move publisher to depthai_bridge

luxonis · Jul 4, 2023 · 2ad686f · 2ad686f
1 parent cee8ae6
commit 2ad686f
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Showing 8 changed files with 18 additions and 10 deletions.
diff --git a/depthai_bridge/CMakeLists.txt b/depthai_bridge/CMakeLists.txt
@@ -37,6 +37,7 @@ find_package(sensor_msgs REQUIRED)
 find_package(stereo_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(vision_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 set(dependencies
   camera_info_manager
@@ -48,6 +49,7 @@ set(dependencies
   stereo_msgs
   std_msgs
   vision_msgs
+  tf2_ros
 )
 
 include_directories(
@@ -62,6 +64,7 @@ file(GLOB LIB_SRC
 "src/ImgDetectionConverter.cpp"
 "src/SpatialDetectionConverter.cpp"
 "src/ImuConverter.cpp"
+"src/TFPublisher.cpp"
 )
 
 add_library(${PROJECT_NAME} SHARED ${LIB_SRC})

diff --git a/...clude/depthai_ros_driver/tf_publisher.hpp → ...ge/include/depthai_bridge/TFPublisher.hpp b/...clude/depthai_ros_driver/tf_publisher.hpp → ...ge/include/depthai_bridge/TFPublisher.hpp
@@ -2,11 +2,15 @@
 #include "tf2_ros/static_transform_broadcaster.h"
 #include "depthai/device/CalibrationHandler.hpp"
 #include "rclcpp/node.hpp"
-namespace depthai_ros_driver{
+
+namespace dai {
+
+namespace ros {
     class TFPublisher{
     public:
         explicit TFPublisher(rclcpp::Node *node, dai::CalibrationHandler handler);
         std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tfPub;
 
     };
+}
 }
diff --git a/depthai_bridge/package.xml b/depthai_bridge/package.xml
@@ -25,6 +25,7 @@
   <depend>std_msgs</depend>
   <depend>stereo_msgs</depend>
   <depend>vision_msgs</depend>
+  <depend>tf2_ros</depend>
 
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>

diff --git a/depthai_ros_driver/src/tf_publisher.cpp → depthai_bridge/src/TFPublisher.cpp b/depthai_ros_driver/src/tf_publisher.cpp → depthai_bridge/src/TFPublisher.cpp
@@ -1,4 +1,4 @@
-#include "depthai_ros_driver/tf_publisher.hpp"
+#include "depthai_bridge/TFPublisher.hpp"
 
 #include "geometry_msgs/msg/quaternion.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
@@ -8,7 +8,8 @@
 #include "tf2/LinearMath/Quaternion.h"
 #include "tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
-namespace depthai_ros_driver {
+namespace dai {
+namespace ros {
 TFPublisher::TFPublisher(rclcpp::Node* node, dai::CalibrationHandler handler) {
     tfPub = std::make_shared<tf2_ros::StaticTransformBroadcaster>(node);
     auto json = handler.eepromToJson();
@@ -66,4 +67,5 @@ TFPublisher::TFPublisher(rclcpp::Node* node, dai::CalibrationHandler handler) {
         tfPub->sendTransform(optical_ts);
     }
 }
-}  // namespace depthai_ros_driver
+}  // namespace ros
+}  // namespace dai
diff --git a/depthai_ros_driver/CMakeLists.txt b/depthai_ros_driver/CMakeLists.txt
@@ -54,7 +54,6 @@ rclcpp_components
 std_srvs
 pluginlib
 bondcpp
-tf2_ros
 )
 
 
@@ -106,7 +105,6 @@ target_link_libraries(
 add_library(
   ${PROJECT_NAME} SHARED
   src/camera.cpp
-  src/tf_publisher.cpp
   src/pipeline/pipeline_generator.cpp
   src/pipeline/base_types.cpp
 )

diff --git a/depthai_ros_driver/include/depthai_ros_driver/camera.hpp b/depthai_ros_driver/include/depthai_ros_driver/camera.hpp
@@ -9,7 +9,7 @@
 #include "rclcpp/node.hpp"
 #include "std_srvs/srv/trigger.hpp"
 #include "bondcpp/bond.hpp"
-#include "depthai_ros_driver/tf_publisher.hpp"
+#include "depthai_bridge/TFPublisher.hpp"
 
 namespace dai {
 class Pipeline;
@@ -49,5 +49,6 @@ class Camera : public rclcpp::Node {
     std::vector<std::unique_ptr<dai_nodes::BaseNode>> daiNodes;
     bool camRunning = false;
     std::unique_ptr<bond::Bond> bond;
+    std::unique_ptr<dai::ros::TFPublisher> tfPub;
 };
 }  // namespace depthai_ros_driver
diff --git a/depthai_ros_driver/package.xml b/depthai_ros_driver/package.xml
@@ -30,7 +30,6 @@
   <depend>depthai_examples</depend>
   <depend>pluginlib</depend>
   <depend>bondcpp</depend>
-  <depend>tf2_ros</depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/depthai_ros_driver/src/camera.cpp b/depthai_ros_driver/src/camera.cpp
@@ -7,7 +7,7 @@
 #include "depthai/device/Device.hpp"
 #include "depthai/pipeline/Pipeline.hpp"
 #include "depthai_ros_driver/pipeline/pipeline_generator.hpp"
-#include "depthai_ros_driver/tf_publisher.hpp"
+#include "depthai_bridge/TFPublisher.hpp"
 
 namespace depthai_ros_driver {
 
@@ -31,7 +31,7 @@ void Camera::onConfigure() {
     //     std::unique_ptr<bond::Bond> bond = std::make_unique<bond::Bond>(this->get_name() + std::string("_bond"), this->get_name(), this->shared_from_this());
     //     bond->start();
     // }
-    auto tf = std::make_shared<TFPublisher>(this, device->readCalibration());
+    tfPub = std::make_unique<dai::ros::TFPublisher>(this, device->readCalibration());
     RCLCPP_INFO(this->get_logger(), "Camera ready!");
 }