Alejandro/final

CMakeLists.txt

@@ -1,6 +1,6 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 
-project (PayloadSDK)
+project (PayloadSDK LANGUAGES C CXX)
 
 set(CMAKE_BUILD_TYPE Debug)
 
@@ -22,13 +22,16 @@ message("-- ZIO: ${ZIO}")
 add_definitions(-DZIO=${ZIO})
 endif(ZIO)
 
+add_definitions(-DVIO=1)
+
 find_package(PkgConfig REQUIRED)
-#Use Pkg-config to configure GStreamer
+
+# Use Pkg-config to configure GStreamer
 pkg_search_module(GLIB REQUIRED glib-2.0) 
 pkg_check_modules(GST REQUIRED
-                    gstreamer-1.0
-                    gstreamer-video-1.0
-                    gstreamer-app-1.0
+                    gstreamer-1.0>=1.0
+                    gstreamer-video-1.0>=1.0
+                    gstreamer-app-1.0>=1.0
                     )
 
 add_subdirectory(libs)
@@ -42,4 +45,167 @@ add_subdirectory(tests/demo_project)
 endif(VIO)
 if (GHADRON)
 add_subdirectory(tests/ghadron_project)
-endif(GHADRON)
+endif(GHADRON)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+
+pkg_check_modules(JSONCPP jsoncpp)
+find_package(CURL REQUIRED)
+
+set(PAYLOADSDKLIB_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libs)
+include_directories(${PAYLOADSDKLIB_DIR}
+                    ${PAYLOADSDKLIB_DIR}/third-party/mavlink/include
+                    ${PAYLOADSDKLIB_DIR}/gSDK/src/mavlink/include/mavlink/v2.0
+                    ${PAYLOADSDKLIB_DIR}/gSDK/src
+                    ${GST_INCLUDE_DIRS}
+                    ${OpenCV_INCLUDE_DIRS}
+                    ${CURL_INCLUDE_DIR}
+                    ${CMAKE_CURRENT_SOURCE_DIR}/src
+                    ${CMAKE_CURRENT_SOURCE_DIR}/include
+                    )
+
+# Common source files (if any)
+set(COMMON_SOURCES
+    # Add any common source files here if needed
+)
+
+# === Node 1: Gimbal Control ===
+add_executable(gremsy_gimbal_node src/gremsy_gimbal_node.cpp ${COMMON_SOURCES})
+ament_target_dependencies(gremsy_gimbal_node 
+    rclcpp 
+    std_msgs 
+    geometry_msgs
+)
+
+target_link_libraries(gremsy_gimbal_node
+                    PayloadSDK
+                    ${CMAKE_THREAD_LIBS_INIT}
+                    ${GST_LIBRARIES} 
+                    ${JSONCPP_LIBRARIES}
+                    ${CURL_LIBRARIES}
+                    stdc++fs
+                    )
+
+# === Node 2: Camera Streaming ===
+add_executable(gremsy_camera_stream_node src/gremsy_camera_stream_node.cpp ${COMMON_SOURCES})
+ament_target_dependencies(gremsy_camera_stream_node 
+    rclcpp 
+    std_msgs 
+    geometry_msgs
+    sensor_msgs
+    cv_bridge
+    OpenCV
+)
+
+target_include_directories(gremsy_camera_stream_node PRIVATE
+    ${OpenCV_INCLUDE_DIRS}
+    ${GST_INCLUDE_DIRS}
+)
+
+target_link_libraries(gremsy_camera_stream_node
+                    PayloadSDK
+                    ${CMAKE_THREAD_LIBS_INIT}
+                    ${GST_LIBRARIES} 
+                    ${JSONCPP_LIBRARIES}
+                    ${CURL_LIBRARIES}
+                    ${OpenCV_LIBS}
+                    stdc++fs
+                    )
+
+# === Node 3: Camera Movement ===
+add_executable(gremsy_camera_move_node src/gremsy_camera_move_node.cpp ${COMMON_SOURCES})
+ament_target_dependencies(gremsy_camera_move_node 
+    rclcpp 
+    std_msgs 
+    geometry_msgs
+)
+
+target_link_libraries(gremsy_camera_move_node
+                    PayloadSDK
+                    ${CMAKE_THREAD_LIBS_INIT}
+                    ${GST_LIBRARIES} 
+                    ${JSONCPP_LIBRARIES}
+                    ${CURL_LIBRARIES}
+                    stdc++fs
+                    )
+
+# === Node 4: Camera Stream (IR) ===
+add_executable(gremsy_camera_stream_ir src/gremsy_camera_stream_ir.cpp ${COMMON_SOURCES})
+
+# Add dependencies
+ament_target_dependencies(gremsy_camera_stream_ir
+    rclcpp 
+    std_msgs 
+    geometry_msgs
+    sensor_msgs
+    cv_bridge
+    OpenCV
+)
+
+target_include_directories(gremsy_camera_stream_ir PRIVATE
+    ${OpenCV_INCLUDE_DIRS}
+    ${GST_INCLUDE_DIRS}
+)
+
+target_link_libraries(gremsy_camera_stream_ir
+                    PayloadSDK
+                    ${CMAKE_THREAD_LIBS_INIT}
+                    ${GST_LIBRARIES} 
+                    ${JSONCPP_LIBRARIES}
+                    ${CURL_LIBRARIES}
+                    ${OpenCV_LIBS}
+                    stdc++fs
+                    )
+
+
+# Install all executables
+install(TARGETS 
+    gremsy_gimbal_node
+    gremsy_camera_stream_node
+    gremsy_camera_move_node
+    gremsy_camera_stream_ir
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install launch files
+install(DIRECTORY launch/
+    DESTINATION share/${PROJECT_NAME}/launch
+    FILES_MATCHING PATTERN "*.py"
+)
+
+# Install config files
+install(DIRECTORY config/
+    DESTINATION share/${PROJECT_NAME}/config
+    FILES_MATCHING PATTERN "*.yaml"
+)
+
+# Install header files
+install(DIRECTORY src/
+    DESTINATION share/${PROJECT_NAME}/include
+    FILES_MATCHING PATTERN "*.hpp"
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

README.md

@@ -1,41 +1,16 @@
-# PayloadSdk
-This repo is officially SDK for all Gremsy's Payloads
+# gremsy_ros2
+This repo controls a Gremsy VIO gimbal over UDP via ROS2 commands. Forked from Gremsy's PayloadSdk repo.
 
-## Hardware
-- Ubuntu PC (x86_64)
-- Jetson platform (aarch64)
-- Raspberry Pi
-- Qualcomm RB5165
+## Clone the project
 
-## Clone the project 
 ```
-git clone -b payloadsdk_v2 https://github.com/Gremsy/PayloadSdk.git
+git clone -b payloadsdk_v2 https://github.com/castacks/GremsySdk.git
 ```
 
-## Hardware setup
-PayloadSDK supports 2 control conections, that's configured at payloadsdk.h:
-
-![Image](PayloadSDK_HW_Setup.png)
-
-**Figure 1:** Hardware setup use Ethernet or UART connection
 
 ## How to build
 - Install required lib
 ```
 sudo apt-get install libcurl4-openssl-dev libjsoncpp-dev
 sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
 ```
-
-- Build project
-<pre>
-cd PayloadSdk
-mkdir build && cd build
-
-cmake -D<b>payload</b> ../
-<i>e.g. cmake -DVIO=1 ../</i>
-<i>     cmake -DGHADRON=1 ../</i>
-<i>     cmake -DZIO=1 ../</i>
-
-make -j6
-
-</pre>

README.original.md

@@ -0,0 +1,41 @@
+# PayloadSdk
+This repo is officially SDK for all Gremsy's Payloads
+
+## Hardware
+- Ubuntu PC (x86_64)
+- Jetson platform (aarch64)
+- Raspberry Pi
+- Qualcomm RB5165
+
+## Clone the project 
+```
+git clone -b payloadsdk_v2 https://github.com/Gremsy/PayloadSdk.git
+```
+
+## Hardware setup
+PayloadSDK supports 2 control conections, that's configured at payloadsdk.h:
+
+![Image](PayloadSDK_HW_Setup.png)
+
+**Figure 1:** Hardware setup use Ethernet or UART connection
+
+## How to build
+- Install required lib
+```
+sudo apt-get install libcurl4-openssl-dev libjsoncpp-dev
+sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
+```
+
+- Build project
+<pre>
+cd PayloadSdk
+mkdir build && cd build
+
+cmake -D<b>payload</b> ../
+<i>e.g. cmake -DVIO=1 ../</i>
+<i>     cmake -DGHADRON=1 ../</i>
+<i>     cmake -DZIO=1 ../</i>
+
+make -j6
+
+</pre>