Incremental progress on ROS2 support.

.docker/Dockerfile

@@ -62,6 +62,7 @@ USER $USERNAME
 # Install the default ROS entrypoint
 COPY --chmod=0755  ros2_entrypoint.sh /home/$USERNAME/ros2_entrypoint.sh
 ENTRYPOINT [ "/home/ros/ros2_entrypoint.sh" ]
+CMD ["/bin/bash"]
 
 #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 #  This build path clones from github

arena_camera/CMakeLists.txt

@@ -22,6 +22,8 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   rclcpp_components
   ament_cmake
   camera_control_msgs
+  camera_info_manager
+  image_transport
   imaging_msgs
 )
 
@@ -52,58 +54,66 @@ endforeach()
 set(arena_camera_lib ${PROJECT_NAME})
 
 add_library( ${arena_camera_lib}
-    SHARED
     src/encoding_conversions.cpp
     src/arena_camera_parameter.cpp
     src/base_node.cpp
     src/polled_node.cpp
     src/streaming_node.cpp
 )
-
 ament_target_dependencies(${arena_camera_lib} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
 target_include_directories( ${arena_camera_lib}
     PRIVATE ${arena_sdk_INCLUDE_DIRS}
-    PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 
 target_link_libraries( ${arena_camera_lib}
     ${arena_sdk_LIBRARIES}
 )
 
-rclcpp_components_register_nodes(${arena_camera_lib} "arena_camera::ArenaCameraPolledNode")
-rclcpp_components_register_nodes(${arena_camera_lib} "arena_camera::ArenaCameraStreamingNode")
+#set_target_properties(${arena_camera_lib} PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+# rclcpp_components_register_nodes(${arena_camera_lib} "arena_camera::ArenaCameraPolledNode")
+# rclcpp_components_register_nodes(${arena_camera_lib} "arena_camera::ArenaCameraStreamingNode")
 
 ## Build stand-alone executables
 foreach(Executable IN ITEMS polled_node streaming_node)
 
   add_executable(${Executable} src/nodes/${Executable}_main.cpp)
-
   target_include_directories( ${Executable}
       PRIVATE ${arena_sdk_INCLUDE_DIRS}
       PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include
   )
 
   target_link_libraries(${Executable} ${arena_camera_lib})
-
 endforeach()
 
+# Install launch files, library and executables
+install(DIRECTORY
+  include/
+  DESTINATION include
+)
 
-# Install
 install(
   TARGETS ${arena_camera_lib}
-  DESTINATION lib/${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
-# install(DIRECTORY
-#   include/
-#   DESTINATION include
-# )
+install(TARGETS polled_node streaming_node
+    DESTINATION lib/${PROJECT_NAME}
+)
 
 install(DIRECTORY
   launch
   DESTINATION share/${PROJECT_NAME}/
 )
 
+ament_export_targets(export_${arena_camera_lib} HAS_LIBRARY_TARGET)
+
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
 
@@ -118,32 +128,12 @@ endif()
 
 ament_package()
 
-# #
-# # ARENA_CAMERA_NODES
-# #
-
-# set(streaming_arena_camera_node streaming_arena_camera)
-# set(polled_arena_camera_node polled_arena_camera)
 
-# add_executable( ${streaming_arena_camera_node}
-#     src/nodes/streaming_node_main.cpp
-# )
-
-# add_executable( ${polled_arena_camera_node}
-#     src/nodes/polled_node_main.cpp
-# )
 
-# foreach( camera_node ${streaming_arena_camera_node} ${polled_arena_camera_node} )
-
-#     target_include_directories( ${camera_node}
-#         PRIVATE ${catkin_INCLUDE_DIRS}
-#     )
-
-#     target_link_libraries( ${camera_node}
-#         ${catkin_LIBRARIES}
-#     )
-
-# endforeach()
+##
+## !! ROS1 Cruft below.  To be removed when obsoleted
+##
+##
 
 
 #

arena_camera/include/arena_camera/arena_camera_nodes.h

@@ -33,11 +33,13 @@
 
 #pragma once
 
+#include <camera_info_manager/camera_info_manager.hpp>
+#include <image_transport/image_transport.hpp>
+#include <imaging_msgs/msg/imaging_metadata.hpp>
 #include <memory>
+#include <rclcpp/rclcpp.hpp>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
-
 // ROS
 // #include <actionlib/server/simple_action_server.h>
 // #include <camera_control_msgs/GrabImagesAction.h>
@@ -53,13 +55,11 @@
 // #include <diagnostic_updater/publisher.h>
 // #include <dynamic_reconfigure/server.h>
 // #include <image_geometry/pinhole_camera_model.h>
-// #include <image_transport/image_transport.h>
 // #include <Node/Node.h>
-// #include <ros/ros.h>
 // #include <sensor_msgs/CameraInfo.h>
 // #include <sensor_msgs/image_encodings.h>
 
-// Arena
+// LucidVision Arena SDK
 #include <ArenaApi.h>
 
 // #include <arena_camera/arena_camera.h>
@@ -266,6 +266,14 @@ class ArenaCameraBaseNode : public rclcpp::Node {
 
   bool is_streaming_;
 
+  image_transport::CameraPublisher img_raw_pub_;
+  std::shared_ptr<camera_info_manager::CameraInfoManager> camera_info_manager_;
+
+  rclcpp::Publisher<imaging_msgs::msg::ImagingMetadata>::SharedPtr
+      metadata_pub_;
+
+  std::shared_ptr<rclcpp::ParameterEventHandler> param_subscriber_;
+
   // Hardware accessor functions
   // These might have originally been in arena_camera.h?
   // sensor_msgs::RegionOfInterest currentROI();
@@ -292,8 +300,6 @@ class ArenaCameraBaseNode : public rclcpp::Node {
   // // Don't like using this global member
   // sensor_msgs::Image img_raw_msg_;
 
-  // camera_info_manager::CameraInfoManager *camera_info_manager_;
-
   // std::vector<std::size_t> sampling_indices_;
   // // std::array<float, 256> brightness_exp_lut_;
 

arena_camera/launch/streaming_arena_camera.launch.py

@@ -0,0 +1,52 @@
+# Copyright 2023 University of Washington
+#
+# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+    """Generate a launch description for a generic Arean camera driver
+
+    Returns:
+        LaunchDescription: The arena_camera_ros2 launch description.
+    """
+    args = [
+        DeclareLaunchArgument(
+            "device_user_id",
+            default_value="",
+            description="User ID of camera.  Takes priority over serial_number.",
+        ),
+        DeclareLaunchArgument(
+            "serial_number",
+            default_value="",
+            description="Serial number of camera.",
+        ),
+    ]
+
+    nodes = [
+        Node(
+            package="arena_camera",
+            executable="streaming_node",
+            name="arena_camera",
+            output="screen",
+            parameters=[
+                {"device_user_id": LaunchConfiguration("device_user_id"),
+                 "serial_number": LaunchConfiguration("serial_number")},
+            ],
+        ),
+    ]
+
+    return LaunchDescription(args + nodes)