update for ROS

CMakeLists.txt

@@ -1,30 +1,142 @@
-cmake_minimum_required(VERSION 3.10)
-project(data_convert)
+cmake_minimum_required(VERSION 3.0.2)
+project(data_convert VERSION 1.0.0 LANGUAGES CXX)
 
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building data_convert with Catkin")
+
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building data_convert with Standalone CMake")
+endif()
+
+# C++ Standard - must be set before find_package
 set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
-add_library(data_convert INTERFACE)
+if (NOT BUILDING_WITH_CATKIN)
 
-target_include_directories(data_convert
+  # Enable Position Independent Code
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+  # Cấu hình RPATH để tránh cycle trong runtime search path
+  set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
+  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+  set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
+
+  set(PACKAGES_DIR  
+    robot_geometry_msgs
+  )
+
+else()
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+  find_package(catkin REQUIRED COMPONENTS         
+    robot_geometry_msgs
+  )
+
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+    CATKIN_DEPENDS robot_geometry_msgs
+  )
+
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+  )
+endif()
+
+# Tìm tất cả header files
+file(GLOB_RECURSE HEADERS "include/data_convert/*.h")
+
+# Tạo INTERFACE library (header-only)
+add_library(${PROJECT_NAME} INTERFACE)
+
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  # Set include directories
+  target_include_directories(${PROJECT_NAME}
+    INTERFACE 
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+  )
+
+  # Link dependencies (header-only, chỉ cần include paths)
+  target_link_libraries(${PROJECT_NAME}
     INTERFACE
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-        $<INSTALL_INTERFACE:include>
-)
+      ${catkin_LIBRARIES}
+  )
 
-# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
-install(TARGETS data_convert
-  EXPORT data_convert-targets
-  INCLUDES DESTINATION include # Cài đặt include
-)
+else()
 
-# --- Xuất export set data_convert-targets thành file CMake module ---
-# --- Tạo file lib/cmake/data_convert/data_convert-targets.cmake ---
-# --- File này chứa cấu hình giúp project khác có thể dùng ---
-# --- Find_package(data_convert REQUIRED) ---
-# --- Target_link_libraries(my_app PRIVATE data_convert::data_convert) ---
-install(EXPORT data_convert-targets 
-  FILE data_convert-targets.cmake
-  NAMESPACE data_convert::
-  DESTINATION lib/cmake/data_convert
-)
+  # Set include directories
+  target_include_directories(${PROJECT_NAME}
+    INTERFACE 
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+  )
 
+  # Link dependencies (header-only, chỉ cần include paths)
+  target_link_libraries(${PROJECT_NAME}
+    INTERFACE
+      ${PACKAGES_DIR}
+  )
+
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  ## Mark libraries for installation
+  ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+else()
+
+  install(TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}-targets
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+
+  # Export targets
+  install(EXPORT ${PROJECT_NAME}-targets
+    FILE ${PROJECT_NAME}-targets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION lib/cmake/${PROJECT_NAME}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+  # Print configuration info
+  message(STATUS "=================================")
+  message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
+  message(STATUS "Version: ${PROJECT_VERSION}")
+  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
+  message(STATUS "Headers found:")
+  foreach(hdr ${HEADERS})
+    message(STATUS "  - ${hdr}")
+  endforeach()
+  message(STATUS "Dependencies: robot_geometry_msgs")
+  message(STATUS "=================================")
+endif()

include/data_convert/data_convert.h

@@ -1,55 +1,27 @@
 #ifndef COSTMAP_2D_DATA_CONVERT_H
 #define COSTMAP_2D_DATA_CONVERT_H
 
-#include <geometry_msgs/TransformStamped.h>
-#include <geometry_msgs/Quaternion.h>
-#include <geometry_msgs/Pose.h>
-#include <geometry_msgs/PoseStamped.h>
+#include <robot_geometry_msgs/TransformStamped.h>
+#include <robot_geometry_msgs/Quaternion.h>
+#include <robot_geometry_msgs/Pose.h>
+#include <robot_geometry_msgs/PoseStamped.h>
 #include <tf3/utils.h>
 #include <tf3/compat.h>
 #include <robot/time.h>
 #include <cmath>
 
-// template <typename T>
-// bool isEqual(const T& a, const T& b, double eps = 1e-5)
-// {
-//     return std::fabs(a - b) < eps;
-// }
-
-// inline bool operator==(const geometry_msgs::Quaternion& a, const geometry_msgs::Quaternion& b)
-// {
-//     return isEqual(a.x, b.x) && isEqual(a.y, b.y) && isEqual(a.z, b.z) && isEqual(a.w, b.w);
-// }
-
-// inline bool operator==(const geometry_msgs::Point& a, const geometry_msgs::Point& b)
-// {
-//     return isEqual(a.x, b.x) && isEqual(a.y, b.y) && isEqual(a.z, b.z);
-// }
-
-// inline bool operator==(const geometry_msgs::Pose& a, const geometry_msgs::Pose& b)
-// {
-//     return (a.position == b.position) && (a.orientation == b.orientation);
-// }
-
-// inline bool operator==(const geometry_msgs::PoseStamped& a, const geometry_msgs::PoseStamped& b)
-// {
-//     return (a.header.frame_id == b.header.frame_id) &&
-//         (a.pose == b.pose);
-// }
 namespace data_convert
 {
-
-
-    inline double getYaw(const geometry_msgs::Quaternion& q)
+    inline double getYaw(const robot_geometry_msgs::Quaternion& q)
     {
         double siny_cosp = 2.0 * (q.w * q.z + q.x * q.y);
         double cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z);
         return std::atan2(siny_cosp, cosy_cosp);
     }
 
-    inline geometry_msgs::Quaternion getQuaternion(const double& yaw)
+    inline robot_geometry_msgs::Quaternion getQuaternion(const double& yaw)
     {
-        geometry_msgs::Quaternion q;
+        robot_geometry_msgs::Quaternion q;
         q.x = 0.0;
         q.y = 0.0;
         q.z = std::sin(yaw / 2.0);
@@ -73,23 +45,37 @@ namespace data_convert
         return time_tmp;
     }
 
-    inline tf3::Quaternion convertQuaternion(const geometry_msgs::Quaternion& q)
+    inline tf3::Quaternion convertQuaternion(const robot_geometry_msgs::Quaternion& q)
     {
         tf3::Quaternion out(q.x,q.y,q.z,q.w);
         return out;
     }
     
-    inline geometry_msgs::Quaternion convertQuaternion(const tf3::Quaternion& q)
+    inline robot_geometry_msgs::Quaternion convertQuaternion(const tf3::Quaternion& q)
     {
-        geometry_msgs::Quaternion out;
+        robot_geometry_msgs::Quaternion out;
         out.x = q.x();
         out.y = q.y();
         out.z = q.z();
         out.w = q.w();
         return out;
     }
+
+    inline robot_geometry_msgs::Quaternion createQuaternionMsgFromYaw(const double& yaw)
+    {
+        tf3::Quaternion q;
+        q.setRPY(0.0, 0.0, yaw);
+
+        robot_geometry_msgs::Quaternion q_msg;
+        q_msg.x = q.x();
+        q_msg.y = q.y();
+        q_msg.z = q.z();
+        q_msg.w = q.w();
+
+        return q_msg;
+    }
     
-    inline tf3::Transform convertTotf3Transform(const geometry_msgs::Transform& msg)
+    inline tf3::Transform convertTotf3Transform(const robot_geometry_msgs::Transform& msg)
     {
         tf3::Quaternion q(
             msg.rotation.x,
@@ -148,7 +134,7 @@ namespace data_convert
         return out;
     }
 
-    inline tf3::Transform convertTotf3Transform(const geometry_msgs::TransformStamped& msg)
+    inline tf3::Transform convertTotf3Transform(const robot_geometry_msgs::TransformStamped& msg)
     {
         tf3::Transform out;
 
@@ -169,7 +155,7 @@ namespace data_convert
         return out;
     }
 
-    inline tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg)
+    inline tf3::TransformStampedMsg convertToTransformStampedMsg(const robot_geometry_msgs::TransformStamped& msg)
     {
         tf3::TransformStampedMsg out;
         out.header.seq = msg.header.seq;
@@ -186,9 +172,9 @@ namespace data_convert
         return out;
     }
     
-    inline geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg)
+    inline robot_geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg)
     {
-        geometry_msgs::TransformStamped out;
+        robot_geometry_msgs::TransformStamped out;
         out.header.seq = msg.header.seq;
         out.header.stamp = convertTime(msg.header.stamp);
         out.header.frame_id = msg.header.frame_id;

package.xml

@@ -0,0 +1,25 @@
+<package>
+  <name>data_convert</name>
+  <version>0.7.10</version>
+  <description>
+    data_convert is the second generation of the transform library, which lets
+    the user keep track of multiple coordinate frames over time. data_convert
+    maintains the relationship between coordinate frames in a tree
+    structure buffered in time, and lets the user transform points,
+    vectors, etc between any two coordinate frames at any desired
+    point in time.
+  </description>
+  <author>Tully Foote</author>
+  <author>Eitan Marder-Eppstein</author>
+  <author>Wim Meeussen</author>
+  <maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/data_convert</url>
+    
+  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+
+  <build_depend>robot_geometry_msgs</build_depend>
+  <run_depend>robot_geometry_msgs</run_depend>
+
+</package>