Add ROS yaml-cpp example for blogpost

.github/workflows/ros-tests.yml

@@ -45,8 +45,14 @@ jobs:
         python3 -m pip install git+https://github.com/conan-io/conan.git
         chmod +x ./examples/tools/ros/rosenv/workspace/test_ros.sh
 
-    - name: Run example with Conan from repo
+    - name: Run printer example
       shell: bash
       run: |
         cd examples/tools/ros/rosenv/workspace
         ./test_ros.sh
+
+    - name: Run navigator example
+      shell: bash
+      run: |
+        cd examples/tools/ros/rosenv/navigation_ws
+        ./test_ros.sh

.gitignore

@@ -82,3 +82,6 @@ examples/libraries/libcurl/ascii_art_color/x64/Release/*
 
 examples/tools/ros/rosenv/workspace/install/
 examples/tools/ros/rosenv/workspace/log/
+
+examples/tools/ros/rosenv/navigation_ws/install/
+examples/tools/ros/rosenv/navigation_ws/log/

examples/tools/README.md

@@ -27,4 +27,5 @@
 
 ### [tools.ros](ros)
 
-- Build [ROS packages inside their workspace](ros/rosenv/workspace/) using dependencies from Conan Center and consuming them also as transitive dependencies.
+- Build [ROS packages inside their workspace](ros/rosenv/workspace) using the [fmt library from Conan Center](https://conan.io/center/recipes/fmt) and consuming them also as transitive dependencies.
+- Build a [ROS navigation package](ros/rosenv/navigation_ws) that sends goals to a mobile robot from a YAML file using the [yaml-cpp library from Conan Center](https://conan.io/center/recipes/yaml-cpp).

examples/tools/ros/rosenv/Dockerfile

@@ -0,0 +1,10 @@
+FROM osrf/ros:humble-desktop
+RUN apt-get update && apt-get install -y \
+curl \
+python3-pip \
+git \
+ros-humble-nav2-msgs \
+&& rm -rf /var/lib/apt/lists/*
+RUN pip3 install --upgrade pip && pip3 install conan
+RUN conan profile detect
+CMD ["bash"]

examples/tools/ros/rosenv/navigation_ws/navigation_package/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(navigation_package)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# ROS dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(nav2_msgs REQUIRED)
+
+# Conan dependencies
+find_package(yaml-cpp REQUIRED)
+
+add_executable(navigator src/navigator.cpp)
+
+target_compile_features(navigator PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(navigator rclcpp rclcpp_action nav2_msgs yaml-cpp)
+
+install(TARGETS navigator
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

examples/tools/ros/rosenv/navigation_ws/navigation_package/conanfile.txt

@@ -0,0 +1,7 @@
+[requires]
+yaml-cpp/0.8.0
+
+[generators]
+CMakeDeps
+CMakeToolchain
+ROSEnv

examples/tools/ros/rosenv/navigation_ws/navigation_package/locations.yaml

@@ -0,0 +1,10 @@
+locations:
+  - name: "Kitchen"
+    x: 3.5
+    y: 2.0
+  - name: "Living Room"
+    x: 1.0
+    y: -1.0
+  - name: "Bedroom"
+    x: -2.0
+    y: 1.5

examples/tools/ros/rosenv/navigation_ws/navigation_package/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>navigation_package</name>
+  <version>0.0.0</version>
+  <description>Example using yaml-cpp to send navigation goals</description>
+  <maintainer email="[email protected]">Conan</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>nav2_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

examples/tools/ros/rosenv/navigation_ws/navigation_package/src/navigator.cpp

@@ -0,0 +1,93 @@
+#include <string>
+#include <vector>
+
+#include <rclcpp/rclcpp.hpp>
+#include <nav2_msgs/action/navigate_to_pose.hpp>
+#include <rclcpp_action/rclcpp_action.hpp>
+
+#include <yaml-cpp/yaml.h>
+
+using NavigateToPose = nav2_msgs::action::NavigateToPose;
+
+
+class YamlNavigationNode : public rclcpp::Node {
+public:
+    YamlNavigationNode(const std::string &yaml_file_path) : Node("yaml_navigation_node") {
+        // Create action client
+        action_client_ = rclcpp_action::create_client<NavigateToPose>(this, "navigate_to_pose");
+
+        // Read locations from YAML file
+        RCLCPP_INFO(this->get_logger(), "Reading locations from YAML...");
+        if (!loadLocations(yaml_file_path)) {
+            RCLCPP_ERROR(this->get_logger(), "Failed to load locations.");
+            return;
+        }
+
+        if (locations_.empty()) {
+            RCLCPP_ERROR(this->get_logger(), "No locations found in the YAML file.");
+            return;
+        }
+
+        sendAllGoals();
+    }
+
+private:
+    struct Location {
+        std::string name;
+        double x;
+        double y;
+    };
+
+    std::vector<Location> locations_;
+    rclcpp_action::Client<NavigateToPose>::SharedPtr action_client_;
+
+    bool loadLocations(const std::string &file_path) {
+        try {
+            YAML::Node yaml_file = YAML::LoadFile(file_path);
+            for (const auto &node : yaml_file["locations"]) {
+                Location location;
+                location.name = node["name"].as<std::string>();
+                location.x = node["x"].as<double>();
+                location.y = node["y"].as<double>();
+                locations_.emplace_back(location);
+            }
+            return true;
+        } catch (const std::exception &e) {
+            RCLCPP_ERROR(this->get_logger(), "Error parsing YAML: %s", e.what());
+            return false;
+        }
+    }
+
+    void sendAllGoals() {
+        for (const auto &location : locations_) {
+            RCLCPP_INFO(this->get_logger(), "Sending %s goal (%.2f, %.2f) to robot", location.name.c_str(), location.x, location.y);
+
+            auto goal_msg = NavigateToPose::Goal();
+            goal_msg.pose.header.frame_id = "map";
+            goal_msg.pose.header.stamp = this->now();
+            goal_msg.pose.pose.position.x = location.x;
+            goal_msg.pose.pose.position.y = location.y;
+            goal_msg.pose.pose.orientation.w = 1.0;
+
+            action_client_->async_send_goal(goal_msg);
+        }
+
+        RCLCPP_INFO(this->get_logger(), "All goals have been sent.");
+    }
+};
+
+
+int main(int argc, char **argv) {
+    rclcpp::init(argc, argv);
+
+    if (argc < 2) {
+        RCLCPP_ERROR(rclcpp::get_logger("yaml_navigation_node"), "Usage: yaml_navigation_node <yaml_file_path>");
+        return 1;
+    }
+
+    std::string yaml_file_path = argv[1];
+    std::make_shared<YamlNavigationNode>(yaml_file_path);
+
+    rclcpp::shutdown();
+    return 0;
+}

examples/tools/ros/rosenv/navigation_ws/test_ros.sh

@@ -0,0 +1,10 @@
+source /opt/ros/humble/setup.bash
+rosdep init
+rosdep update
+rosdep install --from-paths navigation_package/
+conan profile detect --force
+conan install navigation_package/conanfile.txt --build=missing --output-folder install/conan
+source install/conan/conanrosenv.sh
+colcon build --packages-select navigation_package
+source install/setup.bash
+ros2 run navigation_package navigator navigation_package/locations.yaml