starting to convert ros to rclcpp

uf-mil · Jan 2, 2025 · 2d79505 · 2d79505
1 parent 34d4dcf
commit 2d79505
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Showing 3 changed files with 30 additions and 17 deletions.
diff --git a/src/mil_common/mil_passive_sonar/CMakeLists.txt b/src/mil_common/mil_passive_sonar/CMakeLists.txt
@@ -1,12 +1,14 @@
 cmake_minimum_required(VERSION 3.5)
 project(mil_passive_sonar)
 
+find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(Boost REQUIRED)
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
@@ -34,21 +36,32 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   ADD_LINTER_TESTS
 )
 
-#catkin_package(
-#    DEPENDS  # TODO
-#    CATKIN_DEPENDS tf std_msgs message_runtime message_generation rospy
-#    INCLUDE_DIRS # TODO include
-#    LIBRARIES # TODO
-#)
+ament_export_dependencies(
+	rosidl_default_runtime
+	tf2
+	std_msgs
+	geometry_msgs
+	rclcpp
+)
+
+ament_package()
 
-include_directories( ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
 
 # Build sylphase_ros_bridge
-#add_executable(sylphase_sonar_ros_bridge src/sylphase_ros_bridge.cpp)
-#target_link_libraries(sylphase_sonar_ros_bridge ${catkin_LIBRARIES})
-#add_dependencies(sylphase_sonar_ros_bridge ${catkin_EXPORTED_TARGETS})
-#
-#install(PROGRAMS scripts/ping_publisher scripts/ping_printer scripts/ping_logger scripts/ping_plotter scripts/hydrophones DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+add_executable(sylphase_sonar_ros_bridge src/sylphase_ros_bridge.cpp)
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(
+	sylphase_sonar_ros_bridge
+	rclcpp::rclcpp
+	tf2::tf2
+	${std_msgs_TARGETS}
+	${geometry_msgs_TARGETS}
+	${cpp_typesupport_target}
+)
+target_include_directories(sylphase_sonar_ros_bridge PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+)
 
-ament_package()
+install(PROGRAMS scripts/ping_publisher scripts/ping_printer scripts/ping_logger scripts/ping_plotter scripts/hydrophones DESTINATION lib/${PROJECT_NAME})
 
diff --git a/src/mil_common/mil_passive_sonar/package.xml b/src/mil_common/mil_passive_sonar/package.xml
@@ -15,9 +15,9 @@
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>tf</build_depend>
+  <build_depend>tf2</build_depend>
   <!-- Dependencies needed after this package is compiled. -->
-  <exec_depend>tf</exec_depend>
+  <exec_depend>tf2</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>message_generation</exec_depend>

diff --git a/src/mil_common/mil_passive_sonar/src/sylphase_ros_bridge.cpp b/src/mil_common/mil_passive_sonar/src/sylphase_ros_bridge.cpp
@@ -2,8 +2,8 @@
  * and publish it to ROS as a mil_passive_sonar/HydrophoneSamples message
  */
 #include <arpa/inet.h>
-#include <mil_passive_sonar/HydrophoneSamplesStamped.h>
-#include <ros/ros.h>
+#include "mil_passive_sonar/msg/hydrophone_samples_stamped.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 #include <boost/asio.hpp>