Fix conflicts

README.md

@@ -4,6 +4,10 @@ This metapackage contains the most common plugins for pointcloud compression usi
 
 Currently provided are:
 
-- [draco_point_cloud_transport](https://github.com/ctu-vras/point_cloud_transport_plugins/tree/master/draco_point_cloud_transport) - A library using Google Draco to compress the pointclouds.
+- [draco_point_cloud_transport](https://github.com/ros-perception/point_cloud_transport_plugins/tree/rolling/draco_point_cloud_transport) - A library using Google Draco to compress the pointclouds.
 
-More transports can be added. Pull requests are welcome!
+- [zlib_point_cloud_transport](https://github.com/ros-perception/point_cloud_transport_plugins/tree/rolling/zlib_point_cloud_transport) - A libraory using zlib to compress the pointclouds.
+
+- [zstd_point_cloud_transport](https://github.com/ros-perception/point_cloud_transport_plugins/tree/master/zstd_point_cloud_transport) - A library using ZSTD to compress the pointclouds.
+
+More transports can be added. Pull requests are welcome!

draco_point_cloud_transport/include/draco_point_cloud_transport/draco_publisher.hpp

@@ -68,7 +68,7 @@ class DracoPublisher
   static void registerNormalField(const std::string & field);
 
 private:
-  cras::expected<std::unique_ptr<draco::PointCloud>, std::string> convertPC2toDraco(
+  tl::expected<std::unique_ptr<draco::PointCloud>, std::string> convertPC2toDraco(
     const sensor_msgs::msg::PointCloud2 & PC2, const std::string & topic, bool deduplicate,
     bool expert_encoding) const;
 

draco_point_cloud_transport/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>draco_point_cloud_transport</name>
-  <version>1.0.5</version>
+  <version>0.0.0</version>
   <description>
     draco_point_cloud_transport provides a plugin to point_cloud_transport for sending point clouds
     encoded with KD tree compression.

draco_point_cloud_transport/src/draco_publisher.cpp

@@ -42,7 +42,7 @@
 #include <vector>
 
 #include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
-#include <point_cloud_transport/expected.hpp>
+#include <tl/expected.hpp>
 
 #include <draco_point_cloud_transport/cloud.hpp>
 #include <draco_point_cloud_transport/draco_publisher.hpp>
@@ -317,7 +317,7 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
   setParamCallback(param_change_callback);
 }
 
-cras::expected<std::unique_ptr<draco::PointCloud>, std::string> DracoPublisher::convertPC2toDraco(
+tl::expected<std::unique_ptr<draco::PointCloud>, std::string> DracoPublisher::convertPC2toDraco(
   const sensor_msgs::msg::PointCloud2 & PC2, const std::string & topic, bool deduplicate,
   bool expert_encoding) const
 {
@@ -411,7 +411,7 @@ cras::expected<std::unique_ptr<draco::PointCloud>, std::string> DracoPublisher::
       case sensor_msgs::msg::PointField::FLOAT64: attribute_data_type = draco::DT_FLOAT64;
         rgba_tweak_64bit = true;
         break;
-      default: return cras::make_unexpected("Invalid data type in PointCloud2 to Draco conversion");
+      default: return tl::make_unexpected("Invalid data type in PointCloud2 to Draco conversion");
     }
     // attribute data type switch end
 
@@ -439,7 +439,7 @@ cras::expected<std::unique_ptr<draco::PointCloud>, std::string> DracoPublisher::
   std::unique_ptr<draco::PointCloud> pc = builder.Finalize(deduplicate);
 
   if (pc == nullptr) {
-    return cras::make_unexpected(
+    return tl::make_unexpected(
       "Conversion from sensor_msgs::msg::PointCloud2 to Draco::PointCloud failed");
   }
 
@@ -454,7 +454,7 @@ cras::expected<std::unique_ptr<draco::PointCloud>, std::string> DracoPublisher::
   pc->AddMetadata(std::move(metadata));
 
   if ((pc->num_points() != number_of_points) && !deduplicate) {
-    return cras::make_unexpected(
+    return tl::make_unexpected(
       "Number of points in Draco::PointCloud differs from sensor_msgs::msg::PointCloud2!");
   }
 
@@ -489,7 +489,7 @@ DracoPublisher::TypedEncodeResult DracoPublisher::encodeTyped(
     rawDense, base_topic_, config_.deduplicate,
     config_.expert_attribute_types);
   if (!res) {
-    return cras::make_unexpected(res.error());
+    return tl::make_unexpected(res.error());
   }
 
   const auto & pc = res.value();
@@ -551,7 +551,7 @@ DracoPublisher::TypedEncodeResult DracoPublisher::encodeTyped(
 
     if (status.code() != 0) {
       // TODO(anyone): Fix with proper format
-      return cras::make_unexpected(
+      return tl::make_unexpected(
         "Draco encoder returned code " + std::to_string(
           status.code()) + ": " + status.error_msg() + ".");
     }
@@ -594,7 +594,7 @@ DracoPublisher::TypedEncodeResult DracoPublisher::encodeTyped(
     draco::Status status = encoder.EncodePointCloudToBuffer(*pc, &encode_buffer);
 
     if (!status.ok()) {
-      return cras::make_unexpected(
+      return tl::make_unexpected(
         "Draco encoder returned code " + std::to_string(
           status.code()) + ": " + status.error_msg() + ".");
     }

draco_point_cloud_transport/src/draco_subscriber.cpp

@@ -41,7 +41,7 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
-#include <point_cloud_transport/expected.hpp>
+#include <tl/expected.hpp>
 
 #include <draco_point_cloud_transport/draco_subscriber.hpp>
 
@@ -84,7 +84,7 @@ void DracoSubscriber::declareParameters()
 }
 
 //! Method for converting into sensor_msgs::msg::PointCloud2
-cras::expected<bool, std::string> convertDracoToPC2(
+tl::expected<bool, std::string> convertDracoToPC2(
   const draco::PointCloud & pc,
   const point_cloud_interfaces::msg::CompressedPointCloud2 & compressed_PC2,
   sensor_msgs::msg::PointCloud2 & PC2)
@@ -104,7 +104,7 @@ cras::expected<bool, std::string> convertDracoToPC2(
 
     // check if attribute is valid
     if (!attribute->IsValid()) {
-      return cras::make_unexpected(
+      return tl::make_unexpected(
         std::string(
           "In point_cloud_transport::DracoToPC2, attribute of Draco pointcloud is not valid!"));
     }
@@ -144,7 +144,7 @@ DracoSubscriber::DecodeResult DracoSubscriber::decodeTyped(
 
   // empty buffer
   if (compressed_data_size == 0) {
-    return cras::make_unexpected("Received compressed Draco message with zero length.");
+    return tl::make_unexpected("Received compressed Draco message with zero length.");
   }
 
   draco::DecoderBuffer decode_buffer;
@@ -177,7 +177,7 @@ DracoSubscriber::DecodeResult DracoSubscriber::decodeTyped(
   // decode buffer into draco point cloud
   const auto res = decoder.DecodePointCloudFromBuffer(&decode_buffer);
   if (!res.ok()) {
-    return cras::make_unexpected(
+    return tl::make_unexpected(
       "Draco decoder returned code " + std::to_string(
         res.status().code()) + ": " + res.status().error_msg() + ".");
   }
@@ -187,7 +187,7 @@ DracoSubscriber::DecodeResult DracoSubscriber::decodeTyped(
   auto message = std::make_shared<sensor_msgs::msg::PointCloud2>();
   const auto convertRes = convertDracoToPC2(*decoded_pc, compressed, *message);
   if (!convertRes) {
-    return cras::make_unexpected(convertRes.error());
+    return tl::make_unexpected(convertRes.error());
   }
 
   return message;

point_cloud_interfaces/msg/CompressedPointCloud2.msg

@@ -18,5 +18,5 @@ uint8[] compressed_data
 
 bool is_dense
 
-# type of encoding used (e.g. draco, zlib, etc...)
+# compression format used (e.g. draco, zlib, etc.)
 string format

point_cloud_interfaces/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>point_cloud_interfaces</name>
-  <version>1.0.5</version>
+  <version>0.0.0</version>
   <description>
     msg definitions for use with point_cloud_transport plugins.
   </description>

point_cloud_transport.repos

@@ -2,4 +2,4 @@ repositories:
   point_cloud_transport:
     type: git
     url: https://github.com/john-maidbot/point_cloud_transport
-    version: ros2
+    version: rolling

point_cloud_transport_plugins/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>point_cloud_transport_plugins</name>
-  <version>1.0.5</version>
+  <version>0.0.0</version>
   <description>Metapackage with common point_cloud_transport plugins</description>
   <author>Jakub Paplham</author>
   <maintainer email="[email protected]">Martin Pecka</maintainer>
@@ -15,6 +15,7 @@
   <exec_depend>draco_point_cloud_transport</exec_depend>
   <exec_depend>point_cloud_interfaces</exec_depend>
   <exec_depend>zlib_point_cloud_transport</exec_depend>
+  <exec_depend>zstd_point_cloud_transport</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

zlib_point_cloud_transport/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>zlib_point_cloud_transport</name>
-  <version>1.0.5</version>
+  <version>0.0.0</version>
   <description>
     zlib_point_cloud_transport provides a plugin to point_cloud_transport for sending point clouds
     encoded with zlib

zlib_point_cloud_transport/src/zlib_publisher.cpp

@@ -113,6 +113,7 @@ ZlibPublisher::TypedEncodeResult ZlibPublisher::encodeTyped(
   compressed.is_dense = raw.is_dense;
   compressed.header = raw.header;
   compressed.fields = raw.fields;
+  compressed.format = getTransportName();
 
   compressed.format = getTransportName();
 

zstd_point_cloud_transport/CMakeLists.txt

@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.10.2)
+
+set(CMAKE_CXX_STANDARD 17)
+
+project(zstd_point_cloud_transport)
+
+find_package(ament_cmake REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(point_cloud_interfaces REQUIRED)
+find_package(point_cloud_transport REQUIRED)
+find_package(rclcpp REQUIRED)
+
+set(dependencies
+  pluginlib
+  point_cloud_interfaces
+  point_cloud_transport
+  rclcpp
+)
+
+include_directories(include)
+
+add_library(${PROJECT_NAME}
+  SHARED
+  src/zstd_publisher.cpp
+  src/zstd_subscriber.cpp
+  src/manifest.cpp
+)
+
+target_link_libraries(${PROJECT_NAME} zstd)
+
+ament_target_dependencies(${PROJECT_NAME} ${dependencies})
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+pluginlib_export_plugin_description_file(point_cloud_transport zstd_plugins.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
+ament_package()

zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_publisher.hpp

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2023, Open Source Robotics Foundation, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    * Redistributions of source code must retain the above copyright
+ *      notice, this list of conditions and the following disclaimer.
+ *
+ *    * Redistributions in binary form must reproduce the above copyright
+ *      notice, this list of conditions and the following disclaimer in the
+ *      documentation and/or other materials provided with the distribution.
+ *
+ *    * Neither the name of the copyright holder nor the names of its
+ *      contributors may be used to endorse or promote products derived from
+ *      this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_PUBLISHER_HPP_
+#define ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_PUBLISHER_HPP_
+
+#include <memory>
+#include <string>
+
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+#include <point_cloud_transport/point_cloud_transport.hpp>
+
+#include <point_cloud_transport/simple_publisher_plugin.hpp>
+#include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
+
+
+namespace zstd_point_cloud_transport
+{
+
+class ZstdPublisher
+  : public point_cloud_transport::SimplePublisherPlugin<
+    point_cloud_interfaces::msg::CompressedPointCloud2>
+{
+public:
+  std::string getTransportName() const override;
+
+  void declareParameters(const std::string & base_topic) override;
+
+  std::string getDataType() const override;
+
+  TypedEncodeResult encodeTyped(const sensor_msgs::msg::PointCloud2 & raw) const override;
+
+private:
+  int encode_level_{7};
+};
+}  // namespace zstd_point_cloud_transport
+
+#endif  // ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_PUBLISHER_HPP_

zstd_point_cloud_transport/include/zstd_point_cloud_transport/zstd_subscriber.hpp

@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2023, Open Source Robotics Foundation, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    * Redistributions of source code must retain the above copyright
+ *      notice, this list of conditions and the following disclaimer.
+ *
+ *    * Redistributions in binary form must reproduce the above copyright
+ *      notice, this list of conditions and the following disclaimer in the
+ *      documentation and/or other materials provided with the distribution.
+ *
+ *    * Neither the name of the copyright holder nor the names of its
+ *      contributors may be used to endorse or promote products derived from
+ *      this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_
+#define ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_
+
+#include <string>
+
+#include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>
+
+#include <point_cloud_transport/simple_subscriber_plugin.hpp>
+#include <point_cloud_transport/transport_hints.hpp>
+
+namespace zstd_point_cloud_transport
+{
+
+class ZstdSubscriber
+  : public point_cloud_transport::SimpleSubscriberPlugin<
+    point_cloud_interfaces::msg::CompressedPointCloud2>
+{
+public:
+  std::string getTransportName() const override;
+
+  void declareParameters() override;
+
+  std::string getDataType() const override;
+
+  DecodeResult decodeTyped(const point_cloud_interfaces::msg::CompressedPointCloud2 & compressed)
+  const override;
+};
+}  // namespace zstd_point_cloud_transport
+
+#endif  // ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_