split utils ros packages

README.md

@@ -4,15 +4,36 @@
 [![codecov](https://codecov.io/github/vortexntnu/vortex-utils/graph/badge.svg?token=d6D7d5xNdf)](https://codecov.io/github/vortexntnu/vortex-utils)
 
 This package contains common definitions and often-used utility functions in C++ and Python.
+It consist of the packages `vortex_utils`, `vortex_utils_ros` and `vortex_utils_ros_tf`
 
 # Usage
 
+CMake:
+
+```CMake
+find_package(vortex_utils REQUIRED)
+
+# For ROS utils
+find_package(vortex_utils_ros REQUIRED)
+find_package(vortex_utils_ros_tf REQUIRED)
+```
+For cpp packages link against the target:
+```CMake
+target_link_libraries(my_target vortex_utils)
+
+# ROS libraries
+target_link_libraries(my_target vortex_utils_ros)
+# ROS tf2 transform library
+target_link_libraries(my_target vortex_utils_ros_tf)
+
+```
 In Python, import your desired function/dataclass like for example:
 ```python
 from vortex_utils.python_utils import ssa
 ```
+To import from `vortex_utils_ros`
 ```python
-from vortex_utils.qos_profiles import sensor_data_profile, reliable_profile
+from vortex_utils_ros.qos_profiles import sensor_data_profile, reliable_profile
 ```
 
 In C++, include
@@ -21,10 +42,10 @@ In C++, include
 ```
 for mathematical functions,
 ```C++
-#include <vortex/utils/qos_profiles.hpp>
-```
-for common QoS profile definitions, and
-```C++
 #include <vortex/utils/types.hpp>
 ```
 for common structs like 6DOF `PoseEuler`, `Pose` and `Twist`.
+```C++
+#include <vortex/utils/ros/qos_profiles.hpp>
+```
+for common QoS profile definitions from from `vortex_utils_ros`

CMakeLists.txt → vortex_utils/CMakeLists.txt

@@ -5,15 +5,8 @@ set(CMAKE_CXX_STANDARD 20)
 add_compile_options(-Wall -Wextra -Wpedantic)
 
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-
-include_directories(include)
 
 add_library(${PROJECT_NAME} SHARED
   src/math.cpp)
@@ -23,12 +16,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   $<INSTALL_INTERFACE:include>)
 
 ament_target_dependencies(${PROJECT_NAME} PUBLIC
-  rclcpp
   Eigen3
-  tf2
-  tf2_ros
-  tf2_geometry_msgs
-  geometry_msgs
 )
 
 ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)

cpp_test/CMakeLists.txt → vortex_utils/cpp_test/CMakeLists.txt

@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 3.8)
 
 find_package(GTest REQUIRED)
+find_package(Eigen3 REQUIRED)
 include(GoogleTest)
 
 set(TEST_BINARY_NAME ${PROJECT_NAME}_test)
@@ -9,7 +10,6 @@ add_executable(
     test_math.cpp
     test_types.cpp
     test_concepts.cpp
-    test_ros_conversions.cpp
 )
 
 target_link_libraries(
@@ -23,26 +23,3 @@ target_link_libraries(
 ament_target_dependencies(${TEST_BINARY_NAME} PUBLIC Eigen3)
 
 gtest_discover_tests(${TEST_BINARY_NAME})
-
-set(TEST_BINARY_ROS_NAME ${PROJECT_NAME}_ros_test)
-
-add_executable(
-  ${TEST_BINARY_ROS_NAME}
-  test_ros_transforms.cpp
-)
-
-target_link_libraries(
-  ${TEST_BINARY_ROS_NAME}
-    ${PROJECT_NAME}
-    GTest::GTest
-)
-
-ament_target_dependencies(
-  ${TEST_BINARY_ROS_NAME}
-  rclcpp
-  tf2
-  tf2_ros
-  tf2_geometry_msgs
-)
-
-gtest_discover_tests(${TEST_BINARY_ROS_NAME})

package.xml → vortex_utils/package.xml

@@ -10,15 +10,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <depend>rclcpp</depend>
   <depend>eigen</depend>
   <depend>python3-numpy</depend>
   <depend>python3-scipy</depend>
-  <depend>tf2</depend>
-  <depend>tf2_ros</depend>
-  <depend>tf2_geometry_msgs</depend>
-  <depend>geometry_msgs</depend>
-
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>

py_test/test_utils.py → vortex_utils/py_test/test_utils.py

@@ -3,7 +3,6 @@
 
 import numpy as np
 import pytest
-from geometry_msgs.msg import Pose, Twist
 from gi.repository import Gst
 
 from vortex_utils.gst_utils import H264Decoder
@@ -15,7 +14,6 @@
     quat_to_euler,
     ssa,
 )
-from vortex_utils.ros_converter import pose_from_ros, twist_from_ros
 
 
 def test_ssa_zero():
@@ -285,39 +283,3 @@ def test_h264_decoder_stops_cleanly(decoder):
     assert decoder._pipeline.get_state(0)[1] == Gst.State.NULL, (
         "Decoder did not shut down properly."
     )
-
-
-def test_pose_from_ros():
-    pose_msg = Pose()
-    pose_msg.position.x = 1.0
-    pose_msg.position.y = 2.0
-    pose_msg.position.z = 3.0
-    pose_msg.orientation.x = 0.1
-    pose_msg.orientation.y = 0.2
-    pose_msg.orientation.z = 0.3
-    pose_msg.orientation.w = 0.4
-    euler = quat_to_euler(0.1, 0.2, 0.3, 0.4)
-    pose = pose_from_ros(pose_msg)
-    assert pose.x == 1.0
-    assert pose.y == 2.0
-    assert pose.z == 3.0
-    assert pose.roll == pytest.approx(euler[0], abs=0.01)
-    assert pose.pitch == pytest.approx(euler[1], abs=0.01)
-    assert pose.yaw == pytest.approx(euler[2], abs=0.01)
-
-
-def test_twist_from_ros():
-    twist_msg = Twist()
-    twist_msg.linear.x = 1.0
-    twist_msg.linear.y = 2.0
-    twist_msg.linear.z = 3.0
-    twist_msg.angular.x = 0.1
-    twist_msg.angular.y = 0.2
-    twist_msg.angular.z = 0.3
-    twist = twist_from_ros(twist_msg)
-    assert twist.linear_x == 1.0
-    assert twist.linear_y == 2.0
-    assert twist.linear_z == 3.0
-    assert twist.angular_x == 0.1
-    assert twist.angular_y == 0.2
-    assert twist.angular_z == 0.3

vortex_utils_ros/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.8)
+project(vortex_utils_ros)
+
+set(CMAKE_CXX_STANDARD 20)
+add_compile_options(-Wall -Wextra -Wpedantic)
+
+find_package(ament_cmake REQUIRED)
+find_package(vortex_utils REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+add_library(vortex_utils_ros INTERFACE)
+
+target_include_directories(vortex_utils_ros INTERFACE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+ament_target_dependencies(vortex_utils_ros INTERFACE
+  vortex_utils
+  rclcpp
+  Eigen3
+  geometry_msgs
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS vortex_utils_ros
+  EXPORT vortex_utils_ros_targets
+)
+
+ament_export_targets(vortex_utils_ros_targets)
+
+ament_export_dependencies()
+ament_export_include_directories(include)
+ament_python_install_package(${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  add_subdirectory(py_test)
+  add_subdirectory(cpp_test)
+endif()
+
+ament_package()

vortex_utils_ros/cpp_test/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.8)
+
+find_package(GTest REQUIRED)
+include(GoogleTest)
+
+set(TEST_BINARY_NAME ${PROJECT_NAME}_test)
+
+add_executable(${TEST_BINARY_NAME}
+  test_ros_conversions.cpp
+)
+
+target_link_libraries(${TEST_BINARY_NAME}
+  PRIVATE
+  ${PROJECT_NAME}
+  GTest::GTest
+  GTest::gtest_main
+)
+
+ament_target_dependencies(${TEST_BINARY_NAME} PUBLIC
+  rclcpp
+)
+
+gtest_discover_tests(${TEST_BINARY_NAME})

cpp_test/test_ros_conversions.cpp → vortex_utils_ros/cpp_test/test_ros_conversions.cpp

@@ -8,9 +8,9 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 
-#include "vortex/utils/math.hpp"
-#include "vortex/utils/ros_conversions.hpp"
-#include "vortex/utils/types.hpp"
+#include <vortex/utils/math.hpp>
+#include <vortex/utils/types.hpp>
+#include "vortex/utils/ros/ros_conversions.hpp"
 
 struct HasEulerPose {
     double x = 0, y = 0, z = 0;

include/vortex/utils/ros_conversions.hpp → vortex_utils_ros/include/vortex/utils/ros/ros_conversions.hpp

@@ -14,9 +14,9 @@
 #include <geometry_msgs/msg/pose_with_covariance.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 
-#include "concepts.hpp"
-#include "math.hpp"
-#include "types.hpp"
+#include <vortex/utils/concepts.hpp>
+#include <vortex/utils/math.hpp>
+#include <vortex/utils/types.hpp>
 
 namespace vortex::utils::ros_conversions {
 

vortex_utils_ros/package.xml

@@ -0,0 +1,27 @@
+<?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>vortex_utils_ros</name>
+  <version>0.0.0</version>
+  <description>Package containing ROS utility functions and data structures.</description>
+  <maintainer email="jorgen.fjermedal@hotmail.com">jorgenfj</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>vortex_utils</depend>
+  <depend>eigen</depend>
+  <depend>python3-numpy</depend>
+  <depend>python3-scipy</depend>
+  <depend>geometry_msgs</depend>
+
+
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

vortex_utils_ros/py_test/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.8)
+
+find_package(ament_cmake_pytest REQUIRED)
+set(_pytest_tests
+    test_utils_ros.py
+)
+foreach(_test_path ${_pytest_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+        APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+endforeach()

vortex_utils_ros/py_test/test_utils_ros.py

@@ -0,0 +1,41 @@
+import pytest
+from geometry_msgs.msg import Pose, Twist
+
+from vortex_utils.python_utils import quat_to_euler
+from vortex_utils_ros.ros_converter import pose_from_ros, twist_from_ros
+
+
+def test_pose_from_ros():
+    pose_msg = Pose()
+    pose_msg.position.x = 1.0
+    pose_msg.position.y = 2.0
+    pose_msg.position.z = 3.0
+    pose_msg.orientation.x = 0.1
+    pose_msg.orientation.y = 0.2
+    pose_msg.orientation.z = 0.3
+    pose_msg.orientation.w = 0.4
+    euler = quat_to_euler(0.1, 0.2, 0.3, 0.4)
+    pose = pose_from_ros(pose_msg)
+    assert pose.x == 1.0
+    assert pose.y == 2.0
+    assert pose.z == 3.0
+    assert pose.roll == pytest.approx(euler[0], abs=0.01)
+    assert pose.pitch == pytest.approx(euler[1], abs=0.01)
+    assert pose.yaw == pytest.approx(euler[2], abs=0.01)
+
+
+def test_twist_from_ros():
+    twist_msg = Twist()
+    twist_msg.linear.x = 1.0
+    twist_msg.linear.y = 2.0
+    twist_msg.linear.z = 3.0
+    twist_msg.angular.x = 0.1
+    twist_msg.angular.y = 0.2
+    twist_msg.angular.z = 0.3
+    twist = twist_from_ros(twist_msg)
+    assert twist.linear_x == 1.0
+    assert twist.linear_y == 2.0
+    assert twist.linear_z == 3.0
+    assert twist.angular_x == 0.1
+    assert twist.angular_y == 0.2
+    assert twist.angular_z == 0.3