ros2: Start porting

CONTRIBUTING.md

@@ -0,0 +1,4 @@
+Any contribution that you make to this repository will
+be under the BSD??? License, ...
+
+WHAT TO DO???

LICENSE

@@ -0,0 +1 @@
+BSD?

README.md

@@ -0,0 +1,23 @@
+# RViz Tutorials
+
+**WARNING**: This is under development! At present, these tutorials are being
+ported to ROS2 Crystal.
+
+The following tutorials have been ported:
+
+*   `visualization_marker_tutorials`
+    *   `basic_shapes`
+    *   `points_and_lines`
+
+All other tutorials have **not** been ported, and have been marked with
+`COLCON_IGNORE`:
+
+*   `interactive_marker_tutorials`
+*   `librviz_tutorial`
+*   `rviz_plugin_tutorials`
+*   `rviz_python_tutorial`
+
+## ROS1
+
+See [old ROS1 Wiki](http://wiki.ros.org/rviz/Tutorials). For source, see
+[`ros-visualization/visualization_tutorials@kinetic-devel`](https://github.com/ros-visualization/visualization_tutorials/tree/kinetic-devel).

visualization_marker_tutorials/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package visualization_marker_tutorials
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.11.0 (2019-04-05)
+-------------------
+* Initial porting to ROS2 Crystal
+
 0.10.3 (2018-05-09)
 -------------------
 

visualization_marker_tutorials/CMakeLists.txt

@@ -1,48 +1,20 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(visualization_marker_tutorials)
 
-find_package(catkin REQUIRED COMPONENTS roscpp visualization_msgs)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(visualization_msgs REQUIRED)
 
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
+function(custom_executable target)
+  add_executable(${target} src/${target}.cpp)
+  ament_target_dependencies(${target}
+    "rclcpp"
+    "visualization_msgs")
+  install(TARGETS ${target}
+  DESTINATION lib/${PROJECT_NAME})
+endfunction()
 
-catkin_package(
-  CATKIN_DEPENDS roscpp visualization_msgs
-)
+custom_executable(basic_shapes)
+custom_executable(points_and_lines)
 
-###########
-## Build ##
-###########
-
-include_directories(include
-  ${catkin_INCLUDE_DIRS}
-)
-
-add_executable(basic_shapes src/basic_shapes.cpp)
-target_link_libraries(basic_shapes
-   ${catkin_LIBRARIES}
-)
-
-add_executable(points_and_lines src/points_and_lines.cpp)
-target_link_libraries(points_and_lines
-   ${catkin_LIBRARIES}
-)
-
-#############
-## Install ##
-#############
-
-## Mark executables and/or libraries for installation
-install(TARGETS 
-  basic_shapes
-  points_and_lines
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+ament_package()

visualization_marker_tutorials/README.md

@@ -0,0 +1,16 @@
+# Visualization Marker Tutorials
+
+See Old ROS1 for User Interface instructions:
+
+*   [Markers: Sending Basic Shapes (C++)](http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes)
+*   [Markers: Points and Lines (C++)](http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Points%20and%20Lines)
+
+To run this with your workspace built and sourced:
+
+```sh
+rviz2 -d ./config.rviz &
+ros2 run visualization_marker_tutorials basic_shapes
+# Look at pretty shapes! Then Ctrl+C it.
+ros2 run visualization_marker_tutorials points_and_lines
+# Look at the pretty colors!
+```

visualization_marker_tutorials/config.rviz

@@ -0,0 +1,115 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Marker1
+      Splitter Ratio: 0.5
+    Tree Height: 623
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: Marker
+      Namespaces:
+        basic_shapes: true
+      Queue Size: 10
+      Topic: /visualization_marker
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: my_frame
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 5.878479480743408
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.9553979635238647
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.0403969287872314
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000021500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f8000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 1539
+  Y: 690

visualization_marker_tutorials/package.xml

@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
   <name>visualization_marker_tutorials</name>
-  <version>0.10.3</version>
+  <version>0.11.0</version>
   <description>The visulalization_marker_tutorials package</description>
 
   <maintainer email="[email protected]">William Woodall</maintainer>
@@ -11,12 +12,15 @@
 
   <author>Josh Faust</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
+  <build_depend>rclcpp</build_depend>
   <build_depend>visualization_msgs</build_depend>
 
-  <run_depend>roscpp</run_depend>
-  <run_depend>visualization_msgs</run_depend>
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
 
-</package>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>