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Merged
berndpfrommer merged 5 commits into from
Jan 8, 2026
Merged

compile under new ROS2 image transport interface #43

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614b36d
better reference to vcs file
berndpfrommer Jan 8, 2026
1f90044
avoid ament_target_dependencies
berndpfrommer Jan 8, 2026
96b2d9f
handle cv_bridge file variations
berndpfrommer Jan 8, 2026
06984b0
adapt to new image transport interface
berndpfrommer Jan 8, 2026
6426568
fix linter errors
berndpfrommer Jan 8, 2026
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2 changes: 1 addition & 1 deletion .github/workflows/ci.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,4 +16,4 @@ jobs:
uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ros2_since_jazzy.yml@master
with:
repo: ${{ github.event.repository.name }}
vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/ros2/${{ github.event.repository.name }}.repos
vcs_url: ${{ github.event.repository.name }}.repos
76 changes: 51 additions & 25 deletions CMakeLists.txt
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Expand Up @@ -30,50 +30,83 @@ find_package(yaml-cpp REQUIRED)
find_package(Boost REQUIRED COMPONENTS graph)
find_package(GTSAM REQUIRED)

set(tagslam_ament_dependencies
set(tagslam_packages
"apriltag_msgs"
"cv_bridge"
"flex_sync"
"geometry_msgs"
"image_transport"
"flex_sync"
"nav_msgs"
"rclcpp"
"rclcpp_components"
"rosbag2_cpp"
"rosbag2_transport"
"rosgraph_msgs"
"sensor_msgs"
"std_srvs"
"tf2_ros"
"tf2_msgs"
"tf2"
"rosgraph_msgs"
"std_srvs")
"tf2")

set(sync_and_detect_ament_dependencies
set(sync_and_detect_packages
"apriltag_msgs"
"apriltag_detector"
"cv_bridge"
"flex_sync"
"image_transport"
"pluginlib"
"nav_msgs"
"pluginlib"
"rclcpp"
"sensor_msgs")

set(all_ament_dependencies
${tagslam_ament_dependencies}
${sync_and_detect_ament_dependencies})
set(all_packages ${tagslam_packages} ${sync_and_detect_packages})

foreach(pkg ${all_ament_dependencies})
foreach(pkg ${all_packages})
find_package(${pkg} REQUIRED)
endforeach()

if(${cv_bridge_VERSION} GREATER "3.3.0")
add_definitions(-DUSE_CV_BRIDGE_HPP)
endif()
set(sync_and_detect_dependencies
${apriltag_msgs_TARGETS}
apriltag_detector::apriltag_detector
cv_bridge::cv_bridge
flex_sync::flex_sync
image_transport::image_transport
${nav_msgs_TARGETS}
pluginlib::pluginlib
rclcpp::rclcpp
${sensor_msgs_TARGETS})

set(tagslam_dependencies
${apriltag_msgs_TARGETS}
cv_bridge::cv_bridge
flex_sync::flex_sync
${geometry_msgs_TARGETS}
gtsam
image_transport::image_transport
${nav_msgs_TARGETS}
opencv_core
opencv_imgproc
opencv_calib3d
yaml-cpp
rclcpp::rclcpp
rclcpp_components::component
rosbag2_cpp::rosbag2_cpp
rosbag2_transport::rosbag2_transport
${rosgraph_msgs_TARGETS}
${sensor_msgs_TARGETS}
${std_srvs_TARGETS}
tf2_ros::tf2_ros
${tf2_msgs_TARGETS}
tf2::tf2)


if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.3.0")
add_definitions(-DIMAGE_TRANSPORT_USE_QOS)
endif()
if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.4.0")
add_definitions(-DIMAGE_TRANSPORT_USE_NODEINTERFACE)
endif()


#
# --------- library
Expand Down Expand Up @@ -120,8 +153,7 @@ add_library(${PROJECT_NAME} SHARED
src/yaml.cpp
)

ament_target_dependencies(${PROJECT_NAME} ${tagslam_ament_dependencies})
target_link_libraries(${PROJECT_NAME} opencv_core opencv_imgproc opencv_calib3d yaml-cpp gtsam)
target_link_libraries(${PROJECT_NAME} PUBLIC ${tagslam_dependencies})
target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)

target_include_directories(
Expand All @@ -136,7 +168,6 @@ rclcpp_components_register_nodes(${PROJECT_NAME} "${PROJECT_NAME}::TagSLAM")
# -------- node
#
add_executable(${PROJECT_NAME}_node src/tagslam_node.cpp)
# ament_target_dependencies(${PROJECT_NAME}_node ${tagslam_ament_dependencies})
target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME})
target_include_directories(${PROJECT_NAME}_node PRIVATE include)
target_compile_features(${PROJECT_NAME}_node PRIVATE cxx_std_17)
Expand All @@ -147,8 +178,7 @@ target_compile_features(${PROJECT_NAME}_node PRIVATE cxx_std_17)
add_library(sync_and_detect SHARED
src/sync_and_detect.cpp
)
ament_target_dependencies(sync_and_detect ${sync_and_detect_ament_dependencies})
target_link_libraries(sync_and_detect yaml-cpp)
target_link_libraries(sync_and_detect yaml-cpp ${sync_and_detect_dependencies})
target_compile_features(sync_and_detect PRIVATE cxx_std_17)

target_include_directories(
Expand All @@ -165,10 +195,7 @@ rclcpp_components_register_nodes(sync_and_detect "${PROJECT_NAME}::SyncAndDetect
add_executable(${PROJECT_NAME}_from_bag
src/${PROJECT_NAME}_from_bag.cpp
src/enhanced_player.cpp)
ament_target_dependencies(${PROJECT_NAME}_from_bag
${tagslam_ament_dependencies}
rosbag2_transport)
target_link_libraries(${PROJECT_NAME}_from_bag ${PROJECT_NAME} sync_and_detect)
target_link_libraries(${PROJECT_NAME}_from_bag ${PROJECT_NAME} sync_and_detect ${tagslam_dependencies})
target_include_directories(${PROJECT_NAME}_from_bag PRIVATE include)
target_compile_features(${PROJECT_NAME}_from_bag PRIVATE cxx_std_17)

Expand All @@ -179,8 +206,7 @@ target_compile_features(${PROJECT_NAME}_from_bag PRIVATE cxx_std_17)
add_executable(sync_and_detect_from_bag
src/sync_and_detect_from_bag.cpp
src/enhanced_player.cpp)
ament_target_dependencies(sync_and_detect_from_bag rosbag2_transport)
target_link_libraries(sync_and_detect_from_bag sync_and_detect yaml-cpp)
target_link_libraries(sync_and_detect_from_bag sync_and_detect yaml-cpp rosbag2_transport::rosbag2_transport)

target_include_directories(sync_and_detect_from_bag PRIVATE include)
target_compile_features(sync_and_detect_from_bag PRIVATE cxx_std_17)
Expand Down
7 changes: 6 additions & 1 deletion include/tagslam/sync_and_detect.hpp
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Expand Up @@ -51,7 +51,12 @@ class Subscriber<SyncT, Image>
const std::string param_name = topic + ".image_transport";
sub_ = std::make_shared<image_transport::Subscriber>(
image_transport::create_subscription(
node, topic,
#ifdef IMAGE_TRANSPORT_USE_NODEINTERFACE
*node,
#else
node,
#endif
topic,
std::bind(
&Subscriber<SyncT, Image>::callback, this, std::placeholders::_1),
node->get_parameter_or<std::string>(param_name, "raw"),
Expand Down
2 changes: 1 addition & 1 deletion src/sync_and_detect.cpp
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Expand Up @@ -14,7 +14,7 @@
// limitations under the License.

#include <algorithm>
#ifdef USE_CV_BRIDGE_HPP
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
#else
#include <cv_bridge/cv_bridge.h>
Expand Down
3 changes: 1 addition & 2 deletions src/tagslam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,12 +13,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifdef USE_CV_BRIDGE_HPP
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
#else
#include <cv_bridge/cv_bridge.h>
#endif

#include <yaml-cpp/yaml.h>

#include <cmath>
Expand Down