commit 23719e5a764ffbde27481ce9e54e96d2ec7912ae Author: caroline Date: Thu Apr 14 16:59:20 2022 +0200 First Commit message diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..bdaf818 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 3.0.2) +project(pcl_tutorial) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + genmsg + pcl_conversions + pcl_ros +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +#add_message_files(FILES Num.msg) + +## Generate services in the 'srv' folder +#add_service_files(FILES AddTwoInts.srv) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES pcl_tutorial +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/pcl_tutorial.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/pcl_tutorial_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_pcl_tutorial.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) + +add_executable(talker src/pub_and_sub.cpp) +target_link_libraries(talker ${catkin_LIBRARIES}) +add_dependencies(talker pcl_tutorial_generate_messages_cpp) + +add_executable(initial_processing src/initial_processing.cpp) +target_link_libraries(initial_processing ${catkin_LIBRARIES}) +add_dependencies(initial_processing pcl_tutorial_generate_messages_cpp) + + + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..df25d3f --- /dev/null +++ b/package.xml @@ -0,0 +1,70 @@ + + + pcl_tutorial + 0.0.0 + The pcl_tutorial package + + + + + caroline + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + libpcl-all-dev + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + libpcl-all + + + + + + + + diff --git a/src/initial_processing.cpp b/src/initial_processing.cpp new file mode 100755 index 0000000..1430044 --- /dev/null +++ b/src/initial_processing.cpp @@ -0,0 +1,60 @@ +#include "ros/ros.h" +#include "std_msgs/String.h" +#include "std_msgs/Bool.h" +#include "std_msgs/Float32.h" + + +#include +#include + +#include +#include +#include +#include +#include + +/* +TBD: get to know typedef such as stringstream + */ + +// define publisher +ros::Publisher pub; +ros::Publisher visual; + +typedef pcl::PointXYZRGB PointT; + +void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud_msg){ + + + // create pointer to Point Cloud in pcl + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + + // convert ROS message data to point cloud in pcl + pcl::fromROSMsg(*cloud_msg, *cloud); + + // convert to ROS data type + sensor_msgs::PointCloud2 output; + pcl::toROSMsg(*cloud, output); + pub.publish(output); +} + +int main(int argc, char **argv){ + + // specify node name and initialize ROS + ros::init(argc, argv, "image_processing"); + + // first/last node handle does the initialization of node/cleanup of used resources by node + ros::NodeHandle n; + + // create subscriber to receive point cloud + ros::Subscriber sub = n.subscribe("/zed/zed_node/point_cloud/cloud_registered", 1, cloud_cb); + + // create publisher for output processed point cloud + pub = n.advertise("processed_cloud", 1); + + // create publisher for visualising marker + visual = n.advertise ("marker", 1); + + ros::spin(); + +} diff --git a/src/pub_and_sub.cpp b/src/pub_and_sub.cpp new file mode 100644 index 0000000..ce770af --- /dev/null +++ b/src/pub_and_sub.cpp @@ -0,0 +1,52 @@ +#include "ros/ros.h" +#include "std_msgs/String.h" + +#include + +/* +TBD: get to know typedef such as stringstream + */ + +void chatterCallback(const std_msgs::String::ConstPtr& msg){ + ROS_INFO("I heard: [%s]", msg->data.c_str()); +} + +int main(int argc, char **argv){ + + // specify node name + ros::init(argc, argv, "talker"); + ros::init(argc, argv, "listener"); + + // first/last node handle does the initialization of node/cleanup of used resources by node + ros::NodeHandle n; + + // create publisher + // publishes message of type std_msgs/String on topic chatter with given cue size + // NodeHandle::advertise() returns ros::Publisher object containing publish method & unadvertise when going out of scope + ros::Publisher chatter_pub = n.advertise("chatter", 1000); + ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); + // ros::rate object specifies frequency to loop at + // keeps track of how long it has been since last Rate::sleep() call & sleeps for correct amount of time + ros::Rate loop_rate(10); + + int count = 0; + while (ros::ok()){ + std_msgs::String msg; + + std::stringstream ss; + ss << "hello world " << count; + msg.data = ss.str(); + + ROS_INFO("%s", msg.data.c_str()); // replacement for printf/cout + + chatter_pub.publish(msg); + + ros::spinOnce(); // added to make sure that all callbackfunctions get called + + loop_rate.sleep(); // use ros::rate object to sleep for remaining time to hit publish rate + ++count; + } + //broascasting message to anyone who is connected + return 0; + +}