Merge pull request #109 from zivid/MISC-2024-06-19-ros2-testing

ROS2: Add samples and other fixups

.clang-format

@@ -0,0 +1,22 @@
+# Style from `ament_clang_format` linter.
+# https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterEnum: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
+...

.github/workflows/ROS-commit.yml

@@ -41,12 +41,8 @@ jobs:
             compiler: 'g++-12'
           - os: 'ros:humble-ros-base-jammy'
             compiler: 'g++-13'
-          - os: 'ros:humble-ros-base-jammy'
-            compiler: 'g++-14'
           - os: 'ros:humble-ros-base-jammy'
             compiler: 'clang++-15'
-          - os: 'ros:jazzy-ros-core-noble'
-            compiler: 'g++-14'
           - os: 'ros:jazzy-ros-core-noble'
             compiler: 'clang++-14'
           - os: 'ros:jazzy-ros-core-noble'

README.md

@@ -343,25 +343,111 @@ will cause some additional processing time for calculating the normals.
 In the `zivid_samples` package we have added samples that demonstrate how to use
 the Zivid ROS driver. These samples can be used as a starting point for your project.
 
-_More samples will soon be provided_.
+To launch the Python samples using `ros2 launch`, you need `python` to be available as a command.
+For example, the `python-is-python3` package can be installed to achieve this, by running the
+following command:
+
+```bash
+sudo apt install python-is-python3
+```
+
+On Windows, the Python samples cannot be launched using `ros2 launch`. Instead, please launch the
+samples using `ros2 run zivid_samples <sample_name>.py` together with
+`ros2 run zivid_camera zivid_camera` in another terminal window.
 
 ### Sample Capture
 
 This sample performs single-acquisition 3D captures in a loop. This sample shows how to [configure](#configuration)
-the capture settings, how to subscribe to the [points/xyzrgba](#points/xyzrgba) topic, and how to invoke the
+the capture settings, how to subscribe to the [points/xyzrgba](#pointsxyzrgba) topic, and how to invoke the
 [capture](#capture) service.
 
-Source code: [C++](./zivid_samples/src/sample_capture.cpp)
+Source code: [C++](./zivid_samples/src/sample_capture.cpp) [Python](./zivid_samples/scripts/sample_capture.py)
 
 ```bash
 ros2 launch zivid_samples sample.launch sample:=sample_capture_cpp
+ros2 launch zivid_samples sample.launch sample:=sample_capture.py
 ```
 Using ros2 run (when `zivid_camera` node is already running):
 ```bash
 ros2 run zivid_samples sample_capture_cpp
+ros2 run zivid_samples sample_capture.py
 ```
 
-_More samples will soon be provided_.
+### Sample Capture 2D
+
+This sample performs single-acquisition 2D captures in a loop. This sample shows how to [configure](#configuration) the
+capture 2d settings with a YAML string, how to subscribe to the [color/image_color](#colorimage_color) topic, and how to
+invoke the [capture_2d](#capture_2d) service.
+
+Source code: [C++](./zivid_samples/src/sample_capture_2d.cpp) [Python](./zivid_samples/scripts/sample_capture_2d.py)
+
+```bash
+ros2 launch zivid_samples sample.launch sample:=sample_capture_2d_cpp
+ros2 launch zivid_samples sample.launch sample:=sample_capture_2d.py
+```
+Using ros2 run (when `zivid_camera` node is already running):
+```bash
+ros2 run zivid_samples sample_capture_2d_cpp
+ros2 run zivid_samples sample_capture_2d.py
+```
+
+### Sample Capture and Save
+
+This sample performs a capture, and stores the resulting frame to file. This sample shows how to
+[configure](#configuration) the capture settings with a YAML string, how to invoke the
+[capture_and_save](#capture_and_save) service, and how to read the response from the service call.
+
+Source code: [C++](./zivid_samples/src/sample_capture_and_save.cpp) [Python](./zivid_samples/scripts/sample_capture_and_save.py)
+
+```bash
+ros2 launch zivid_samples sample.launch sample:=sample_capture_and_save_cpp
+ros2 launch zivid_samples sample.launch sample:=sample_capture_and_save.py
+```
+
+Using ros2 run (when `zivid_camera` node is already running):
+
+```bash
+ros2 run zivid_samples sample_capture_and_save_cpp
+ros2 run zivid_samples sample_capture_and_save.py
+```
+
+### Sample Capture Assistant
+
+This sample shows how to invoke the [capture_assistant/suggest_settings](#capture_assistantsuggest_settings) service to
+suggest and set capture settings. Then, it shows how to subscribe to the [points/xyzrgba](#pointsxyzrgba) and
+[color/image_color](#colorimage_color) topics, and finally invoke the [capture](#capture) service.
+
+Source code: [C++](./zivid_samples/src/sample_capture_assistant.cpp) [Python](./zivid_samples/scripts/sample_capture_assistant.py)
+
+```bash
+ros2 launch zivid_samples sample.launch sample:=sample_capture_assistant_cpp
+ros2 launch zivid_samples sample.launch sample:=sample_capture_assistant.py
+```
+Using ros2 run (when `zivid_camera` node is already running):
+```bash
+ros2 run zivid_samples sample_capture_assistant_cpp
+ros2 run zivid_samples sample_capture_assistant.py
+```
+
+### Sample Capture with Settings from File
+
+This sample performs single-acquisition 3D captures in a loop. This sample shows how to [configure](#configuration) the
+capture settings from a yaml file, how to subscribe to the [points/xyzrgba](#pointsxyzrgba) topic, and how to invoke the
+[capture](#capture) service.
+
+Source code: [C++](./zivid_samples/src/sample_capture_with_settings_from_file.cpp) [Python](./zivid_samples/scripts/sample_capture_with_settings_from_file.py)
+
+```bash
+ros2 launch zivid_samples sample.launch sample:=sample_capture_with_settings_from_file_cpp
+ros2 launch zivid_samples sample.launch sample:=sample_capture_with_settings_from_file.py
+```
+
+Using ros2 run (when `zivid_camera` node is already running):
+
+```bash
+ros2 run zivid_samples sample_capture_with_settings_from_file_cpp
+ros2 run zivid_samples sample_capture_with_settings_from_file.py
+```
 
 ## Frequently Asked Questions
 
@@ -462,13 +548,16 @@ colcon build --cmake-args -DCOMPILER_WARNINGS=ON
 
 ### How to format the source code
 
-The CI test for this package enforces the linting defined by `ament_lint_auto`.
+The CI test for this package enforces the linting defined by `clang-format`. From the code analysis
+docker image, run:
 
 ```bash
-cd ~/ros2_ws/src/zivid-ros
-ament_uncrustify --reformat ./
+find /host -name '*.cpp' -or -name '*.hpp' | xargs clang-format -i
 ```
 
+The style follows the one from
+[`ament_clang_format`](https://github.com/ament/ament_lint/blob/master/ament_clang_format/doc/index.rst).
+
 ## License
 
 This project is licensed under BSD 3-clause license, see the [LICENSE](LICENSE) file for details.

continuous-integration/.gitattributes

@@ -0,0 +1,2 @@
+# Bash does not play well with Windows line endings.
+**.sh text eol=lf

continuous-integration/build.sh

@@ -25,7 +25,7 @@ rosdep install -i --from-path src -y || exit $?
 
 echo "Building with compiler=$CI_TEST_COMPILER"
 
-colcon build --symlink --cmake-args "-DCOMPILER_WARNINGS=ON -DCMAKE_CXX_COMPILER=/usr/bin/$CI_TEST_COMPILER" || exit $?
+colcon build --symlink --event-handlers console_direct+ --cmake-args -DCOMPILER_WARNINGS=ON -DCMAKE_CXX_COMPILER=/usr/bin/$CI_TEST_COMPILER -DCMAKE_EXPORT_COMPILE_COMMANDS=ON || exit $?
 
 echo "Check that the expected packages are found"
 source ~/ros2_ws/install/setup.bash

continuous-integration/lint.sh

@@ -7,6 +7,7 @@ ROOT_DIR=$(realpath "$SCRIPT_DIR/..")
 
 pythonFiles=$(find "$ROOT_DIR" -name '*.py')
 bashFiles=$(find "$ROOT_DIR" -name '*.sh')
+cppFiles=$(find "$ROOT_DIR" -name '*.cpp' -or -name '*.hpp')
 
 echo Running black on:
 echo "$pythonFiles"
@@ -16,4 +17,19 @@ echo Running shellcheck on:
 echo "$bashFiles"
 shellcheck -x -e SC1090,SC2086,SC2046 $bashFiles || exit $?
 
+echo Running clang-format on:
+echo "$cppFiles"
+clangFormatIssues=0
+for file in $cppFiles; do
+    diff_output=$(diff -u "$file" <(clang-format "$file"))
+    if [ -n "$diff_output" ]; then
+        echo "$diff_output"
+        clangFormatIssues=1
+    fi
+done
+
+if [ $clangFormatIssues -ne 0 ]; then
+    exit $clangFormatIssues
+fi
+
 echo Success! ["$(basename $0)"]

continuous-integration/run_build_and_test_in_docker.sh

@@ -26,6 +26,7 @@ docker run \
     --workdir /host/continuous-integration  \
     --env CI_TEST_ZIVID_VERSION="$CI_TEST_ZIVID_VERSION" \
     --env CI_TEST_COMPILER="$CI_TEST_COMPILER" \
+    --env CI_TEST_OS="$CI_TEST_OS" \
     --env CI_TEST_DOWNLOAD_TELICAM="$CI_TEST_DOWNLOAD_TELICAM" \
     $CI_TEST_OS  \
     bash -c "./build_and_test.sh" || exit $?

continuous-integration/setup/setup_build_and_test.sh

@@ -56,8 +56,7 @@ echo "Installing compiler $CI_TEST_COMPILER"
 
 if [[ "$CI_TEST_COMPILER" == "g++"    ||
       "$CI_TEST_COMPILER" == "g++-12"  ||
-      "$CI_TEST_COMPILER" == "g++-13"  ||
-      "$CI_TEST_COMPILER" == "g++-14"
+      "$CI_TEST_COMPILER" == "g++-13"
       ]]; then
 
     apt-yes install software-properties-common || exit $?

continuous-integration/test.sh

@@ -16,8 +16,22 @@ unzip ./FileCameraZivid2M70.zip -d /usr/share/Zivid/data/ || exit $?
 rm ./FileCameraZivid2M70.zip || exit $?
 
 echo "Running tests"
+
+# We exclude `clang_format` here since it has variations between versions, instead we check it during code analysis.
+excludeTests="clang_format"
+
+if [ "$CI_TEST_OS" == "ros:humble-ros-base-jammy" ] || [ "$CI_TEST_OS" == "ros:iron-ros-core-jammy" ]; then
+  # The listed OSes have issues invoking clang-tidy correctly:
+  #   - Humble seems to not invoke it with the correct C++ language version, resulting in it not finding
+  #     std::optional and std::variant.
+  #   - Iron does not find the compile commands.
+  # On the other hand, Jazzy seems to work well, so we get the checks when testing on this OS.
+  echo "Skipping clang-tidy tests since OS is '$CI_TEST_OS'"
+  excludeTests+="|clang_tidy"
+fi
+
 export GTEST_BREAK_ON_FAILURE=1;
-colcon test --event-handlers console_direct+ --ctest-args tests --output-on-failure --ros-args --log-level debug || exit $?
+colcon test --event-handlers console_direct+ --ctest-args tests --exclude-regex $excludeTests --output-on-failure --ros-args --log-level debug || exit $?
 
 echo "Check for test errors"
 colcon test-result --all || exit $?

pyproject.toml

@@ -0,0 +1,2 @@
+[tool.black]
+skip-string-normalization = true  # Black prefers double quotes, however, this is incompatible with the `ament_flake8` configuration.

zivid_camera/cmake/CompilerWarnings.cmake

@@ -38,10 +38,8 @@ function(set_target_warning_compile_options TARGET)
         weak-vtables                    # The vtable must be duplicated in multiple translation units. Small
                                         # problem, maybe even linker will resolve this. Must add boilerplate to
                                         # fix, not worth it
+        covered-switch-default          # We don't want this warning, because we want the default labels for safety.
     )
-    if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 7.0)
-      list(APPEND WARNINGS_THAT_SHOULD_BE_IGNORED return-std-move-in-c++11) # Applies to old compilers, we aim for newer C++17 compilers
-    endif()
 
     foreach(WARNING ${WARNINGS_THAT_SHOULD_BE_IGNORED})
       list(APPEND TARGET_FLAGS -Wno-${WARNING})

zivid_camera/include/zivid_camera/zivid_camera.hpp

@@ -28,31 +28,28 @@
 
 #pragma once
 
+#include <image_transport/image_transport.hpp>
 #include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <std_srvs/srv/trigger.hpp>
 #include <string>
-
 #include <zivid_camera/visibility.hpp>
-
-#include <image_transport/image_transport.hpp>
-#include <rclcpp/rclcpp.hpp>
 #include <zivid_interfaces/srv/camera_info_model_name.hpp>
 #include <zivid_interfaces/srv/camera_info_serial_number.hpp>
 #include <zivid_interfaces/srv/capture_and_save.hpp>
 #include <zivid_interfaces/srv/capture_assistant_suggest_settings.hpp>
 #include <zivid_interfaces/srv/is_connected.hpp>
 
-#include <sensor_msgs/msg/image.hpp>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-#include <std_srvs/srv/trigger.hpp>
-
 namespace Zivid
 {
 class Application;
 class Camera;
 class CameraIntrinsics;
 struct ColorRGBA;
 class Frame;
-template<typename T>
+template <typename T>
 class Image;
 class PointCloud;
 class Settings2D;
@@ -61,22 +58,28 @@ class Settings;
 
 namespace zivid_camera
 {
-enum class CameraStatus { Idle, Connected, Disconnected };
-template<typename SettingsType>
+enum class CameraStatus
+{
+  Idle,
+  Connected,
+  Disconnected
+};
+template <typename SettingsType>
 class CaptureSettingsController;
 
 class ZividCamera : public rclcpp::Node
 {
 public:
   ZIVID_CAMERA_ROS_PUBLIC ZividCamera(const rclcpp::NodeOptions & options);
-  ~ZividCamera();
+  ~ZividCamera() override;
   ZIVID_CAMERA_ROS_PUBLIC Zivid::Application & zividApplication();
 
 private:
   void onCameraConnectionKeepAliveTimeout();
   void reconnectToCameraIfNecessary();
   void setCameraStatus(CameraStatus camera_status);
-
+  rcl_interfaces::msg::SetParametersResult setParametersCallback(
+    const std::vector<rclcpp::Parameter> & parameters);
   void cameraInfoModelNameServiceHandler(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<zivid_interfaces::srv::CameraInfoModelName::Request> request,
@@ -140,9 +143,9 @@ class ZividCamera : public rclcpp::Node
   sensor_msgs::msg::CameraInfo::ConstSharedPtr makeCameraInfo(
     const std_msgs::msg::Header & header, std::size_t width, std::size_t height,
     const Zivid::CameraIntrinsics & intrinsics);
-
   [[noreturn]] void logErrorAndThrowRuntimeException(const std::string & message);
 
+  OnSetParametersCallbackHandle::SharedPtr set_parameters_callback_handle_;
   rclcpp::TimerBase::SharedPtr camera_connection_keepalive_timer_;
   bool use_latched_publisher_for_points_xyz_{false};
   bool use_latched_publisher_for_points_xyzrgba_{false};

zivid_camera/package.xml

@@ -20,9 +20,18 @@
   <depend>rosidl_default_generators</depend>
   <depend>zivid_interfaces</depend>
   <exec_depend>ros2launch</exec_depend>
+
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_clang_format</test_depend>
+  <test_depend>ament_cmake_clang_tidy</test_depend>
+  <test_depend>ament_cmake_copyright</test_depend>
+  <test_depend>ament_cmake_cppcheck</test_depend>
+  <test_depend>ament_cmake_flake8</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
+  <test_depend>ament_cmake_pep257</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>