Merge branch 'master' into dev/protobuf-package

Author: spiralray

consai2r2_description/CMakeLists.txt

@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.5)
+project(consai2r2_description)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+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(rclcpp REQUIRED)
+
+include_directories(include ${CMAKE_CURRENT_BINARY_DIR})
+add_executable(${PROJECT_NAME}_node
+  src/${PROJECT_NAME}_node.cpp
+)
+ament_target_dependencies(
+  ${PROJECT_NAME}_node
+  "rclcpp"
+  "launch_ros"
+)
+
+
+install(TARGETS ${PROJECT_NAME}_node
+  EXPORT export_${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+install(DIRECTORY
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

consai2r2_description/README.md

@@ -0,0 +1,6 @@
+# consai2r2_description
+共通パラメータを提供する
+## 起動方法
+~~~bash
+ros2 launch consai2r2_description config.launch.py
+~~~

consai2r2_description/config/config.yaml

@@ -0,0 +1,5 @@
+consai2r2_description:
+  ros__parameters:
+    max_id:           15
+    our_side:         'left'
+    our_color:        'blue'

consai2r2_description/launch/config.launch.py

@@ -0,0 +1,36 @@
+# Copyright (c) 2019 SSL-Roots
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+import os
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    config_path = os.path.join(
+        get_package_share_directory('consai2r2_description'), 'config', 'config.yaml')
+
+    return LaunchDescription([
+        Node(
+            package='consai2r2_description', node_executable='consai2r2_description_node',
+            output='screen', parameters=[config_path])
+    ])

consai2r2_description/package.xml

@@ -0,0 +1,21 @@
+<?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>consai2r2_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="macakasit@gmail.com">akshota</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>launch_ros</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

consai2r2_description/src/consai2r2_description_node.cpp

@@ -0,0 +1,44 @@
+// Copyright (c) 2019 SSL-Roots
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+
+class DescriptionNode : public rclcpp::Node
+{
+public:
+  DescriptionNode()
+  : Node("consai2r2_description")
+  {
+    this->declare_parameter("max_id");
+    this->declare_parameter("our_side");
+    this->declare_parameter("our_color");
+  }
+
+private:
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<DescriptionNode>());
+  rclcpp::shutdown();
+  return 0;
+}