Image transport tutorial (#197)

Fixes #193 This PR ports the existing image_transport tutorials from ROS 1 to ROS 2. The tutorial code now lives in a dedicated image_transport_tutorial package. The content from http://wiki.ros.org/image_transport/Tutorials is presented in the README and has been updated to work for ROS 2. Signed-off-by: Rebecca Butler <[email protected]>
ros-perception · Jul 29, 2021 · 8cef3db · 8cef3db
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diff --git a/image_transport/tutorial/CMakeLists.txt b/image_transport/tutorial/CMakeLists.txt
diff --git a/image_transport/tutorial/include/image_transport_tutorial/resized_publisher.hpp b/image_transport/tutorial/include/image_transport_tutorial/resized_publisher.hpp
diff --git a/image_transport/tutorial/include/image_transport_tutorial/resized_subscriber.hpp b/image_transport/tutorial/include/image_transport_tutorial/resized_subscriber.hpp
diff --git a/image_transport/tutorial/package.xml b/image_transport/tutorial/package.xml
diff --git a/image_transport/tutorial/src/manifest.cpp b/image_transport/tutorial/src/manifest.cpp
diff --git a/image_transport/tutorial/src/my_publisher.cpp b/image_transport/tutorial/src/my_publisher.cpp
diff --git a/image_transport/tutorial/src/my_subscriber.cpp b/image_transport/tutorial/src/my_subscriber.cpp
diff --git a/image_transport/tutorial/src/resized_publisher.cpp b/image_transport/tutorial/src/resized_publisher.cpp
diff --git a/image_transport/tutorial/src/resized_subscriber.cpp b/image_transport/tutorial/src/resized_subscriber.cpp
diff --git a/image_transport_tutorial/CMakeLists.txt b/image_transport_tutorial/CMakeLists.txt
@@ -0,0 +1,90 @@
+cmake_minimum_required(VERSION 3.8)
+project(image_transport_tutorial)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+include_directories(include)
+
+# add the resized image message
+set(msg_files
+  "msg/ResizedImage.msg"
+)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES sensor_msgs
+)
+
+# add the publisher example
+add_executable(my_publisher src/my_publisher.cpp)
+ament_target_dependencies(my_publisher
+  "cv_bridge"
+  "image_transport"
+  "OpenCV"
+  "rclcpp")
+
+# add the subscriber example
+add_executable(my_subscriber src/my_subscriber.cpp)
+ament_target_dependencies(my_subscriber
+  "cv_bridge"
+  "image_transport"
+  "OpenCV"
+  "rclcpp")
+
+# add the plugin example
+add_library(resized_plugins src/manifest.cpp src/resized_publisher.cpp src/resized_subscriber.cpp)
+ament_target_dependencies(resized_plugins
+  "image_transport"
+  "OpenCV")
+
+# add the publisher from video example
+add_executable(publisher_from_video src/publisher_from_video.cpp)
+ament_target_dependencies(publisher_from_video
+  "cv_bridge"
+  "image_transport"
+  "OpenCV"
+  "rclcpp")
+
+# Install plugin descriptions
+pluginlib_export_plugin_description_file(${PROJECT_NAME} resized_plugins.xml)
+
+# Link interface
+rosidl_target_interfaces(resized_plugins
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# Install executables
+install(
+  TARGETS my_publisher my_subscriber resized_plugins publisher_from_video
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install include directories
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+ament_export_include_directories(include)
+ament_export_dependencies(cv_bridge image_transport pluginlib rosidl_default_runtime rclcpp sensor_msgs)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()