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add option to run as standalone node #10

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jplapp wants to merge 1 commit into from
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add option to run as standalone node #10

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33 changes: 25 additions & 8 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -41,13 +41,14 @@ find_package(diagnostic_msgs REQUIRED)
###########


add_library(${PROJECT_NAME}_node SHARED
## Shared library for composition support
add_library(${PROJECT_NAME}_component SHARED
src/k4a_ros_device.cpp
src/k4a_ros_device_params.cpp
src/k4a_calibration_transform_data.cpp)

ament_target_dependencies(${PROJECT_NAME}_node rclcpp
std_msgs
ament_target_dependencies(${PROJECT_NAME}_component rclcpp
std_msgs
sensor_msgs
visualization_msgs
diagnostic_msgs
Expand All @@ -60,6 +61,12 @@ ament_target_dependencies(${PROJECT_NAME}_node rclcpp
cv_bridge
angles)

## Standalone executable
add_executable(${PROJECT_NAME}_node
src/k4a_ros_bridge_node.cpp)

ament_target_dependencies(${PROJECT_NAME}_node rclcpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
Expand Down Expand Up @@ -90,7 +97,7 @@ find_package(k4abt 1.0.0 QUIET MODULE)
if (k4abt_FOUND)
list(APPEND K4A_LIBS k4abt::k4abt)
message(STATUS "Body Tracking SDK found: compiling support for Body Tracking")
target_compile_definitions(${PROJECT_NAME}_node PUBLIC K4A_BODY_TRACKING)
target_compile_definitions(${PROJECT_NAME}_component PUBLIC K4A_BODY_TRACKING)
else()
message("!!! Body Tracking SDK not found: body tracking features will not be available !!!")
endif()
Expand All @@ -104,11 +111,16 @@ include(Installk4a)
##################################
include_directories(include)

target_link_libraries(${PROJECT_NAME}_node
target_link_libraries(${PROJECT_NAME}_component
${K4A_LIBS}
)

rclcpp_components_register_nodes(${PROJECT_NAME}_node "K4AROSDevice")
# Link standalone executable to the component library
target_link_libraries(${PROJECT_NAME}_node
${PROJECT_NAME}_component
)

rclcpp_components_register_nodes(${PROJECT_NAME}_component "K4AROSDevice")

#############
## Install ##
Expand All @@ -118,10 +130,15 @@ rclcpp_components_register_nodes(${PROJECT_NAME}_node "K4AROSDevice")
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME}_node
install(TARGETS ${PROJECT_NAME}_component
LIBRARY DESTINATION lib
)
ament_export_libraries(${library_name})

install(TARGETS ${PROJECT_NAME}_node
DESTINATION lib/${PROJECT_NAME}
)

ament_export_libraries(${PROJECT_NAME}_component)

message("Added libs")

Expand Down
24 changes: 8 additions & 16 deletions src/k4a_ros_bridge_node.cpp
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Expand Up @@ -18,45 +18,37 @@ int main(int argc, char** argv)
{
rclcpp::init(argc, argv);

// Create Node for handling info and error messages
rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("k4a_bridge");


// Setup the K4A device
std::shared_ptr<K4AROSDevice> device(new K4AROSDevice);
// Setup the K4A device (K4AROSDevice is now a rclcpp::Node)
rclcpp::NodeOptions options;
auto device = std::make_shared<K4AROSDevice>(options);

k4a_result_t result = device->startCameras();

if (result != K4A_RESULT_SUCCEEDED)
{
RCLCPP_ERROR_STREAM(node->get_logger(),"Failed to start cameras");
RCLCPP_ERROR_STREAM(device->get_logger(), "Failed to start cameras");
return -1;
}

result = device->startImu();
if (result != K4A_RESULT_SUCCEEDED)
{
RCLCPP_ERROR_STREAM(node->get_logger(),"Failed to start IMU");
RCLCPP_ERROR_STREAM(device->get_logger(), "Failed to start IMU");
return -2;
}

RCLCPP_INFO(node->get_logger(),"K4A Started");
RCLCPP_INFO(device->get_logger(), "K4A Started");

if (result == K4A_RESULT_SUCCEEDED)
{
rclcpp::spin(node);
rclcpp::spin(device);

RCLCPP_INFO(node->get_logger(),"ROS Exit Started");
RCLCPP_INFO(device->get_logger(), "ROS Exit Started");
}

device.reset();

RCLCPP_INFO(node->get_logger(),"ROS Exit");

rclcpp::shutdown();

RCLCPP_INFO(node->get_logger(),"ROS Shutdown complete");

RCLCPP_INFO(node->get_logger(),"Finished ros bridge main");
return 0;
}