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allow topic remapping #1417

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allow topic remapping #1417

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06a118a
Include TBB in gazebo-dev cmake to fix #1372 (#1373)
j-rivero May 3, 2022
8fca837
allow topic remapping
Aug 12, 2022
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31 changes: 29 additions & 2 deletions gazebo_dev/cmake/gazebo_dev-extras.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -3,11 +3,38 @@ find_package(gazebo REQUIRED)

message(STATUS "Gazebo version: ${GAZEBO_VERSION}")

# Workaround for https://github.com/ros-simulation/gazebo_ros_pkgs/issues/1372
# Real fix should go into Gazebo11 https://github.com/osrf/gazebo/issues/3008
# On Ubuntu Jammy Gazebo11 is used directly from Ubuntu, before removing this
# please be sure that the package is updated there.
pkg_check_modules(TBB tbb)
set(TBB_PKG_CONFIG "tbb")
if(NOT TBB_FOUND)
message(STATUS "TBB not found, attempting to detect manually")
set(TBB_PKG_CONFIG "")

# Workaround for CMake bug https://gitlab.kitware.com/cmake/cmake/issues/17135
unset(TBB_FOUND CACHE)

find_package(TBB CONFIG)
if(TBB_FOUND)
set(TBB_LIBRARIES TBB::tbb)
else()
find_library(tbb_library tbb ENV LD_LIBRARY_PATH)
if(tbb_library)
set(TBB_FOUND true)
set(TBB_LIBRARIES ${tbb_library})
else()
message(FATAL_ERROR "Missing: TBB - Threading Building Blocks")
endif()
endif()
endif()

# The following lines will tell catkin to add the Gazebo directories and libraries to the
# respective catkin_* cmake variables.
set(gazebo_dev_INCLUDE_DIRS ${GAZEBO_INCLUDE_DIRS})
set(gazebo_dev_LIBRARY_DIRS ${GAZEBO_LIBRARY_DIRS})
set(gazebo_dev_LIBRARIES ${GAZEBO_LIBRARIES})
set(gazebo_dev_LIBRARY_DIRS ${GAZEBO_LIBRARY_DIRS} ${TBB_LIBRARY_DIRS})
set(gazebo_dev_LIBRARIES ${GAZEBO_LIBRARIES} ${TBB_LIBRARIES})

# Append gazebo CXX_FLAGS to CMAKE_CXX_FLAGS (c++11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
16 changes: 8 additions & 8 deletions gazebo_plugins/src/gazebo_ros_camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,7 +184,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
if (impl_->sensor_type_ != GazeboRosCameraPrivate::MULTICAMERA) {
// Image publisher
// TODO(louise) Migrate image_connect logic once SubscriberStatusCallback is ported to ROS2
const std::string camera_topic = impl_->camera_name_ + "/image_raw";
const std::string camera_topic = "~/image_raw";
impl_->image_pub_.push_back(
image_transport::create_publisher(
impl_->ros_node_.get(), camera_topic, qos.get_publisher_qos(
Expand All @@ -197,7 +197,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _

// Camera info publisher
// TODO(louise) Migrate ImageConnect logic once SubscriberStatusCallback is ported to ROS2
const std::string camera_info_topic = impl_->camera_name_ + "/camera_info";
const std::string camera_info_topic = "~/camera_info";
impl_->camera_info_pub_.push_back(
impl_->ros_node_->create_publisher<sensor_msgs::msg::CameraInfo>(
camera_info_topic, qos.get_publisher_qos(
Expand All @@ -210,7 +210,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
} else {
for (uint64_t i = 0; i < impl_->num_cameras_; ++i) {
const std::string camera_topic =
impl_->camera_name_ + "/" + MultiCameraPlugin::camera_[i]->Name() + "/image_raw";
"~/" + MultiCameraPlugin::camera_[i]->Name() + "/image_raw";
// Image publisher
impl_->image_pub_.push_back(
image_transport::create_publisher(
Expand All @@ -223,7 +223,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
// impl_->image_pub_.back().getTopic());

const std::string camera_info_topic =
impl_->camera_name_ + "/" + MultiCameraPlugin::camera_[i]->Name() + "/camera_info";
"~/" + MultiCameraPlugin::camera_[i]->Name() + "/camera_info";
// Camera info publisher
impl_->camera_info_pub_.push_back(
impl_->ros_node_->create_publisher<sensor_msgs::msg::CameraInfo>(
Expand All @@ -238,7 +238,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
}

if (impl_->sensor_type_ == GazeboRosCameraPrivate::DEPTH) {
const std::string depth_topic = impl_->camera_name_ + "/depth/image_raw";
const std::string depth_topic = "~/depth/image_raw";
// Depth image publisher
impl_->depth_image_pub_ = image_transport::create_publisher(
impl_->ros_node_.get(), depth_topic, qos.get_publisher_qos(
Expand All @@ -247,7 +247,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
// RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing depth images to [%s]",
// impl_->depth_image_pub_.getTopic().c_str());

const std::string depth_info_topic = impl_->camera_name_ + "/depth/camera_info";
const std::string depth_info_topic = "~/depth/camera_info";
// Depth info publisher
impl_->depth_camera_info_pub_ =
impl_->ros_node_->create_publisher<sensor_msgs::msg::CameraInfo>(
Expand All @@ -257,7 +257,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
impl_->ros_node_->get_logger(), "Publishing depth camera info to [%s]",
impl_->depth_camera_info_pub_->get_topic_name());

const std::string point_cloud_topic = impl_->camera_name_ + "/points";
const std::string point_cloud_topic = "~/points";
// Point cloud publisher
impl_->point_cloud_pub_ = impl_->ros_node_->create_publisher<sensor_msgs::msg::PointCloud2>(
point_cloud_topic, qos.get_publisher_qos(point_cloud_topic, rclcpp::QoS(1)));
Expand All @@ -269,7 +269,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _

// Trigger
if (_sdf->Get<bool>("triggered", false).first) {
const std::string trigger_topic = impl_->camera_name_ + "/image_trigger";
const std::string trigger_topic = "~/image_trigger";
impl_->trigger_sub_ = impl_->ros_node_->create_subscription<std_msgs::msg::Empty>(
trigger_topic, qos.get_subscription_qos(trigger_topic, rclcpp::QoS(1)),
std::bind(&GazeboRosCamera::OnTrigger, this, std::placeholders::_1));
Expand Down