Migration of rviz_tool_path_display from ROS 1 to ROS 2

CMakeLists.txt

@@ -1,27 +1,58 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(rviz_tool_path_display)
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
-find_package(catkin REQUIRED COMPONENTS rviz pluginlib)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-catkin_package(CATKIN_DEPENDS rviz pluginlib)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-include_directories(${catkin_INCLUDE_DIRS})
+set(CMAKE_AUTOMOC ON)
+
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rviz_common REQUIRED)
 
 qt5_wrap_cpp(MOC_FILES src/rviz_tool_path_display.h)
-add_library(${PROJECT_NAME} src/rviz_tool_path_display.cpp ${MOC_FILES})
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} Qt5::Widgets)
+add_library(${PROJECT_NAME} SHARED src/rviz_tool_path_display.cpp ${MOC_FILES})
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+${OGRE_INCLUDE_DIRS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+rviz_common::rviz_common
+)
+
+pluginlib_export_plugin_description_file(rviz_common plugin_description.xml)
+
+ament_target_dependencies(${PROJECT_NAME} rviz_common pluginlib)
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  rviz_common
+  geometry_msgs
+  rclcpp
+  pluginlib
+)
 
 install(
   TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+  EXPORT ${PROJECT_NAME}
+  DESTINATION lib
+)
+
+install(DIRECTORY icons DESTINATION include/${PROJECT_NAME}/)
 
-install(DIRECTORY icons DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(FILES plugin_description.xml DESTINATION share/${PROJECT_NAME}/)
 
-install(FILES plugin_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+ament_package()

package.xml

@@ -1,20 +1,20 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>rviz_tool_path_display</name>
-  <version>0.1.1</version>
+  <version>1.0.0</version>
   <description>The rviz_tool_path_display package</description>
 
   <maintainer email="michael.ripperger@swri.org">Michael Ripperger</maintainer>
   <author email="michael.ripperger@swri.org">Michael Ripperger</author>
   <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>rviz</depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>rviz_common</depend>
   <depend>pluginlib</depend>
-  <build_depend>qtbase5-dev</build_depend>
-  <depend>libqt5-widgets</depend>
+  <depend>geometry_msgs</depend>
 
   <export>
-    <rviz plugin="${prefix}/plugin_description.xml"/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

plugin_description.xml

@@ -1,8 +1,11 @@
-<?xml version="1.0"?>
-<library path="lib/librviz_tool_path_display">
-  <class name="rviz_tool_path_display/ToolPath" type="rviz::ToolPathDisplay" base_class_type="rviz::Display">
+<library path="rviz_tool_path_display">
+  <class 
+    name="rviz_tool_path_display/ToolPath" 
+    type="rviz_common::ToolPathDisplay" 
+    base_class_type="rviz_common::Display">
     <description>
       Rviz display for visualizing tool paths
     </description>
+    <message_type>geometry_msgs/msg/PoseArray</message_type>
   </class>
 </library>