Added ros1 compatability to ros2 port

CMakeLists.txt

@@ -1,50 +1,111 @@
-cmake_minimum_required(VERSION 3.8)
-project(gtec_msgs)
+if("$ENV{ROS_VERSION}" STREQUAL "2")
+  cmake_minimum_required(VERSION 3.8)
+	set(DETECTED_ROS2 TRUE)
+else()
+  cmake_minimum_required(VERSION 2.8.3)
+	set(DETECTED_ROS1 TRUE)
+  set(CMAKE_AUTOMOC ON)
+  set(CMAKE_AUTOUIC ON)
+
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -std=c++11")
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_definitions(-std=c++11)
 endif()
 
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(geometry_msgs)
-find_package(std_msgs)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/GenericRanging.msg"
-  "msg/Ranging.msg"
-  "msg/UWBRanging.msg"
-  "msg/DWRanging.msg"
-  "msg/PozyxRanging.msg"
-  "msg/RangingDiff.msg"
-  "msg/PozyxRangingWithCir.msg"
-  "msg/ESP32S2FTMFrame.msg"
-  "msg/ESP32S2FTMRanging.msg"
-  "msg/ESP32S2FTMRangingExtra.msg"
-  "msg/RadarCube.msg"
-  "msg/RadarRangeAzimuth.msg"
-  "msg/RadarRangeDoppler.msg"
-  "msg/RadarFusedPointStamped.msg"
-  "msg/DoorCounterEvent.msg"
-  "msg/ZoneOccupancy.msg"
-  DEPENDENCIES geometry_msgs std_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
+project(gtec_msgs)
+
+if(DETECTED_ROS1)
+  ## Find catkin macros and libraries
+  ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+  ## is used, also find other catkin packages
+  find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  message_generation
+  )
+
+  ## Generate messages in the 'msg' folder
+  add_message_files(
+    DIRECTORY
+    msg-ros1
+    FILES
+    GenericRanging.msg
+    Ranging.msg
+    UWBRanging.msg
+    DWRanging.msg
+    PozyxRanging.msg
+    RangingDiff.msg
+    PozyxRangingWithCir.msg
+    ESP32S2FTMFrame.msg
+    ESP32S2FTMRanging.msg
+    ESP32S2FTMRangingExtra.msg
+    RadarCube.msg
+    RadarRangeAzimuth.msg
+    RadarRangeDoppler.msg
+    RadarFusedPointStamped.msg
+    DoorCounterEvent.msg
+    ZoneOccupancy.msg
+  )
+
+  ## Generate added messages and services with any dependencies listed here
+  generate_messages(
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+  )
+
+  catkin_package(
+  )
 endif()
 
-ament_package()
+if(DETECTED_ROS2)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+  endif()
+
+  # find dependencies
+  find_package(ament_cmake REQUIRED)
+  find_package(geometry_msgs REQUIRED)
+  find_package(rosidl_default_generators REQUIRED)
+  find_package(geometry_msgs)
+  find_package(std_msgs)
+  # uncomment the following section in order to fill in
+  # further dependencies manually.
+  # find_package(<dependency> REQUIRED)
+
+  rosidl_generate_interfaces(${PROJECT_NAME}
+    "msg-ros2/GenericRanging.msg"
+    "msg-ros2/Ranging.msg"
+    "msg-ros2/UWBRanging.msg"
+    "msg-ros2/DWRanging.msg"
+    "msg-ros2/PozyxRanging.msg"
+    "msg-ros2/RangingDiff.msg"
+    "msg-ros2/PozyxRangingWithCir.msg"
+    "msg-ros2/ESP32S2FTMFrame.msg"
+    "msg-ros2/ESP32S2FTMRanging.msg"
+    "msg-ros2/ESP32S2FTMRangingExtra.msg"
+    "msg-ros2/RadarCube.msg"
+    "msg-ros2/RadarRangeAzimuth.msg"
+    "msg-ros2/RadarRangeDoppler.msg"
+    "msg-ros2/RadarFusedPointStamped.msg"
+    "msg-ros2/DoorCounterEvent.msg"
+    "msg-ros2/ZoneOccupancy.msg"
+    DEPENDENCIES geometry_msgs std_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
+  )
+
+  if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    # the following line skips the linter which checks for copyrights
+    # comment the line when a copyright and license is added to all source files
+    set(ament_cmake_copyright_FOUND TRUE)
+    # the following line skips cpplint (only works in a git repo)
+    # comment the line when this package is in a git repo and when
+    # a copyright and license is added to all source files
+    set(ament_cmake_cpplint_FOUND TRUE)
+    ament_lint_auto_find_test_dependencies()
+  endif()
+
+  ament_package()
+endif()

msg-ros1/DWRanging.msg

@@ -0,0 +1,18 @@
+int16 anchorId
+int16 tagId
+int32 range
+int32 rawrange
+int32 seq
+int32 maxNoise
+int32 stdNoise
+int32 firstPathAmp1
+int32 firstPathAmp2
+int32 firstPathAmp3
+int32 maxGrowthCIR
+int32 rxPreamCount
+int32 firstPath
+float64 channel
+int32 prf
+float64 datarate
+int32 preambleLength
+int32 pacSize

msg-ros1/DoorCounterEvent.msg

@@ -0,0 +1,3 @@
+Header header
+int16 lth
+int16 htl

msg-ros1/ESP32S2FTMRanging.msg

@@ -0,0 +1,6 @@
+string anchorId
+int32 rtt_est
+int32 rtt_raw
+float32 dist_est
+int32 num_frames
+gtec_msgs/ESP32S2FTMFrame[] frames

msg-ros1/ESP32S2FTMRangingExtra.msg

@@ -0,0 +1,7 @@
+string anchorId
+int32 rtt_est
+int32 rtt_raw
+float32 dist_est
+float32 own_est
+int32 num_frames
+gtec_msgs/ESP32S2FTMFrame[] frames

msg-ros1/GenericRanging.msg

@@ -0,0 +1,5 @@
+int16 anchorId
+int16 tagId
+int32 range
+int32 seq
+float64 rxPower

msg-ros1/PozyxRanging.msg

@@ -0,0 +1,14 @@
+int32 originId
+int16 originType
+int32 destinationId
+int16 destinationType
+int32 range
+int32 ts
+int32 seq
+float64 rxPower
+float64 channel
+float64 datarate
+int32 prf
+int32 preambleLength
+float64 txGain
+float64 angle

msg-ros1/PozyxRangingWithCir.msg

@@ -0,0 +1,15 @@
+int32 originId
+int16 originType
+int32 destinationId
+int16 destinationType
+int32 range
+int32 ts
+int32 seq
+float64 rxPower
+float64 channel
+float64 datarate
+int32 prf
+int32 preambleLength
+float64 txGain
+float64 angle
+int16[] cir

msg-ros1/RadarCube.msg

@@ -0,0 +1,4 @@
+Header header
+int16 fftSize
+int16 angleBins
+float64[] data

msg-ros1/RadarFusedPointStamped.msg

@@ -0,0 +1,3 @@
+Header header
+geometry_msgs/Point point
+int16 targetId

msg-ros1/RadarRangeAzimuth.msg

@@ -0,0 +1,4 @@
+Header header
+int16 numRangeBins
+int16 numVirtualAntennas
+float64[] data

msg-ros1/RadarRangeDoppler.msg

@@ -0,0 +1,4 @@
+Header header
+int16 numRangeBins
+int16 numDopplerBins
+float64[] data

msg-ros1/Ranging.msg

@@ -0,0 +1,6 @@
+int16 anchorId
+int16 tagId
+int32 range
+int32 seq
+float64 rss
+float64 errorEstimation

msg-ros1/RangingDiff.msg

@@ -0,0 +1,5 @@
+int16 anchorId
+int16 tagId
+float32 range
+float32 distance
+float32 diff

msg-ros1/UWBRanging.msg

@@ -0,0 +1,20 @@
+int16 anchorId
+int16 tagId
+int32 range
+int32 rawrange
+int32 biasCorrection
+int32 seq
+int32 maxNoise
+int32 stdNoise
+int32 firstPathAmp1
+int32 firstPathAmp2
+int32 firstPathAmp3
+int32 maxGrowthCIR
+int32 rxPreamCount
+int32 firstPath
+float64 channel
+int32 prf
+float64 datarate
+int32 preambleLength
+int32 pacSize
+float64 errorEstimation

msg-ros1/ZoneOccupancy.msg

@@ -0,0 +1,4 @@
+Header header
+string zoneId
+int16[] targetIds
+int16 count

msg-ros2/ESP32S2FTMFrame.msg

@@ -0,0 +1,6 @@
+int32 rssi
+int32 rtt
+int64 t1
+int64 t2
+int64 t3
+int64 t4

package.xml

@@ -4,23 +4,29 @@
   <name>gtec_msgs</name>
   <version>1.0.0</version>
   <description>The GTEC MSGS package</description>
-  <maintainer email="[email protected]">todo</maintainer>
+  <maintainer email="[email protected]">Valentin Barral</maintainer>
   <license>MIT</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">rosidl_default_generators</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <exec_depend  condition="$ROS_VERSION == 1">message_runtime</exec_depend>
 
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
 
-  <exec_depend>rosidl_default_runtime</exec_depend>
+  <build_depend condition="$ROS_VERSION == 2">rosidl_default_generators</build_depend>
+  <exec_depend  condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <test_depend     condition="$ROS_VERSION == 2">ament_lint_auto</test_depend>
+  <test_depend     condition="$ROS_VERSION == 2">ament_lint_common</test_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
+  <member_of_group condition="$ROS_VERSION == 2">rosidl_interface_packages</member_of_group>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
   </export>
 </package>