Support for ROS 2

This commit updates the zivid driver to support ROS2.

See the CHANGELOG.md for user-facing changes and see the README.md
for a general description of the ROS2 driver.

Co-authored-by: Michael R. P. Ragazzon <[email protected]>

.clang-format

@@ -1,4 +1,5 @@
-# Based on https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
+# 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
@@ -18,3 +19,4 @@ ContinuationIndentWidth: 2
 DerivePointerAlignment: false
 PointerAlignment: Middle
 ReflowComments: false
+...

.github/workflows/ROS-commit.yml

@@ -21,7 +21,7 @@ jobs:
           lfs: false
       - name: Run code_analysis.sh
         run: |
-          CI_TEST_OS=ros:noetic-ros-base-focal \
+          CI_TEST_OS=ros:humble-ros-base-jammy \
           ./continuous-integration/run_code_analysis_in_docker.sh
       - name: Notify Teams
         if: ${{ failure() && github.ref == 'refs/heads/master' }}
@@ -34,17 +34,25 @@ jobs:
     strategy:
       fail-fast: true
       matrix:
-        os: ['ros:noetic-ros-base-focal']
+        os: ['ros:humble-ros-base-jammy', 'ros:iron-ros-core-jammy', 'ros:jazzy-ros-core-noble']
         compiler: ['g++', 'clang++']
         include:
-          - os: 'ros:noetic-ros-base-focal'
-            compiler: 'g++-10'
-          - os: 'ros:noetic-ros-base-focal'
-            compiler: 'g++-11'
-          - os: 'ros:noetic-ros-base-focal'
-            compiler: 'clang++-11'
-          - os: 'ros:noetic-ros-base-focal'
-            compiler: 'clang++-12'
+          - os: 'ros:humble-ros-base-jammy'
+            compiler: 'g++-12'
+          - os: 'ros:humble-ros-base-jammy'
+            compiler: 'g++-13'
+          - os: 'ros:humble-ros-base-jammy'
+            compiler: 'clang++-15'
+          - os: 'ros:jazzy-ros-core-noble'
+            compiler: 'clang++-14'
+          - os: 'ros:jazzy-ros-core-noble'
+            compiler: 'clang++-15'
+          - os: 'ros:jazzy-ros-core-noble'
+            compiler: 'clang++-16'
+          - os: 'ros:jazzy-ros-core-noble'
+            compiler: 'clang++-17'
+          - os: 'ros:jazzy-ros-core-noble'
+            compiler: 'clang++-18'
     steps:
       - name: Check out code
         uses: actions/checkout@v2
@@ -68,7 +76,7 @@ jobs:
       fail-fast: true
       matrix:
         zivid-version: ['2.9.0+4dbba385-1', '2.10.0+8ce7dae3-2', '2.10.1+50b274e8-7', '2.11.0+95829246-1', '2.11.1+de9b5dae-1', '2.12.0+6afd4961-1', '2.13.0+99a4ce9e-1']
-        ros-distro: ['ros:noetic-ros-base-focal']
+        ros-distro: ['ros:humble-ros-base-jammy']
     steps:
       - name: Check out code
         uses: actions/checkout@v2
@@ -78,7 +86,7 @@ jobs:
         run: |
           CI_TEST_ZIVID_VERSION=${{ matrix.zivid-version }} \
           CI_TEST_OS=${{ matrix.ros-distro }} \
-          CI_TEST_COMPILER="g++-7" \
+          CI_TEST_COMPILER="g++" \
           CI_TEST_DOWNLOAD_TELICAM=${{ (matrix.zivid-version == '2.12.0+6afd4961-1' || matrix.zivid-version == '2.13.0+99a4ce9e-1') && '0' || '1' }} \
           ./continuous-integration/run_build_and_test_in_docker.sh
       - name: Notify Teams

.gitignore

@@ -0,0 +1,4 @@
+build/
+install/
+log/
+.idea/

CHANGELOG.md

@@ -2,6 +2,22 @@
 
 This project adheres to [Semantic Versioning](https://semver.org).
 
+# 3.0.0
+
+* Driver is updated with support for ROS 2. ROS 1 is no longer supported. If you need support
+  for ROS 1, check one of the earlier releases below, or use the branch `ros1-master`.
+* Capture settings must be set via .yml files or YAML strings, which can be exported from
+  Zivid Studio or the Zivid SDK. The driver no longer supports changing individual Zivid
+  settings nodes directly from ROS. See the Configuration section of the [README](./README.md)
+  for more details.
+* Service descriptions have been moved to a separate ROS package named `zivid_interfaces`.
+* The `capture` and `capture_2d` services now use the standard `std_srvs/srv/Trigger` type.
+* The `load_settings_from_file` and `load_settings_2d_from_file` services are removed. Settings
+  files must now be configured via parameters. See the Configuration section of the
+  [README](./README.md) for more details.
+* The data type of the `rgba` field in the `points/xyzrgba` topic is changed from `FLOAT32` to
+  `UINT32`.
+
 ## 2.5.0
 
 * Fixed an issue where the driver when running as a nodelet could not attach to a manager

CONTRIBUTING.md

@@ -0,0 +1,3 @@
+Any contribution that you make to this repository will
+be under the 3-Clause BSD License, as dictated by that
+[license](https://opensource.org/licenses/BSD-3-Clause).