Migration ROS2 #13
Migration ROS2 #13
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ros_ws/src/locate/package.xml
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In ROS2, if <build_depend>, <build_export_depend> and <exec_depend> tags are all present for one dependency, can replace with the tag to simplify
https://docs.ros.org/en/iron/How-To-Guides/Migrating-from-ROS1/Migrating-Package-XML.html#id7
| target_include_directories(weighted_tracker PRIVATE | ||
| "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>" | ||
| ${ament_INCLUDE_DIRS} | ||
| #${OpenCV_INCLUDE_DIRS} |
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I noticed that we included OpenCV normally elsewhere, why do it differently here?
| @@ -61,6 +58,13 @@ add_executable(weighted_tracker | |||
| src/tracker.cpp | |||
| ) | |||
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| target_include_directories(weighted_tracker PRIVATE | |||
| "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>" | |||
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There's usually an /include folder where the .h files are located, and this is where we indicate where to find them. For the trackers, however, everything is in /src. Maybe it would be best if we moved them later?
| find_package(detection REQUIRED) | ||
| find_package(serial REQUIRED) | ||
| find_package(std_msgs REQUIRED) |
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For these three packages, I'm not sure they are required. Since tracking is a package that is used in the cpp files, I thought I should add it (since now it is necessary to link everthing manually rather than letting catkin link everything), but I'm not sure it's needed.
For the std_msgs and sensor_msgs, in general I'm not sure they are needed in our architecture. At least they aren't needed here (included because tracking includes them).
Even tracking doesn't seem to use it (it only uses basic types for its messages)
ros_ws/src/decision/package.xml
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| @@ -11,19 +11,23 @@ | |||
| <author email="[email protected]">Sébastien Darche</author> | |||
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| <buildtool_depend>ament_cmake_ros</buildtool_depend> | |||
| <build_depend>rclcpp</build_depend> | |||
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I think if I want to add a package to the CMakeLists, I must add it as a dependency here. I added every package in ther CMakeLists as buildtime and runtime dependencies
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Je devrais avoir fini le port des package.xml et des CMakeLists |
Draft PR and discussion space for ROS2 migration of project