Multibeam Sonar Migration Template

.pre-commit-config.yaml

@@ -28,7 +28,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
         args: ["--maxkb=2000"]
@@ -48,7 +48,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.19.1
     hooks:
       - id: pyupgrade
         args: [--py36-plus]
@@ -62,20 +62,20 @@ repos:
           ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 24.4.2
+    rev: 24.10.0
     hooks:
       - id: black
         args: ["--line-length=99", "--exclude=tools/code_check"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.1.0
+    rev: 7.1.1
     hooks:
       - id: flake8
         args: ["--extend-ignore=E501", "--exclude=tools/code_check"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.7
+    rev: v19.1.6
     hooks:
       - id: clang-format
         args: ["-fallback-style=none", "-i"]
@@ -125,7 +125,7 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ["--max-line-length=100", "--ignore=D001"]
@@ -150,7 +150,7 @@ repos:
 
   # Json lint
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.31.0
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]
@@ -161,7 +161,7 @@ repos:
 
   # XML lint for xacro, urdf, and sdf files
   - repo: https://github.com/pamoller/xmlformatter
-    rev: v0.2.6
+    rev: v0.2.8
     hooks:
       - id: xml-formatter
         name: Format XML

gazebo/dave_gz_multibeam_sonar/README.md

@@ -0,0 +1,18 @@
+# Dave Gazebo Multibeam Sonar Plugin
+
+- The sensor itself is at `multibeam_sonar`
+- The system plugin that will also be defined in `world` file is at `multibeam_sonar_system`
+- We need both the sensor and the system plugin to be able to use the sensor in Gazebo
+
+- Launch example with `dave_sensor.launch.py`:
+
+  ```
+  ros2 launch dave_demos dave_sensor.launch.py namespace:=blueview_p900 world_name:=dave_multibeam_sonar paused:=false x:=4 z:=0.5 yaw:=3.14
+  ```
+
+- Launch example with `ros_gz_bridge` to translate gazebo msg to ROS msg:
+  - Not perfect
+
+  ```
+  ros2 launch dave_multibeam_sonar_demo multibeam_sonar_demo.launch.py
+  ```

gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt

@@ -0,0 +1,132 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_policy(SET CMP0144 NEW)
+
+project(multibeam_sonar)
+
+find_package(ament_cmake REQUIRED)
+find_package(gz-cmake3 REQUIRED)
+find_package(gz-sim8 REQUIRED)
+find_package(gz-sensors8 REQUIRED)
+find_package(gz-rendering8 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
+find_package(gz-transport13 REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(PCL REQUIRED)
+find_package(pcl_conversions REQUIRED)
+
+find_package(OpenCV REQUIRED)
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+# Set version variables
+set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
+set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
+set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+
+if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre)
+  set(HAVE_OGRE TRUE)
+  set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre)
+  add_definitions(-DWITH_OGRE)
+endif()
+
+if(TARGET gz-rendering${GZ_RENDERING_VER}::ogre2)
+  set(HAVE_OGRE2 TRUE)
+  set(GZ_RENDERING_TARGET gz-rendering${GZ_RENDERING_VER}-ogre2)
+  add_definitions(-DWITH_OGRE2)
+endif()
+
+add_library(${PROJECT_NAME}
+  SHARED
+    MultibeamSonarSensor.cc
+)
+
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  ${gz-sensors${GZ_SENSORS_VER}_INCLUDE_DIRS}
+  ${gz-rendering${GZ_RENDERING_VER}_INCLUDE_DIRS}
+  ${gz-msgs${GZ_MSGS_VER}_INCLUDE_DIRS}
+  ${gz-transport${GZ_TRANSPORT_VER}_INCLUDE_DIRS}
+  ${gz-sim${GZ_SIM_VER}_INCLUDE_DIRS}
+)
+target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_target_dependencies(${PROJECT_NAME}
+  gz-sensors${GZ_SENSORS_VER}
+  ${GZ_RENDERING_TARGET}
+  gz-msgs${GZ_MSGS_VER}
+  gz-transport${GZ_TRANSPORT_VER}
+  gz-sim${GZ_SIM_VER}
+  rclcpp
+  sensor_msgs
+  rosidl_default_generators
+  PCL
+  pcl_conversions
+  OpenCV
+)
+
+
+# Environment hooks
+ament_environment_hooks(
+  "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in"
+)
+
+ament_package()
+
+
+# find_package(CUDAToolkit QUIET)
+# if (CUDAToolkit_FOUND)
+#   enable_language(CUDA)
+#   message(STATUS "CUDA found, enabling CUDA support.")
+#   include_directories(${CUDA_INCLUDE_DIRS})
+#   set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -arch=sm_60")
+
+#   find_package(cv_bridge REQUIRED)
+#   find_package(OpenCV REQUIRED)
+#   find_package(rosidl_default_generators REQUIRED)
+#   find_package(PCL REQUIRED)
+#   find_package(pcl_ros REQUIRED)
+#   find_package(marine_acoustic_msgs REQUIRED)
+#   find_package(gz-sensors${GZ_SIM_VER} REQUIRED)
+#   set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
+
+#   add_library(MultibeamSonarSystem SHARED
+#               src/MultibeamSonarSystem.cc
+#   )
+
+#   set_target_properties(MultibeamSonarSystem
+#                         PROPERTIES CUDA_SEPARABLE_COMPILATION ON)
+
+#   target_include_directories(MultibeamSonarSystem PRIVATE include)
+#   target_link_libraries(MultibeamSonarSystem
+#                         gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+#                         gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
+#                         gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+#                         ${CUDA_LIBRARIES}
+#                         ${PCL_LIBRARIES}
+#                         ${OpenCV_LIBRARIES}
+#   )
+
+#   ament_target_dependencies(MultibeamSonarSystem
+#                             rclcpp
+#                             std_msgs
+#                             sensor_msgs
+#                             geometry_msgs
+#                             PCL
+#                             OpenCV
+#                             marine_acoustic_msgs
+#   )
+#   install(TARGETS MultibeamSonarSystem
+#           DESTINATION lib/${PROJECT_NAME}
+#   )
+# else()
+#   message(STATUS "CUDA Toolkit not found: Skipping CUDA-specific targets")
+# endif()