(${catkin_LIBRARY_DIRS}
-                 ${Boost_LIBRARY_DIRS}
-                 ${OCTOMAP_LIBRARY_DIRS}) 
 
+foreach(header "${octomap_rviz_plugins_headers_to_moc}")
+  qt5_wrap_cpp(octomap_rviz_plugins_moc_files "${header}")
+endforeach()
 
-set(SOURCE_FILES
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  ${octomap_rviz_plugins_moc_files}
   src/occupancy_grid_display.cpp
-  src/occupancy_map_display.cpp 
+  src/occupancy_map_display.cpp
 )
 
-set(HEADER_FILES
-  include/octomap_rviz_plugins/occupancy_grid_display.h
-  include/octomap_rviz_plugins/occupancy_map_display.h
+target_link_libraries(${PROJECT_NAME}
+  Qt5::Widgets
+  ${OCTOMAP_LIBRARIES}
 )
 
-add_library(${PROJECT_NAME} MODULE ${SOURCE_FILES} ${HEADER_FILES})
-target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${Boost_LIBRARIES} ${OCTOMAP_LIBRARIES} ${catkin_LIBRARIES})
-target_compile_options(${PROJECT_NAME} PUBLIC "-Wno-register") # Avoid OGRE deprecaton warnings under C++17
-
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+target_include_directories(${PROJECT_NAME} PUBLIC
+  ${Qt5Widgets_INCLUDE_DIRS}
 )
 
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "OCTOMAP_RVIZ_PLUGINS_BUILDING_LIBRARY")
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
-install(FILES plugin_description.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ament_auto_package(
+  INSTALL_TO_SHARE
+    icons
 )
 
 

CONTRIBUTING.md

@@ -0,0 +1,18 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).
+
+~~~
+1. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

LICENSE

@@ -0,0 +1,30 @@
+BSD 3-Clause License
+
+Copyright (c) 2013, Willow Garage, Inc.
+Copyright (c) 2018, Bosch Software Innovations GmbH.
+All rights reserved.
+
+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 HOLDER 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.