Updates for ros2 template

ros_package_template/CMakeLists.txt

@@ -9,52 +9,25 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 ## enforcing cleaner code.
 add_definitions(-Wall -Werror)
 
-## Find catkin macros and libraries
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
+#######################
+## Find dependencies ##
+#######################
 
-## Find system libraries
-find_package(Eigen3 REQUIRED)
-find_package(Boost REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 ###########
 ## Build ##
 ###########
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  # Set manually because Eigen sets a non standard INCLUDE DIR
-  ${EIGEN3_INCLUDE_DIR}
-  # Set because Boost is an internal dependency, not transitive.
-  ${Boost_INCLUDE_DIRS}
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/algorithm.cpp
+  src/ros_package_template.cpp
 )
 
-## Declare a cpp library
-add_library(${PROJECT_NAME}_core
-   src/Algorithm.cpp
-)
-target_compile_features(${PROJECT_NAME}_core INTERFACE cxx_std_14)
-
-## Declare cpp executables
-add_executable(${PROJECT_NAME}
-  src/${PROJECT_NAME}_node.cpp
-  src/RosPackageTemplate.cpp
-)
-target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_14)
-ament_target_dependencies(${PROJECT_NAME} rclcpp sensor_msgs)
-
-#############
-## Install ##
-#############
-
-# Mark executables and/or libraries for installation
-install(
-  TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_core
-  DESTINATION lib/${PROJECT_NAME}
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN ${PROJECT_NAME}::RosPackageTemplate
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 #############
@@ -66,4 +39,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+#############
+## Install ##
+#############
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  config
+  launch
+)

ros_package_template/config/template.yaml

@@ -0,0 +1,3 @@
+/template_node:
+  ros__parameters:
+    use_sim_time: false

ros_package_template/include/ros_package_template/Algorithm.hpp → ros_package_template/include/ros_package_template/algorithm.hpp

@@ -1,17 +1,17 @@
 #pragma once
 
+#include <eigen3/Eigen/Eigen>
 #include <memory>
 
-#include <Eigen/Core>
-
-namespace ros_package_template {
+namespace ros_package_template
+{
 
 /*!
  * Class containing the algorithmic part of the package.
  */
 class Algorithm
 {
- public:
+public:
   /*!
    * Constructor.
    */
@@ -32,21 +32,20 @@ class Algorithm
    * Add multiple measurements as once.
    * @param data new data.
    */
-  void addData(const Eigen::VectorXd& data);
+  void addData(const Eigen::VectorXd & data);
 
   /*!
    * Get the computed average of the data.
    * @return the average of the data.
    */
   double getAverage() const;
 
- private:
-
+private:
   //! Forward declared structure that will contain the data
   struct Data;
 
   //! Pointer to data (pimpl)
   std::unique_ptr<Data> data_;
 };
 
-} /* namespace */
+}  // namespace ros_package_template

ros_package_template/include/ros_package_template/RosPackageTemplate.hpp → ros_package_template/include/ros_package_template/ros_package_template.hpp

@@ -1,28 +1,29 @@
 #pragma once
 
-#include "ros_package_template/Algorithm.hpp"
+#include "ros_package_template/algorithm.hpp"
 
 // ROS2
 #include "rclcpp/rclcpp.hpp"
 
-namespace ros_package_template {
+namespace ros_package_template
+{
 
 /*!
  * Main class for the node to handle the ROS interfacing.
  */
 class RosPackageTemplate : public rclcpp::Node
 {
- public:
+public:
   /*!
    * Constructor.
    * @param nodeHandle the ROS node handle.
    */
-  RosPackageTemplate(const std::string& name);
+  RosPackageTemplate(const rclcpp::NodeOptions & options);
 
-  /*!
+    /*!
    * Destructor.
    */
-  virtual ~RosPackageTemplate();
+    virtual ~RosPackageTemplate();
 };
 
-} /* namespace */
+}  // namespace ros_package_template

ros_package_template/launch/ros_package_template.launch.py

@@ -0,0 +1,22 @@
+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 = os.path.join(
+        get_package_share_directory('ros_package_template'), 'config', 'default.yaml')
+
+    template_node = Node(
+        name='template_node',
+        package='ros_package_template',
+        executable='ros_package_template_node',
+        namespace='',
+        output='screen',
+        parameters=[config],
+        ## Uncomment this line to change log level to DEBUG
+        # arguments=['--ros-args', '--log-level', 'DEBUG'],
+    )
+
+    return LaunchDescription([template_node])

ros_package_template/package.xml

@@ -18,6 +18,8 @@
   <!-- build_depend: dependencies only used in source files -->
   <build_depend>boost</build_depend>
   <!-- depend: build, export, and execution dependency -->
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>eigen</depend>
   <depend>sensor_msgs</depend>
 

ros_package_template/src/algorithm.cpp

@@ -0,0 +1,33 @@
+#include "ros_package_template/algorithm.hpp"
+
+#include <boost/accumulators/accumulators.hpp>
+#include <boost/accumulators/statistics/count.hpp>
+#include <boost/accumulators/statistics/mean.hpp>
+#include <utility>
+
+namespace ros_package_template
+{
+
+using namespace boost::accumulators;
+
+struct Algorithm::Data
+{
+  accumulator_set<double, features<tag::mean, tag::count>> acc;
+};
+
+Algorithm::Algorithm() {data_ = std::make_unique<Data>();}
+
+Algorithm::~Algorithm() = default;
+
+void Algorithm::addData(const double data) {data_->acc(data);}
+
+void Algorithm::addData(const Eigen::VectorXd & data)
+{
+  for (auto i = 0; i < data.size(); ++i) {
+    addData(data[i]);
+  }
+}
+
+double Algorithm::getAverage() const {return count(data_->acc) ? mean(data_->acc) : 0;}
+
+}  // namespace ros_package_template

ros_package_template/src/ros_package_template.cpp

@@ -0,0 +1,24 @@
+#include "ros_package_template/ros_package_template.hpp"
+
+// STD
+#include <string>
+
+namespace ros_package_template
+{
+
+RosPackageTemplate::RosPackageTemplate(const rclcpp::NodeOptions & options)
+: Node("RosPackageTemplateNode", options)
+{
+  RCLCPP_INFO(this->get_logger(), "Starting RosPackageTemplateNode!");
+}
+
+RosPackageTemplate::~RosPackageTemplate() = default;
+
+}  // namespace ros_package_template
+
+#include "rclcpp_components/register_node_macro.hpp"
+
+// Register the component with class_loader.
+// This acts as a sort of entry point, allowing the component to be discoverable when its library
+// is being loaded into a running process.
+RCLCPP_COMPONENTS_REGISTER_NODE(ros_package_template::RosPackageTemplate)

ros_package_template/test/AlgorithmTest.cpp

@@ -32,18 +32,18 @@ TEST(Algorithm, singleDataVector)
   Algorithm algorithm;
   Eigen::VectorXd inputData;
   inputData.resize(2);
-  inputData << inputValue, 3*inputValue;
+  inputData << inputValue, 3 * inputValue;
   algorithm.addData(inputData);
   const double average = algorithm.getAverage();
-  EXPECT_NEAR(2*inputValue, average, 1e-10);
+  EXPECT_NEAR(2 * inputValue, average, 1e-10);
 }
 
 TEST(Algorithm, multipleDataPoints)
 {
   size_t nMeasurements = 100;
   std::vector<double> inputData(nMeasurements);
   double sum = 0.0;
-  for (auto& data : inputData) {
+  for (auto & data : inputData) {
     data = 100.0 * (double)rand() / RAND_MAX;
     sum += data;
   }