Update blackboard

.github/thirdparty.repos

@@ -2,4 +2,8 @@ repositories:
   ThirdParty/EasyNavigation:
     type: git
     url: https://github.com/EasyNavigation/EasyNavigation.git
-    version: rolling
+    version: rolling
+  ThirdParty/octomap_ros:
+    type: git
+    url: https://github.com/estherag/octomap_ros.git
+    version: ros2

.github/workflows/rolling.yaml

@@ -31,17 +31,18 @@ jobs:
           package-name: easynav_octomap_maps_builder
           target-ros2-distro: rolling
           vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
+          skip-tests: true
           colcon-defaults: |
-                      {
-                        "test": {
-                          "parallel-workers" : 1
-                        }
-                      }
-          colcon-mixin-name: coverage-gcc
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              }
+            }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
 
       - name: Codecov
-        uses: codecov/codecov-action@v5.4.2
+        uses: codecov/codecov-action@v5.4.0
         with:
           files: ros_ws/lcov/total_coverage.info
           flags: unittests

README.md

@@ -11,10 +11,12 @@ The `OctomapMapsBuilderNode` subscribes to sensor point cloud topics, processes
 
 ## Installation
 
-Clone the repository into your ROS 2 workspace:
+Clone the repository into your ROS 2 workspace. Temporarilly you will need to install octomap-ros from a ThirdParties:
+
 ```bash
 cd ~/ros2_ws/src
 git clone https://github.com/EasyNavigation/easynav_octomap_stack.git
+vcs import < easynav_octomap_stack/thirdparty.repos
 cd ..
 rosdep install --from-paths src --ignore-src -r -y
 colcon build --packages-select easynav_octomap_maps_builder
@@ -26,16 +28,33 @@ Source your workspace:
 ```bash
 source ~/ros2_ws/install/setup.bash
 ```
-Run the lifecycle node:
-```bash
-ros2 run easynav_octomap_maps_builder octomap_maps_builder_node
+
+Create a parameter YAML file (e.g., `params.yaml`) with the following content:
+
+```yaml
+octomap_maps_builder_node:
+  ros__parameters:
+    use_sim_time: true
+    sensors: [map]
+    downsample_resolution: 0.1
+    perception_default_frame: map
+    map:
+      topic: map
+      type: sensor_msgs/msg/PointCloud2
+      group: points
+```
+
+Run the node using the parameter file with this command:
+```
+ros2 run easynav_octomap_maps_builder octomap_maps_builder_main \
+--ros-args --params-file src/easynav_octomap_stack/params.yaml
 ```
 
 ## Parameters
 
 | Parameter               | Type   | Default      | Description                                    |
 |-------------------------|--------|--------------|------------------------------------------------|
-| `sensor_topic`          | string | `"map"`      | Topic name for incoming sensor point clouds.  |
+| `sensors`          | list | -      | Topic names for incoming sensor point clouds.  |
 | `downsample_resolution` | double | `1.0`        | Downsampling resolution for input point clouds.|
 | `perception_default_frame` | string | `"map"`  | Default target frame for perception fusion.   |
 | `sensor_model.max_range`| double | `90.0`       | Maximum sensor range for raycasting.           |
@@ -46,3 +65,4 @@ ros2 run easynav_octomap_maps_builder octomap_maps_builder_node
 | `publish_binary_map`    | bool   | `true`       | Enable publishing of binary octomap message.   |
 | `publish_full_map`      | bool   | `true`       | Enable publishing of full octomap message.     |
 | `world_frame_id`        | string | `"map"`      | Global coordinate frame for map integration.   |
+

easynav_octomap_maps_builder/CMakeLists.txt

@@ -1,83 +1,86 @@
 cmake_minimum_required(VERSION 3.20)
 project(easynav_octomap_maps_builder)
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
-# Dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 find_package(easynav_common REQUIRED)
 find_package(octomap_msgs REQUIRED)
 find_package(octomap_ros REQUIRED)
 find_package(pcl_conversions REQUIRED)
 find_package(pcl_ros REQUIRED)
 find_package(visualization_msgs REQUIRED)
-
 find_package(PCL REQUIRED)
-include_directories(${PCL_INCLUDE_DIRS})
-
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
 find_package(OCTOMAP REQUIRED)
 
-
-set(dependencies
-  rclcpp
-  rclcpp_lifecycle
-  sensor_msgs
-  tf2
-  tf2_ros
-  octomap_ros
-  octomap_msgs
-  pcl_conversions
-  pcl_ros
-  easynav_common
-)
-
-
-include_directories(include)
-
-
-# Library
+# Main library
 add_library(${PROJECT_NAME} SHARED
   src/easynav_octomap_maps_builder/OctomapMapsBuilderNode.cpp
 )
-ament_target_dependencies(${PROJECT_NAME} ${dependencies})
 
-target_link_libraries(${PROJECT_NAME}
-  ${OCTOMAP_LIBRARIES}
-  ${PCL_LIBRARIES}
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+  ${octomap_ros_INCLUDE_DIRS}
 )
 
-# Executable
-add_executable(octomap_maps_builder_main src/octomap_maps_builder_main.cpp)
-ament_target_dependencies(octomap_maps_builder_main ${dependencies})
-target_link_libraries(octomap_maps_builder_main ${PROJECT_NAME})
-
-# Install headers
-install(DIRECTORY include/
-  DESTINATION include/
+# Link against ROS2 targets and external libs
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ${octomap_msgs_TARGETS}
+  ${octomap_ros_TARGETS}
+  ${sensor_msgs_TARGETS}
+  ${visualization_msgs_TARGETS}
+  ${OCTOMAP_LIBRARIES}
+  ${OCTOMATH_LIBRARIES}
+  easynav_common::easynav_common
+  pcl_conversions::pcl_conversions
+  pcl_ros::bag_to_pcd_lib
+  pcl_ros::combined_pointcloud_to_pcd_lib
+  pcl_ros::pcd_to_pointcloud_lib
+  pcl_ros::pcl_ros_filter
+  pcl_ros::pcl_ros_filters
+  pcl_ros::pcl_ros_tf
+  pcl_ros::pointcloud_to_pcd_lib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  sensor_msgs::sensor_msgs_library
+  tf2::tf2
+  tf2_geometry_msgs::tf2_geometry_msgs
+  tf2_ros::static_transform_broadcaster_node
+  tf2_ros::tf2_ros
 )
 
-# Install targets
-install(TARGETS
-  ${PROJECT_NAME}
-  octomap_maps_builder_main
+# Install library and headers
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
+# Main executable
+add_executable(octomap_maps_builder_main src/octomap_maps_builder_main.cpp)
+target_link_libraries(octomap_maps_builder_main PUBLIC
+  ${PROJECT_NAME}
+)
+
 # Tests
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -89,9 +92,23 @@ if(BUILD_TESTING)
   add_subdirectory(tests)
 endif()
 
-# Export
-ament_export_include_directories(include)
+# Export for downstream
+ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries(${PROJECT_NAME})
-ament_export_dependencies(${dependencies})
+ament_export_targets(export_${PROJECT_NAME})
+ament_export_dependencies(
+  rclcpp
+  rclcpp_lifecycle
+  sensor_msgs
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  easynav_common
+  octomap_msgs
+  octomap_ros
+  pcl_conversions
+  pcl_ros
+  visualization_msgs
+)
 
 ament_package()