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Merge pull request clearpathrobotics#65 from clearpathrobotics/lcamero/customization
Customization Packages
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‎clearpath_customization/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(clearpath_customization)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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install(PROGRAMS
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scripts/generate_bringup
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scripts/generate_description
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY
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project_bringup
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project_description
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎clearpath_customization/LICENSE‎

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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.

‎clearpath_customization/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>clearpath_customization</name>
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<version>0.2.6</version>
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<description>Clearpath customization packages.</description>
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<maintainer email="[email protected]">Luis Camero</maintainer>
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<license>BSD</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎clearpath_customization/project_bringup/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(project_bringup)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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install(DIRECTORY config launch
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎clearpath_customization/project_bringup/LICENSE‎

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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.

‎clearpath_customization/project_bringup/config/device.yaml‎

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/**/device:
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ros__parameters:
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serial_no: "0"
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pointcloud.enable: true

‎clearpath_customization/project_bringup/launch/device.launch.py‎

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from clearpath_config.clearpath_config import ClearpathConfig
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from launch import LaunchDescription
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Node Name, Package and Executable
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name = "device"
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package = "realsense2_camera"
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executable = "realsense2_camera_node"
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# Namespace from Clearpath Config
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namespace = ClearpathConfig('/etc/clearpath/robot.yaml').system.namespace
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extra_namespace = "/extras/device/"
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# Project Directory
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pkg_project_bringup = FindPackageShare('project_bringup')
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# Parameter File
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device_params = PathJoinSubstitution([pkg_project_bringup, 'config', 'device.yaml'])
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# Node
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device_node = Node(
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name=name,
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namespace=namespace + extra_namespace,
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package=package,
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executable=executable,
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parameters=[device_params],
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output='screen',
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)
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# Launch Description
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ld = LaunchDescription()
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ld.add_action(device_node)
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return ld

‎clearpath_customization/project_bringup/launch/project_bringup.launch.py‎

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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Package Directory
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pkg_project_bringup = FindPackageShare('project_bringup')
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# Launch File
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device_launch = PathJoinSubstitution([pkg_project_bringup, 'launch', 'device.launch.py'])
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# Include Launch
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include_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource([device_launch]))
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# Launch Description
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ld = LaunchDescription()
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ld.add_action(include_launch)
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return ld

‎clearpath_customization/project_bringup/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>project_bringup</name>
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<version>0.0.0</version>
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<description>Customization project bringup package</description>
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<maintainer email="[email protected]">Luis Camero</maintainer>
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<license>BSD-3-Clause</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<exec_depend>clearpath_config</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎clearpath_customization/project_description/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(project_description)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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install(DIRECTORY meshes urdf
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DESTINATION share/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

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