Romea

CMakeLists.txt

@@ -29,11 +29,18 @@ add_executable(
 	src/xdacallback.cpp
 )
 
+add_custom_command(
+  TARGET xsens_mti_node
+  PRE_LINK
+  COMMAND make
+  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/lib/xspublic
+)
+
 target_include_directories(xsens_mti_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/lib/xspublic>
   $<INSTALL_INTERFACE:include>)
 
-ament_target_dependencies(xsens_mti_node 
+ament_target_dependencies(xsens_mti_node
   rclcpp
   tf2
   tf2_ros
@@ -60,6 +67,9 @@ install(DIRECTORY launch param rviz urdf
   DESTINATION share/${PROJECT_NAME}
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

README.txt

@@ -1,26 +1,26 @@
 =[ Xsens MTi driver for ROS 2.0]============================================================
 
 Documentation:
-    You can find the full documentation in "<your MT SDK directory>/doc/xsensdeviceapi/doc/html/index.html" under "ROS MTi driver" section. The SDK can be downloaded from https://www.xsens.com/software-downloads. Please note, this is a 3rd Party driver with no official support. Check the compatibility section for the compatible devices. For official support on Xsens MTi products, please refer to Xsens knowledge base: https://base.xsens.com
+    You can find the full documentation in "<your MT SDK directory>/doc/xsensdeviceapi/doc/html/index.html" under "ROS MTi driver" section. The SDK can be downloaded from https://www.xsens.com/software-downloads. Please note, this is a 3rd Party driver built from MTSDK2021.2 with no official support. Check the compatibility section for the compatible devices. For official support on Xsens MTi products, please refer to Xsens knowledge base: https://base.xsens.com
 
 Prerequisites:
-    - ROS 2.0 Foxy
+    - ROS 2.0 Galactic/Foxy
     - C/C++ Compiler: GCC 5.4.0 or MSVC 14.0
     - C++14
 
 Building:
     - Copy bluespace_ai_xsens_mti_driver folder into your ROS 2.0 workspace 'src' folder.
         Make sure the permissions are set to o+rw on your files and directories.
 
-    - Build xspublic from your ament workspace:
-        $ pushd src/bluespace_ai_xsens_ros_mti_driver/lib/xspublic && make && popd
-
     - Build Xsens MTi driver package:
         $ colcon build
 
     - Source workspace:
         $ source install/setup.bash
 
+Note: Building of 'xspublic' from the ament workspace has been automated in the CMake script. To build it manually, run the following from the ROS2.0 workspace root:
+        $ pushd src/bluespace_ai_xsens_ros_mti_driver/lib/xspublic && make && popd
+
 Changes in this release compared to the Xsens ROS 1.0 driver open source:
     - Added ROS 2.0 support: The ROS 1.0 wrapper node was modified to work with ROS 2.0.
     - Migration to declared configuration parameters: ROS 1.0 driver supported undeclared parameters. Since ROS 2.0 guidelines discourage undeclared parameters, there are some minor modifications in the xsens_mti_node.yaml to support all the configuration capabilities from ROS1.0. For more details check the config file.

env-hooks/bluespace_ai_xsens_mti_driver.dsv.in

@@ -0,0 +1 @@
+prepend-non-duplicate;GAZEBO_MODEL_PATH;share

lib/xspublic/xscommon/abstractadditionallogger.h

@@ -1,5 +1,5 @@
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -31,7 +31,7 @@
 //  
 
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -71,7 +71,8 @@
 /*! \class AbstractAdditionalLogger
 	Interface for all additional loggers that can be attached to the Journaller
 */
-class AbstractAdditionalLogger {
+class AbstractAdditionalLogger
+{
 public:
 	/*! \brief Destructor */
 	virtual ~AbstractAdditionalLogger() {}
@@ -106,7 +107,7 @@ class AbstractAdditionalLogger {
 		\param[in] function The name of the function from which the logging originates
 		\param[in] msg The actual log message
 	*/
-	virtual void log(JournalLogLevel level, char const * file, int line, char const * function, std::string const & msg) = 0;
+	virtual void log(JournalLogLevel level, char const* file, int line, char const* function, std::string const& msg) = 0;
 
 	/*! \brief Write line to the log without decoration (timestamp, thread)
 		\param[in] level The log level
@@ -115,7 +116,7 @@ class AbstractAdditionalLogger {
 		\param[in] function The name of the function from which the logging originates
 		\param[in] msg The actual log message
 	*/
-	virtual void logNoDecoration(JournalLogLevel level, char const * file, int line, char const * function, std::string const & msg) = 0;
+	virtual void logNoDecoration(JournalLogLevel level, char const* file, int line, char const* function, std::string const& msg) = 0;
 };
 
 #endif

lib/xspublic/xscommon/additionalloggerbase.cpp

@@ -1,5 +1,5 @@
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -31,7 +31,7 @@
 //  
 
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -138,7 +138,7 @@ bool AdditionalLoggerBase::logLevel(JournalLogLevel level) const
 /*! \copydoc AbstractAdditionalLogger::logNoDecoration
 	The AdditionalLoggerBase simply forwards this call to the normal log method but this method can be overridden in derived classes
 */
-void AdditionalLoggerBase::logNoDecoration(JournalLogLevel level, char const * file, int line, char const * function, std::string const & msg)
+void AdditionalLoggerBase::logNoDecoration(JournalLogLevel level, char const* file, int line, char const* function, std::string const& msg)
 {
 	log(level, file, line, function, msg);
 }

lib/xspublic/xscommon/additionalloggerbase.h

@@ -1,5 +1,5 @@
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -31,7 +31,7 @@
 //  
 
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -84,7 +84,7 @@ class AdditionalLoggerBase : public virtual AbstractAdditionalLogger
 
 	bool logLevel(JournalLogLevel level) const override;
 
-	void logNoDecoration(JournalLogLevel level, char const * file, int line, char const * function, std::string const & msg) override;
+	void logNoDecoration(JournalLogLevel level, char const* file, int line, char const* function, std::string const& msg) override;
 
 protected:
 	virtual void onLogLevelChanged(JournalLogLevel newLevel, JournalLogLevel oldLevel);

lib/xspublic/xscommon/calltracer.h

@@ -1,5 +1,5 @@
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -31,7 +31,7 @@
 //  
 
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -63,9 +63,9 @@
 //  
 
 #ifdef CALLTRACER_H
-XSENS_COMPILER_WARNING("X0008", "calltracer.h should only be included ONCE and NEVER in a header file")
+	XSENS_COMPILER_WARNING("X0008", "calltracer.h should only be included ONCE and NEVER in a header file")
 #else
-#define CALLTRACER_H
+	#define CALLTRACER_H
 #endif
 
 //#define TRACECALLS	// define before including this header file to enable semi-automatic calltracing
@@ -80,7 +80,8 @@ XSENS_COMPILER_WARNING("X0008", "calltracer.h should only be included ONCE and N
 	during creation and another one when it gets destroyed, if a minimum time has passed since
 	construction.
 */
-class CallTracer {
+class CallTracer
+{
 public:
 	Journaller* m_journal;
 	std::string m_msg;

lib/xspublic/xscommon/common_qdebug.h

@@ -1,5 +1,5 @@
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -31,7 +31,7 @@
 //  
 
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -66,29 +66,29 @@
 #define COMMON_QDEBUG_H
 
 #ifdef __cplusplus
-#include <QDebug>
+	#include <QDebug>
 
-#define EXT_DEBUG_BODY(msg)  __FILE__ << "(" << __LINE__ << "):" << __FUNCTION__ << msg
+	#define EXT_DEBUG_BODY(msg)  __FILE__ << "(" << __LINE__ << "):" << __FUNCTION__ << msg
 
-#ifdef XSENS_RELEASE
-	#define QTRACE(msg) ((void)0)
-	#define QDEBUG(msg) ((void)0)
-	#define QDEBUG_ACCURATE(msg) ((void)0)
-#else
-//	#ifdef NO_QTRACE
+	#ifdef XSENS_RELEASE
 		#define QTRACE(msg) ((void)0)
-//	#else
-//		#define QTRACE(msg) qDebug() << __FUNCTION__ << msg
-//	#endif
-	#define QDEBUG(msg) qDebug() << __FUNCTION__ << msg
+		#define QDEBUG(msg) ((void)0)
+		#define QDEBUG_ACCURATE(msg) ((void)0)
+	#else
+		//	#ifdef NO_QTRACE
+		#define QTRACE(msg) ((void)0)
+		//	#else
+		//		#define QTRACE(msg) qDebug() << __FUNCTION__ << msg
+		//	#endif
+		#define QDEBUG(msg) qDebug() << __FUNCTION__ << msg
 
-//	#include "xqtime.h"
-//	#define QDEBUG_ACCURATE(msg) qDebug() << xqLogTime() <<  __FUNCTION__ << msg
-#endif // XSENS_RELEASE
+		//	#include "xqtime.h"
+		//	#define QDEBUG_ACCURATE(msg) qDebug() << xqLogTime() <<  __FUNCTION__ << msg
+	#endif // XSENS_RELEASE
 
-#define QWARNING(msg) qWarning() << EXT_DEBUG_BODY(msg)
-#define QCRITICAL(msg) qCritical() << EXT_DEBUG_BODY(msg)
-#define QFATAL(msg) do not use this macro! qFatal has weird side-effects!
+	#define QWARNING(msg) qWarning() << EXT_DEBUG_BODY(msg)
+	#define QCRITICAL(msg) qCritical() << EXT_DEBUG_BODY(msg)
+	#define QFATAL(msg) do not use this macro! qFatal has weird side-effects!
 #endif
 
-#endif	// file guard
+#endif

lib/xspublic/xscommon/consolelogger.cpp

@@ -1,5 +1,5 @@
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -31,7 +31,7 @@
 //  
 
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -86,21 +86,21 @@ ConsoleLogger::ConsoleLogger(JournalLogLevel logLevel, JournalLogLevel errLevel)
 	\param[in] function The name of the function from which the logging originates
 	\param[in] msg The actual log message
 */
-void ConsoleLogger::log(JournalLogLevel level, char const * file, int line, char const * function, std::string const & msg)
+void ConsoleLogger::log(JournalLogLevel level, char const* file, int line, char const* function, std::string const& msg)
 {
 	(void)file;
 	(void)line;
 	// get just the function name
 	size_t p = strlen(function);
 	while (p > 0)
 	{
-		if (function[p-1] == ':')
+		if (function[p - 1] == ':')
 			break;
 		--p;
 	}
 
 	if (level >= logLevel())
-		std::cout << function+p << ": " << msg << std::endl;
+		std::cout << function + p << ": " << msg << std::endl;
 	if (level >= debugLevel())
-		std::cerr << function+p << ": " << msg << std::endl;
+		std::cerr << function + p << ": " << msg << std::endl;
 }

lib/xspublic/xscommon/consolelogger.h

@@ -1,5 +1,5 @@
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -31,7 +31,7 @@
 //  
 
 
-//  Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
+//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
 //  All rights reserved.
 //  
 //  Redistribution and use in source and binary forms, with or without modification,
@@ -72,7 +72,7 @@ class ConsoleLogger : public AdditionalLoggerBase
 public:
 	ConsoleLogger(JournalLogLevel logLevel, JournalLogLevel errLevel);
 
-	void log(JournalLogLevel level, char const * file, int line, char const * function, std::string const & msg) override;
+	void log(JournalLogLevel level, char const* file, int line, char const* function, std::string const& msg) override;
 };
 
 #endif