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rhaschkerhaschke
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Imported upstream version '2.0.0' of 'upstream'
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-238
lines changed

‎.clang-format

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---
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BasedOnStyle: Google
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ColumnLimit: 120
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MaxEmptyLinesToKeep: 1
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SortIncludes: false
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Standard: Auto
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IndentWidth: 2
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TabWidth: 2
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UseTab: Never
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AccessModifierOffset: -2
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ConstructorInitializerIndentWidth: 2
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NamespaceIndentation: None
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ContinuationIndentWidth: 4
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IndentCaseLabels: true
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IndentFunctionDeclarationAfterType: false
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AlignEscapedNewlinesLeft: false
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AlignTrailingComments: true
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AllowAllParametersOfDeclarationOnNextLine: false
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ExperimentalAutoDetectBinPacking: false
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ObjCSpaceBeforeProtocolList: true
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Cpp11BracedListStyle: false
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AllowShortBlocksOnASingleLine: true
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AllowShortIfStatementsOnASingleLine: false
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AllowShortLoopsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: None
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AllowShortCaseLabelsOnASingleLine: false
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AlwaysBreakTemplateDeclarations: true
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AlwaysBreakBeforeMultilineStrings: false
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BreakBeforeBinaryOperators: false
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BreakBeforeTernaryOperators: false
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BreakConstructorInitializersBeforeComma: true
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BinPackParameters: true
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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DerivePointerBinding: false
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PointerBindsToType: true
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PenaltyExcessCharacter: 50
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PenaltyBreakBeforeFirstCallParameter: 30
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PenaltyBreakComment: 1000
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PenaltyBreakFirstLessLess: 10
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PenaltyBreakString: 100
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PenaltyReturnTypeOnItsOwnLine: 50
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SpacesBeforeTrailingComments: 2
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SpacesInParentheses: false
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SpacesInAngles: false
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SpaceInEmptyParentheses: false
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SpacesInCStyleCastParentheses: false
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SpaceAfterCStyleCast: false
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SpaceAfterControlStatementKeyword: true
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SpaceBeforeAssignmentOperators: true
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# Configure each individual brace in BraceWrapping
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BreakBeforeBraces: Custom
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# Control of individual brace wrapping cases
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BraceWrapping:
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AfterCaseLabel: true
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AfterClass: true
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AfterControlStatement: true
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AfterEnum: true
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AfterFunction: true
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AfterNamespace: true
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AfterStruct: true
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AfterUnion: true
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BeforeCatch: true
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BeforeElse: true
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IndentBraces: false
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...

‎.github/workflows/ci.yaml

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# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
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# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
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name: CI
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on:
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workflow_dispatch:
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pull_request:
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push:
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permissions:
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contents: read
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pages: write
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id-token: write
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jobs:
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ici:
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strategy:
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fail-fast: false
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matrix:
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distro: [humble, rolling]
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include:
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- distro: humble
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env:
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CLANG_TIDY: true
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TARGET_CMAKE_ARGS: >-
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-DCMAKE_BUILD_TYPE=Release
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-DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wold-style-cast"
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env:
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ROS_DISTRO: ${{ matrix.distro }}
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CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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CACHE_PREFIX: "${{ matrix.distro }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
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# perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
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CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
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CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
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CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
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ADDITIONAL_DEBS: ${{ matrix.env.CLANG_TIDY && 'clang' }}
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CLANG_TIDY: ${{ matrix.env.CLANG_TIDY }}
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TARGET_CMAKE_ARGS: ${{ matrix.env.TARGET_CMAKE_ARGS }}
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name: "${{ matrix.distro }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Cache ccache
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uses: rhaschke/cache@main
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
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ccache-${{ env.CACHE_PREFIX }}
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env:
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GHA_CACHE_SAVE: always
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- id: ici
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name: Run industrial_ci
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uses: rhaschke/industrial_ci@master
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- name: Upload clang-tidy fixes (on failure)
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uses: actions/upload-artifact@v4
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if: failure() && steps.ici.outputs.clang_tidy_checks
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with:
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name: clang-tidy-fixes.yaml
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path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml

‎.github/workflows/format.yaml

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# This is a format job. Pre-commit has a first-party GitHub action, so we use
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# that: https://github.com/pre-commit/action
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name: Format
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on:
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workflow_dispatch:
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pull_request:
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push:
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jobs:
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pre-commit:
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name: pre-commit
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runs-on: ubuntu-20.04
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: Install clang-format
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run: sudo apt-get install clang-format
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- uses: pre-commit/[email protected]
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id: precommit
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- name: Upload pre-commit changes
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if: failure() && steps.precommit.outcome == 'failure'
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uses: rhaschke/upload-git-patch-action@main
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with:
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name: pre-commit

‎.pre-commit-config.yaml

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# To use:
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#
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# pre-commit run -a
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#
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# Or:
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#
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# pre-commit install # (runs every time you commit in git)
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#
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# To update this file:
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#
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# pre-commit autoupdate
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#
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# See https://github.com/pre-commit/pre-commit
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repos:
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# Standard hooks
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.6.0
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hooks:
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- id: check-added-large-files
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- id: check-case-conflict
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- id: check-merge-conflict
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- id: check-symlinks
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- id: check-xml
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- id: check-yaml
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- id: debug-statements
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- id: end-of-file-fixer
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- id: mixed-line-ending
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- id: trailing-whitespace
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- repo: https://github.com/psf/black
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rev: 24.4.2
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hooks:
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- id: black
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args: ["--line-length", "100"]
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- repo: local
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hooks:
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- id: clang-format
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name: clang-format
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description: Format files with ClangFormat.
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entry: clang-format
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language: system
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files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
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args: ["-fallback-style=none", "-i"]

‎CHANGELOG.rst

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Changelog for package py_binding_tools
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
2.0.0 (2024-05-25)
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------------------
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* ROS2 migration
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* Contributors: Robert Haschke
9+
510
1.0.0 (2024-03-05)
611
------------------
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* Initial release factored out from https://github.com/ros-planning/moveit/pull/2910

‎CMakeLists.txt

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1-
cmake_minimum_required(VERSION 3.0.2)
1+
cmake_minimum_required(VERSION 3.5)
22
project(py_binding_tools)
33

4-
find_package(catkin REQUIRED
5-
COMPONENTS
6-
geometry_msgs
7-
pybind11_catkin
8-
roscpp
9-
)
10-
11-
# catkin_python_setup()
12-
13-
catkin_package(
14-
INCLUDE_DIRS include
15-
LIBRARIES ${PROJECT_NAME}
16-
CATKIN_DEPENDS geometry_msgs roscpp
17-
)
18-
19-
include_directories(include ${catkin_INCLUDE_DIRS})
4+
find_package(ament_cmake REQUIRED)
5+
find_package(ament_cmake_python REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(geometry_msgs REQUIRED)
8+
find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
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find_package(pybind11_vendor REQUIRED)
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find_package(pybind11 REQUIRED)
2011

21-
add_library(${PROJECT_NAME}
12+
add_library(${PROJECT_NAME} SHARED
2213
src/ros_msg_typecasters.cpp
23-
src/roscpp_initializer.cpp
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src/initializer.cpp
2415
)
25-
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
26-
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${PYTHON_LIBRARIES})
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
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ament_target_dependencies(${PROJECT_NAME} rclcpp geometry_msgs pybind11)
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ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
2723

2824
install(
2925
TARGETS ${PROJECT_NAME}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
31-
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
32-
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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EXPORT ${PROJECT_NAME}Targets
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
3330
)
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install(DIRECTORY include/${PROJECT_NAME}/
36-
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
3735
)
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39-
#catkin_lint cannot detect target declarations in functions, here in pybind11_add_module
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#catkin_lint: ignore undefined_target
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_ament_cmake_python_register_environment_hook()
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pybind11_add_module(rclcpp src/rclcpp.cpp)
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target_link_libraries(rclcpp PRIVATE ${PROJECT_NAME})
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install(TARGETS rclcpp LIBRARY DESTINATION "${PYTHON_INSTALL_DIR}")
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if(BUILD_TESTING)
44+
find_package(ament_cmake_pytest REQUIRED)
45+
find_package(std_msgs REQUIRED)
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pybind11_add_module(${PROJECT_NAME}_test test/test.cpp)
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target_link_libraries(${PROJECT_NAME}_test PRIVATE ${PROJECT_NAME} ${std_msgs_TARGETS})
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install(TARGETS ${PROJECT_NAME}_test LIBRARY DESTINATION "${PYTHON_INSTALL_DIR}")
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42-
pybind_add_module(${PROJECT_NAME}_module src/${PROJECT_NAME}.cpp)
43-
set_target_properties(${PROJECT_NAME}_module PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
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target_link_libraries(${PROJECT_NAME}_module PRIVATE ${PROJECT_NAME})
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ament_add_pytest_test(basic test/test_basic.py)
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endif()
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install(TARGETS ${PROJECT_NAME}_module
47-
LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION})
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ament_export_dependencies(rclcpp)
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ament_export_dependencies(geometry_msgs)
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ament_package()

‎README.md

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1919

2020
### C++ ROS initialization
2121

22-
C++ and Python use their own ROS implementations (`rospy` and `roscpp`).
22+
C++ and Python use their own RCL implementations (`rclpy` and `rclcpp`).
2323
Thus, it is necessary to initialize ROS in the C++ domain additionally to the Python domain before calling any ROS-related functions from wrapped C++ functions or classes.
24-
To this end, the package provides the python function `roscpp_init()` and the C++ class `ROScppInitializer`. The latter is intended to be used as a base class for your python wrapper classes:
24+
To this end, the package provides the python function `rclcpp.init()` and the C++ class `RCLInitializer`. The latter is intended to be used as a base class for your python wrapper classes:
2525

2626
```cpp
27-
class FooWrapper : protected ROScppInitializer, public Foo {
27+
class FooWrapper : protected RCLInitializer, public Foo {
2828
// ...
2929
};
3030
```
3131
32-
to ensure that the ROS infrastructure is initialized before usage in the wrapped C++ class. Ensure to list `ROScppInitializer` as the _first_ base class, if ROS functionality is required in the constructor already!
33-
34-
`ROScppInitializer` registers an anonymous C++ ROS node named `python_wrapper_xxx`. If you need a specific node name or if you want to pass remappings, use the manual initialization function `roscpp_init(name="", remappings={}, options=0)` instead, which effectively calls `ros::init` with the given arguments. Note, that an empty name will map to the above-mentioned node name `python_wrapper_xxx`.
32+
to ensure that the ROS infrastructure is initialized before usage in the wrapped C++ class. Ensure to list `RCLInitializer` as the _first_ base class, if ROS functionality is required in the constructor already!

‎include/py_binding_tools/geometry_msg_typecasters.h

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4545
{
4646
/** Convienency type caster, also allowing to initialize PoseStamped from a string */
4747
template <>
48-
struct type_caster<geometry_msgs::PoseStamped> : RosMsgTypeCaster<geometry_msgs::PoseStamped>
48+
struct type_caster<geometry_msgs::msg::PoseStamped> : RosMsgTypeCaster<geometry_msgs::msg::PoseStamped>
4949
{
5050
// Python -> C++
5151
bool load(handle src, bool convert)
@@ -57,7 +57,7 @@ struct type_caster<geometry_msgs::PoseStamped> : RosMsgTypeCaster<geometry_msgs:
5757
value.pose.orientation.w = 1.0;
5858
return true;
5959
}
60-
return RosMsgTypeCaster<geometry_msgs::PoseStamped>::load(src, convert);
60+
return RosMsgTypeCaster<geometry_msgs::msg::PoseStamped>::load(src, convert);
6161
}
6262
};
6363

‎include/py_binding_tools/roscpp_initializer.h renamed to ‎include/py_binding_tools/initializer.h

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3333
*********************************************************************/
3434
#pragma once
3535

36-
#include <ros/init.h>
36+
#include <string>
37+
#include <vector>
3738

3839
namespace py_binding_tools
3940
{
40-
/** The constructor of this class ensures that ros::init() has been called.
41+
/** The constructor of this class ensures that rclcpp::init() has been called.
4142
*
42-
* Thread safety and multiple initialization is properly handled.
43-
* The default node name is "python_wrapper".
44-
* If you like to have a custom name, use the roscpp_init() function before. */
45-
class ROScppInitializer
43+
* Thread safety and multiple initialization is properly handled. */
44+
class RCLInitializer
4645
{
4746
public:
48-
ROScppInitializer();
49-
~ROScppInitializer();
47+
RCLInitializer();
48+
~RCLInitializer();
5049
};
5150

52-
void roscpp_init(const std::string& node_name,
53-
const std::map<std::string, std::string>& remappings,
54-
uint32_t options);
55-
56-
void roscpp_shutdown();
51+
void init(const std::vector<std::string>& args);
52+
void shutdown();
5753

5854
} // namespace py_binding_tools

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