可視化オブジェクトのproto送信サーバ

consai_ros2/consai_visualizer_msgs/include/consai_visualizer_msgs/manual_conversions.hpp

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+// Copyright (c) 2024 ibis-ssl
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file or at
+// https://opensource.org/licenses/MIT.
+
+#ifndef CONSAI_VISUALIZER_MSGS__MANUAL_CONVERSIONS_HPP_
+#define CONSAI_VISUALIZER_MSGS__MANUAL_CONVERSIONS_HPP_
+
+#endif  // CONSAI_VISUALIZER_MSGS__MANUAL_CONVERSIONS_HPP_

consai_ros2/consai_visualizer_msgs/proto/CMakeLists.txt

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+find_package(Protobuf REQUIRED)
+
+protobuf_generate(
+        LANGUAGE python
+        OUT_VAR proto_py_sources
+        PROTOS ObjectsArray.proto
+)
+
+protobuf_generate(
+        LANGUAGE cpp
+        OUT_VAR proto_cpp_sources
+        PROTOS ObjectsArray.proto
+)
+
+add_library(${PROJECT_NAME}_proto SHARED ${proto_cpp_sources} )
+#target_include_directories(${PROJECT_NAME}_proto PUBLIC "${CMAKE_CURRENT_BINARY_DIR}")
+target_compile_options(${PROJECT_NAME}_proto PUBLIC -Wno-deprecated-declarations)
+target_link_libraries(${PROJECT_NAME}_proto protobuf::libprotobuf)
+
+add_custom_target(
+        ${PROJECT_NAME}_proto_gen ALL DEPENDS
+        ${proto_py_sources}
+        ${proto_cpp_sources}
+)
+
+set(PROTO_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}" PARENT_SCOPE)

consai_ros2/consai_visualizer_msgs/proto/ObjectsArray.proto

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+syntax = "proto3";
+
+package visualizer;
+
+// Color.msg
+message Color {
+  string name = 1;
+  float red = 2;
+  float green = 3;
+  float blue = 4;
+  float alpha = 5;
+}
+
+// Point.msg
+message Point {
+  float x = 1;  // unit: meters
+  float y = 2;  // unit: meters
+}
+
+// ShapeAnnotation.msg
+message ShapeAnnotation {
+  float normalized_x = 1;
+  float normalized_y = 2;
+  float normalized_width = 3;
+  float normalized_height = 4;
+  string text = 5;
+  Color color = 6;
+}
+
+// ShapeArc.msg
+message ShapeArc {
+  Point center = 1;
+  float radius = 2;
+  float start_angle = 3;
+  float end_angle = 4;
+  uint32 size = 5;
+  Color color = 6;
+  string caption = 7;
+}
+
+// ShapeCircle.msg
+message ShapeCircle {
+  Point center = 1;
+  float radius = 2;
+  Color line_color = 3;
+  Color fill_color = 4;
+  uint32 line_size = 5;
+  string caption = 6;
+}
+
+// ShapeLine.msg
+message ShapeLine {
+  Point p1 = 1;
+  Point p2 = 2;
+  uint32 size = 3;
+  Color color = 4;
+  string caption = 5;
+}
+
+// ShapePoint.msg
+message ShapePoint {
+  float x = 1;  // unit: meters
+  float y = 2;  // unit: meters
+  uint32 size = 3;
+  Color color = 4;
+  string caption = 5;
+}
+
+// ShapeRectangle.msg
+message ShapeRectangle {
+  Point center = 1;
+  float width = 2;
+  float height = 3;
+  uint32 line_size = 4;
+  Color line_color = 5;
+  Color fill_color = 6;
+  string caption = 7;
+}
+
+// ShapeRobot.msg
+message ShapeRobot {
+  enum ColorType {
+    COLOR_TYPE_DEFAULT = 0;
+    COLOR_TYPE_REAL = 1;
+  }
+
+  ColorType color_type = 1;
+  float radius = 2;
+  Color line_color = 3;
+  Color fill_color = 4;
+  uint32 line_size = 5;
+  uint32 id = 6;
+  float x = 7;
+  float y = 8;
+  float theta = 9;
+  string caption = 10;
+}
+
+// ShapeText.msg
+message ShapeText {
+  float x = 1;  // unit: meters
+  float y = 2;  // unit: meters
+  string text = 3;
+  uint32 size = 4;
+  Color color = 5;
+}
+
+// ShapeTube.msg
+message ShapeTube {
+  Point p1 = 1;
+  Point p2 = 2;
+  float radius = 3;
+  Color line_color = 4;
+  Color fill_color = 5;
+  uint32 line_size = 6;
+  string caption = 7;
+}
+
+// Objects.msg
+message Objects {
+  string layer = 1;
+  string sub_layer = 2;
+  uint32 z_order = 3;  // Higher numbers are displayed in front
+
+  // Objects drawn in the window area
+  repeated ShapeAnnotation annotations = 4;
+
+  // Objects drawn in the field area
+  repeated ShapePoint points = 5;
+  repeated ShapeLine lines = 6;
+  repeated ShapeArc arcs = 7;
+  repeated ShapeRectangle rects = 8;
+  repeated ShapeCircle circles = 9;
+  repeated ShapeTube tubes = 10;
+  repeated ShapeText texts = 11;
+  repeated ShapeRobot robots = 12;
+}
+
+// ObjectsArray.msg
+message ObjectsArray {
+  repeated Objects objects = 1;
+}

consai_ros2/consai_visualizer_msgs/src/manual_conversions.cpp

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+// Copyright (c) 2024 ibis-ssl
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file or at
+// https://opensource.org/licenses/MIT.
+
+// NOTE: 名前もmanual_conversions.cppで固定
+#include <consai_visualizer_msgs/manual_conversions.hpp>

utility/crane_visualization_bridge/.clang-format

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+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false

utility/crane_visualization_bridge/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(crane_visualization_bridge)
+
+# Default to C++20
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 20)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -g)
+endif()
+
+# find dependencies
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

utility/crane_visualization_bridge/package.xml

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+<?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>crane_visualization_bridge</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">ibis ssl</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>consai_visualizer_msgs</depend>
+  <depend>crane_msgs</depend>
+  <depend>proto2ros</depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>crane_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>