Conversion of Rviz Plugin to Ros 1, currently building successfully.

nvblox_rviz_plugin/CMakeLists.txt

@@ -21,10 +21,11 @@ project(nvblox_rviz_plugin)
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -O3)
 endif()
 
 # Default to release build
@@ -37,17 +38,37 @@ message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" )
 ## This setting causes Qt's "MOC" generation to happen automatically.
 set(CMAKE_AUTOMOC ON)
 
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(rviz_common REQUIRED)
-find_package(rviz_rendering REQUIRED)
-find_package(rviz_ogre_vendor REQUIRED)
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
-find_package(rviz_default_plugins REQUIRED)
-find_package(nvblox_msgs REQUIRED)
-find_package(pluginlib REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+  rviz
+  pluginlib
+  nvblox_msgs
+  std_msgs
+  geometry_msgs
+)
+
+# QT5
+find_package(Qt5 COMPONENTS Widgets REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}
+    Qt5::Widgets
+  CATKIN_DEPENDS
+    rviz
+    pluginlib
+    nvblox_msgs
+    std_msgs
+    geometry_msgs
+)
 
-include_directories(include)
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${QT_INCLUDE_DIRS}
+  ${CMAKE_CURRENT_BINARY_DIR}
+  )
 
 #############
 # LIBRARIES #
@@ -59,59 +80,42 @@ add_library(${PROJECT_NAME} SHARED
   src/nvblox_mesh_display.cpp
   src/nvblox_mesh_visual.cpp
 )
-target_link_libraries(${PROJECT_NAME} PUBLIC
-  rviz_ogre_vendor::OgreMain
-  rviz_ogre_vendor::OgreOverlay
-)
-ament_target_dependencies(${PROJECT_NAME} PUBLIC 
-  nvblox_msgs 
-  rviz_common 
-  rviz_rendering 
-  pluginlib
-  rviz_ogre_vendor
-  rviz_default_plugins  
-)
-
 
-target_compile_definitions(${PROJECT_NAME}  PRIVATE "RVIZ_DEFAULT_PLUGINS_BUILDING_LIBRARY")
+add_dependencies(${PROJECT_NAME}
+  ${catkin_EXPORTED_TARGETS}
+)
 
-# prevent pluginlib from using boost
-target_compile_definitions(${PROJECT_NAME}  PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+target_include_directories(${PROJECT_NAME} PUBLIC
+  ${catkin_INCLUDE_DIRS}
+)
 
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  Qt5::Widgets
+  ${catkin_LIBRARIES}
+)
 ##########
 # EXPORT #
 ##########
-ament_export_include_directories(include)
-ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(
-  Qt5
-  rviz_common
-  rviz_rendering
-  rviz_ogre_vendor
-  rviz_default_plugins
-  rclcpp
-  nvblox_msgs
-)
+# prevent pluginlib from using boost
+target_compile_definitions(${PROJECT_NAME}  PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
 
 install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
-)
+  FILES plugins_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(
-  DIRECTORY include/
-  DESTINATION include
-)
+  DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/icons" 
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(
-  DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/icons"
-  DESTINATION "share/${PROJECT_NAME}"
-)
-
-pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-ament_package()
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  INCLUDES DESTINATION include/${PROJECT_NAME}/
+)

nvblox_rviz_plugin/include/nvblox_rviz_plugin/nvblox_hash_utils.h

@@ -22,14 +22,14 @@
 #include <unordered_set>
 #include <utility>
 
-#include <nvblox_msgs/msg/index3_d.hpp>
+#include <nvblox_msgs/Index3D.h>
 
 namespace nvblox_rviz_plugin {
 
 // Minimal functions taken from nvblox/core/hash.h to remove dependency and
 // uses the ROS types instead.
 
-typedef nvblox_msgs::msg::Index3D Index3D;
+typedef nvblox_msgs::Index3D Index3D;
 
 /**
  * Performs deco hashing on block indexes. Based on recommendations of

nvblox_rviz_plugin/include/nvblox_rviz_plugin/nvblox_mesh_display.h

@@ -19,21 +19,20 @@
 
 #include <memory>
 
-#include <rviz_common/message_filter_display.hpp>
-#include <rviz_common/properties/bool_property.hpp>
-#include <rviz_common/properties/enum_property.hpp>
-#include <rviz_common/properties/float_property.hpp>
+#include <rviz/message_filter_display.h>
+#include <rviz/properties/bool_property.h>
+#include <rviz/properties/enum_property.h>
+#include <rviz/properties/float_property.h>
 
-#include <nvblox_msgs/msg/mesh.hpp>
+#include <nvblox_msgs/Mesh.h>
 
 #include "nvblox_rviz_plugin/nvblox_mesh_visual.h"
 
 namespace nvblox_rviz_plugin {
 
 class NvbloxMeshVisual;
 
-class __attribute__((visibility("default"))) NvbloxMeshDisplay
-    : public rviz_common::MessageFilterDisplay<nvblox_msgs::msg::Mesh> {
+class NvbloxMeshDisplay : public rviz::MessageFilterDisplay<nvblox_msgs::Mesh> {
   Q_OBJECT
  public:
   NvbloxMeshDisplay();
@@ -50,12 +49,11 @@ class __attribute__((visibility("default"))) NvbloxMeshDisplay
   virtual void reset();
 
  private:
-  void processMessage(
-      const nvblox_msgs::msg::Mesh::ConstSharedPtr msg) override;
+ void processMessage(const nvblox_msgs::Mesh::ConstPtr& msg) override;
 
-  rviz_common::properties::BoolProperty* cut_ceiling_property_;
-  rviz_common::properties::FloatProperty* ceiling_height_property_;
-  rviz_common::properties::EnumProperty* mesh_color_property_;
+  rviz::BoolProperty* cut_ceiling_property_;
+  rviz::FloatProperty* ceiling_height_property_;
+  rviz::EnumProperty* mesh_color_property_;
 
   std::unique_ptr<NvbloxMeshVisual> visual_;
 };

nvblox_rviz_plugin/include/nvblox_rviz_plugin/nvblox_mesh_visual.h

@@ -17,9 +17,15 @@
 
 #pragma once
 
-#include <OgreManualObject.h>
+#include <OGRE/OgreManualObject.h>
+#include <OGRE/OgreQuaternion.h>
+#include <OGRE/OgreSceneManager.h>
+#include <OGRE/OgreSceneNode.h>
+#include <OGRE/OgreVector3.h>
 
-#include <nvblox_msgs/msg/mesh.hpp>
+#include <std_msgs/ColorRGBA.h>
+#include <geometry_msgs/Point32.h>
+#include <nvblox_msgs/Mesh.h>
 
 #include "nvblox_rviz_plugin/nvblox_hash_utils.h"
 
@@ -34,7 +40,7 @@ class NvbloxMeshVisual {
                    Ogre::SceneNode* parent_node);
   virtual ~NvbloxMeshVisual();
 
-  void setMessage(const nvblox_msgs::msg::Mesh::ConstSharedPtr& msg);
+  void setMessage(const nvblox_msgs::Mesh::ConstPtr& msg);
 
   /// Set the coordinate frame pose.
   void setFramePosition(const Ogre::Vector3& position);
@@ -49,9 +55,9 @@ class NvbloxMeshVisual {
                                const Ogre::Vector3& light,
                                const Ogre::Vector3& color) const;
 
-  std_msgs::msg::ColorRGBA getMeshColorFromColorAndNormal(
-      const std_msgs::msg::ColorRGBA& color,
-      const geometry_msgs::msg::Point32& normal) const;
+  std_msgs::ColorRGBA getMeshColorFromColorAndNormal(
+      const std_msgs::ColorRGBA& color,
+      const geometry_msgs::Point32& normal) const;
 
   Ogre::SceneNode* frame_node_;
   Ogre::SceneManager* scene_manager_;

nvblox_rviz_plugin/package.xml

@@ -24,21 +24,28 @@
   <version>0.31.0</version>
   <description>RViz visualization plugin for Nvblox meshes</description>
 
-  <maintainer email="[email protected]">Helen Oleynikova</maintainer>  
+  <maintainer email="[email protected]">Helen Oleynikova</maintainer>
+  <maintainer email="[email protected]">Turcan Tuna</maintainer> 
   <license>Apache-2.0</license>
   <url type="website">https://developer.nvidia.com/isaac-ros/</url>   
   <author>Helen Oleynikova</author>
   <author>Alexander Millane</author>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>nvblox_msgs</depend>
-  <depend>pluginlib</depend>
-  <depend>rviz_common</depend>
-  <depend>rviz_ogre_vendor</depend>
-  <depend>rviz_rendering</depend>  
+  <build_depend>nvblox_msgs</build_depend>
+  <build_depend>pluginlib</build_depend>
+  <build_depend>rviz</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>pluginlib</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>nvblox_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <rviz plugin="${prefix}/plugins_description.xml"/>
   </export>
 </package>

nvblox_rviz_plugin/plugins_description.xml

@@ -1,8 +1,8 @@
-<library path="nvblox_rviz_plugin">
+<library path="libnvblox_rviz_plugin">
   <class
     name="nvblox_rviz_plugin/NvbloxMesh"
     type="nvblox_rviz_plugin::NvbloxMeshDisplay"
-    base_class_type="rviz_common::Display"
+    base_class_type="rviz::Display"
   >
     <description>
       Displays incremental nvblox mesh messages.

nvblox_rviz_plugin/src/nvblox_mesh_display.cpp

@@ -15,25 +15,25 @@
 //
 // SPDX-License-Identifier: Apache-2.0
 
-#include <rviz_common/frame_manager_iface.hpp>
-#include <rviz_common/visualization_manager.hpp>
+#include <rviz/frame_manager.h>
+#include <rviz/visualization_manager.h>
 
 #include "nvblox_rviz_plugin/nvblox_mesh_display.h"
 
 namespace nvblox_rviz_plugin {
 
 NvbloxMeshDisplay::NvbloxMeshDisplay() {
-  cut_ceiling_property_ = new rviz_common::properties::BoolProperty(
+  cut_ceiling_property_ = new rviz::BoolProperty(
       "Cut Ceiling", false,
       "If set to true, will not visualize anything above a certain z value.",
       this, SLOT(updateCeilingOptions()));
 
-  ceiling_height_property_ = new rviz_common::properties::FloatProperty(
+  ceiling_height_property_ = new rviz::FloatProperty(
       "Ceiling Height", 0.0,
       "Height above which the visualization will be cut off.", this,
       SLOT(updateCeilingOptions()));
 
-  mesh_color_property_ = new rviz_common::properties::EnumProperty(
+  mesh_color_property_ = new rviz::EnumProperty(
       "Mesh Color", "Color + Shading", "How to color the displayed mesh.", this,
       SLOT(updateMeshColorOptions()));
 
@@ -68,24 +68,21 @@ void NvbloxMeshDisplay::reset() {
   visual_.reset();
 }
 
-void NvbloxMeshDisplay::processMessage(
-    const nvblox_msgs::msg::Mesh::ConstSharedPtr msg) {
+void NvbloxMeshDisplay::processMessage(const nvblox_msgs::Mesh::ConstPtr& msg) {
   // Here we call the rviz::FrameManager to get the transform from the
   // fixed frame to the frame in the header of this Imu message.  If
   // it fails, we can't do anything else so we return.
   Ogre::Quaternion orientation;
   Ogre::Vector3 position;
   if (!context_->getFrameManager()->getTransform(
           msg->header.frame_id, msg->header.stamp, position, orientation)) {
-    RCLCPP_ERROR(rclcpp::get_logger("nvblox"),
-                 "Error transforming from frame '%s' to frame '%s'",
+    ROS_ERROR("Error transforming from frame '%s' to frame '%s'",
                  msg->header.frame_id.c_str(), qPrintable(fixed_frame_));
     return;
   }
 
   if (visual_ == nullptr) {
-    visual_.reset(
-        new NvbloxMeshVisual(context_->getSceneManager(), scene_node_));
+    visual_.reset(new NvbloxMeshVisual(context_->getSceneManager(), scene_node_));
     visual_->setCeilingCutoff(cut_ceiling_property_->getBool(),
                               ceiling_height_property_->getFloat());
     visual_->setMeshColor(static_cast<NvbloxMeshVisual::MeshColor>(
@@ -100,6 +97,6 @@ void NvbloxMeshDisplay::processMessage(
 
 }  // namespace nvblox_rviz_plugin
 
-#include <pluginlib/class_list_macros.hpp>
+#include <pluginlib/class_list_macros.h>
 PLUGINLIB_EXPORT_CLASS(nvblox_rviz_plugin::NvbloxMeshDisplay,
-                       rviz_common::Display)
+                       rviz::Display)