Switched to a cpp package for a better pose display node

Author: hilary-luo

turtlebot4_vision_tutorials/turtlebot4_vision_tutorials/pose_display.py

@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.8)
+project(turtlebot4_vision_tutorials_cpp)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(OpenCV REQUIRED COMPONENTS highgui imgcodecs imgproc videoio)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+add_executable(pose_display src/pose_display.cpp)
+target_include_directories(pose_display PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(pose_display PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+ament_target_dependencies(pose_display rclcpp cv_bridge OpenCV image_transport)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME})
+
+install(TARGETS pose_display
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

turtlebot4_vision_tutorials_cpp/CMakeLists.txt

@@ -21,42 +21,17 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
-
 def generate_launch_description():
-    namespaces = ['tb21', 'tb10']
-    # namespaces = LaunchConfiguration('namespaces')
-
-    # arg_namespaces = DeclareLaunchArgument(
-    #     'namespaces',
-    #     default_value='[tb10, tb11]')
-
-    ffmpeg_nodes = []
-
-    for i, ns in enumerate(namespaces):
-        ffmpeg_nodes.append(
-            Node(
-                package='image_transport',
-                executable='republish',
-                name=f'ffmpeg_decoder{i}',
-                remappings=[
-                    ('in/ffmpeg', f'/{ns}/oakd/rgb/preview/encoded/ffmpeg'),
-                    ('out', f'/{ns}/oakd/rgb/preview/ffmpeg_decoded')],
-                arguments=['ffmpeg', 'raw'],
-            )
-        )
+    namespaces = ['tb11', 'tb12', 'tb13', 'tb14', 'tb15',]
 
     display_node = Node(
-        package='turtlebot4_vision_tutorials',
+        package='turtlebot4_vision_tutorials_cpp',
         executable='pose_display',
         name='pose_display',
         parameters=[{'namespaces': namespaces}],
-
     )
 
     ld = LaunchDescription()
-    # ld.add_action(arg_namespaces)
-    for n in ffmpeg_nodes:
-        ld.add_action(n)
     ld.add_action(display_node)
 
     return ld

turtlebot4_vision_tutorials/launch/pose_display.launch.py renamed to turtlebot4_vision_tutorials_cpp/launch/pose_display.launch.py

@@ -0,0 +1,25 @@
+<?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>turtlebot4_vision_tutorials_cpp</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="hluo@clearpathrobotics.com">hluo</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>cv_bridge</depend>
+  <depend>geometry_msgs</depend>
+  <depend>ffmpeg_image_transport</depend>
+  <depend>image_transport</depend>
+  <depend>libopencv-dev</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>