upgrade everything to work with simulator

.github/workflows/ci.yml

@@ -24,12 +24,12 @@ jobs:
 
       - uses: ros-tooling/setup-ros@v0.7
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: jazzy
 
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
           package-name: sick_perception
-          target-ros2-distro: humble
+          target-ros2-distro: jazzy
           colcon-extra-args: --event-handler console_direct+
 
       # - name: "Get PCL"

CMakeLists.txt

@@ -14,6 +14,8 @@ if(${sickperception_VSCODE_CONFIGURE})	# this is just a dummy configuration so v
 	find_package(sensor_msgs REQUIRED)
 	find_package(geometry_msgs REQUIRED)
 	find_package(nav_msgs REQUIRED)
+	find_package(tf2_ros REQUIRED)
+	find_package(tf2_sensor_msgs REQUIRED)
 	find_package(pcl_conversions REQUIRED)
 
 	find_package(PCL REQUIRED COMPONENTS common filters, octree)
@@ -80,16 +82,16 @@ if(${sickperception_VSCODE_CONFIGURE})	# this is just a dummy configuration so v
 	list(APPEND ldrp_sources "${ldrp_src}/main.cpp" "${ldrp_src}/ldrp/perception.cpp")
 	list(APPEND ldrp_includedirs)
 
-	add_executable(ldrp_node ${ldrp_sources})
+	add_executable(${PROJECT_NAME} ${ldrp_sources})
 
-	target_include_directories(ldrp_node
+	target_include_directories(${PROJECT_NAME}
 		PRIVATE ${PCL_INCLUDE_DIRS}
 		PRIVATE ${ldrp_includedirs})
-	target_link_directories(ldrp_node
+	target_link_directories(${PROJECT_NAME}
 		PRIVATE ${PCL_LIBRARY_DIRS})
-	target_link_libraries(ldrp_node
+	target_link_libraries(${PROJECT_NAME}
 		${PCL_LIBRARIES})	# PRIVATE here causes conflicts with ament_target_dependencies
-	target_compile_definitions(ldrp_node
+	target_compile_definitions(${PROJECT_NAME}
 		PRIVATE ${ldrp_defines}
 		PRIVATE ${PCL_DEFINITIONS})
 
@@ -102,6 +104,8 @@ else()
 	find_package(sensor_msgs REQUIRED)
 	find_package(geometry_msgs REQUIRED)
 	find_package(nav_msgs REQUIRED)
+	find_package(tf2_ros REQUIRED)
+	find_package(tf2_sensor_msgs REQUIRED)
 	find_package(pcl_conversions REQUIRED)
 	find_package(pcl_ros REQUIRED)
 	# find_package(tf2_msgs REQUIRED)
@@ -189,30 +193,31 @@ endif()
 	list(APPEND ldrp_sources "${ldrp_src}/main.cpp" "${ldrp_src}/ldrp/perception.cpp")
 	list(APPEND ldrp_includedirs)
 
-	add_executable(ldrp_node ${ldrp_sources})
+	add_executable(${PROJECT_NAME} ${ldrp_sources})
 
-	target_include_directories(ldrp_node
+	target_include_directories(${PROJECT_NAME}
 		PRIVATE ${PCL_INCLUDE_DIRS}
 		PRIVATE ${ldrp_includedirs})
-	target_link_directories(ldrp_node
+	target_link_directories(${PROJECT_NAME}
 		PRIVATE ${PCL_LIBRARY_DIRS})
-	target_link_libraries(ldrp_node
+	target_link_libraries(${PROJECT_NAME}
 		${PCL_LIBRARIES})	# PRIVATE here causes conflicts with ament_target_dependencies
-	target_compile_definitions(ldrp_node
+	target_compile_definitions(${PROJECT_NAME}
 		PRIVATE ${ldrp_defines}
 		PRIVATE ${PCL_DEFINITIONS})
 
-	ament_target_dependencies(ldrp_node
+	ament_target_dependencies(${PROJECT_NAME}
 		"rclcpp"
 		"pcl_conversions"
 		"pcl_ros"
 		"tf2_ros"
+		"tf2_sensor_msgs"
 		"nav_msgs"
 		"sensor_msgs"
 		"geometry_msgs")
 
 	install(
-		TARGETS ldrp_node
+		TARGETS ${PROJECT_NAME}
 		DESTINATION lib/${PROJECT_NAME})
 	install(
 		DIRECTORY config launch

README.md

@@ -1,6 +1,7 @@
 [![CI](https://github.com/Cardinal-Space-Mining/Sick-Perception/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/Cardinal-Space-Mining/Sick-Perception/actions/workflows/ci.yml)
 
 # Sick-Perception
+*Don't be fooled, this is actually a mapping package!*
 
 ## ⚠️ IMPORTANT ⚠️
 Previous versions (branches) of this project were architected to be standalone "pure-C++" modules, however, __this branch has been updated to target ROS\[2\], and offloads sensor interfacing and localization pipeline prerequisites to various external ROS packages__, which are discuessed below. To view the old architecture, check out the [perception-v1](/Cardinal-Space-Mining/Sick-Perception/tree/perception-v1) and/or [perception-v2](/Cardinal-Space-Mining/Sick-Perception/tree/perception-v2) branches. These branches are not likely to be maintained, and as a result may not reflect the same functionality as this branch in the future.

config/params.yaml

@@ -1,7 +1,9 @@
 /**:
   ros__parameters:
 
-    scan_matching_history_s: 0.25
+    scan_topic: "/cardinal_perception/filtered_scan"
+
+    max_tf_wait_time_s: 0.25
 
     map_resolution_cm: 5.0
     voxel_size_cm: 3.0
@@ -16,4 +18,5 @@
     pmf_max_distance_cm: 12.0
     pmf_slope: 2.0
 
-    output_frame: "world"
+    map_frame: "map"
+    lidar_frame: "lidar_link"

launch/sick_perception.launch.py

@@ -0,0 +1,32 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    pkg_path = get_package_share_directory('sick_perception')
+    param_file = os.path.join(pkg_path, 'config', 'params.yaml')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    map_node = Node(
+        name = 'sick_perception',
+        package = 'sick_perception',
+        executable = 'sick_perception',
+        output = 'screen',
+        parameters = [param_file, {'use_sim_time': use_sim_time}],
+        remappings = [
+            ('obstacle_grid', '/sick_perception/obstacle_grid')
+        ]
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument('use_sim_time', default_value='false'),
+        map_node
+    ])

package.xml

@@ -4,14 +4,16 @@
   <name>sick_perception</name>
   <version>0.1.0</version>
   <description>LiDAR Obstacle Detection Mapping</description>
-  <maintainer email="samrichter888@gmail.com">sigma</maintainer>
+  <maintainer email="samrichter888@gmail.com">Sam Richter</maintainer>
   <license>MIT</license>
 
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_sensor_msgs</depend>
   <depend>pcl_conversions</depend>
   <depend>pcl_ros</depend>