cpp camera merge to main

.gitignore

@@ -50,7 +50,6 @@ coverage.xml
 .hypothesis/
 .pytest_cache/
 cover/
-
 # Translations
 *.mo
 *.pot
@@ -176,4 +175,7 @@ cython_debug/
 # Ros build ignored
 install
 log
-build
+build
+
+.vscode/
+.DS_Store

scripts/start.bash

@@ -1,8 +1,8 @@
 #!/usr/bin/env bash
 
 source /opt/ros/humble/setup.bash
+colcon build --symlink-install
 [ -f /ws/install/setup.bash ] && source /ws/install/setup.bash
 [ -f /ws/.venv/bin/activate ] && source /ws/.venv/bin/activate
 
-colcon build
 ros2 launch autonomous_kart bringup_sim.launch.py

src/autonomous_kart/autonomous_kart/launch/bringup_pi.launch.py

@@ -36,7 +36,7 @@ def generate_launch_description():
                         parameters=[steering_yaml],
                     ),
                     Node(
-                        package="autonomous_kart",
+                        package="autonomous_kart_cpp",
                         executable="camera_node",
                         name="camera_node",
                         parameters=[camera_yaml],

src/autonomous_kart/autonomous_kart/launch/bringup_sim.launch.py

@@ -39,7 +39,7 @@ def generate_launch_description():
                         parameters=[steering_yaml],
                     ),
                     Node(
-                        package="autonomous_kart",
+                        package="autonomous_kart_cpp",
                         executable="camera_node",
                         name="camera_node",
                         parameters=[camera_yaml],

src/autonomous_kart/autonomous_kart/params/pathfinder.yaml

@@ -24,4 +24,4 @@ pathfinder_node:
 
     approach_dist_m: 1.0                 # Nav2: approach_velocity_scaling_dist (m)
     min_approach_speed_pct: 0.05         # like min_approach_linear_velocity / v_max
-
+

src/autonomous_kart/setup.py

@@ -1,20 +1,20 @@
 from glob import glob
 from setuptools import setup
 
-package_name = 'autonomous_kart'
+package_name = "autonomous_kart"
 
 setup(
     name=package_name,
     version="0.0.1",
     packages=[
-        'autonomous_kart',
-        'autonomous_kart.nodes',
-        'autonomous_kart.nodes.motor',
-        'autonomous_kart.nodes.steering',
-        'autonomous_kart.nodes.camera',
-        'autonomous_kart.nodes.gps',
-        'autonomous_kart.nodes.pathfinder',
-        'autonomous_kart.nodes.opencv_pathfinder',
+        "autonomous_kart",
+        "autonomous_kart.nodes",
+        "autonomous_kart.nodes.motor",
+        "autonomous_kart.nodes.steering",
+        # "autonomous_kart.nodes.camera",
+        "autonomous_kart.nodes.gps",
+        "autonomous_kart.nodes.pathfinder",
+        "autonomous_kart.nodes.opencv_pathfinder",
         'autonomous_kart.nodes.e_comms',
         'autonomous_kart.nodes.3dgs_localization',
         'autonomous_kart.nodes.metrics',
@@ -23,14 +23,17 @@
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
-        ("share/" + package_name + "/launch", glob("autonomous_kart/launch/*.py")),  # Fixed path
+        (
+            "share/" + package_name + "/launch",
+            glob("autonomous_kart/launch/*.py"),
+        ),  # Fixed path
         ("share/" + package_name + "/params", glob("autonomous_kart/params/*.yaml")),
     ],
     install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='Purdue EVC',
-    maintainer_email='shay.manor@gmail.com',
-    license='Apache-2.0',
+    maintainer="Purdue EVC",
+    maintainer_email="shay.manor@gmail.com",
+    license="Apache-2.0",
     description="Package containing all nodes for driving in different states.",
     tests_require=["pytest"],
     entry_points={
@@ -43,9 +46,10 @@
             'opencv_pathfinder_node = autonomous_kart.nodes.opencv_pathfinder.opencv_pathfinder_node:main',
             'e_comms_node = autonomous_kart.nodes.e_comms.e_comms_node:main',
             'steering_node = autonomous_kart.nodes.steering.steering_node:main',
-            'camera_node = autonomous_kart.nodes.camera.camera_node:main',
+            # 'camera_node = autonomous_kart.nodes.camera.camera_node:main',
+            "camera_node = autonomous_kart_cpp.camera_node_cpp:main",
             'metrics_node = autonomous_kart.nodes.metrics.metrics_node:main',
             'master_api = autonomous_kart.nodes.master.master_api:main',
         ],
     },
-)
+)

src/autonomous_kart_cpp/CMakeLists.txt

@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(autonomous_kart_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(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+
+add_executable(camera_node src/camera_node.cpp)
+ament_target_dependencies(camera_node rclcpp sensor_msgs cv_bridge OpenCV)
+
+install(TARGETS camera_node
+  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()

src/autonomous_kart_cpp/package.xml

@@ -0,0 +1,23 @@
+<?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>autonomous_kart_cpp</name>
+  <version>0.0.0</version>
+  <description>Package containing all high performance nodes for driving in different states.</description>
+  <maintainer email="shay.manor@gmail.com">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>OpenCV</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>