Remove fpsdk_ros1 and fpsdk_ros2 packages (move to fpsdk::common::ros[12])

.devcontainer/.bashrc

@@ -30,6 +30,8 @@ export LESSCHARSET=UTF-8
 export EDITOR='vim'
 export GIT_EDITOR=vim
 
+export PATH="$HOME/.local/bin:$PATH"
+
 # nicely coloured man pages
 export LESS_TERMCAP_mb=$'\E[01;31m'
 export LESS_TERMCAP_md=$'\E[01;31m'
@@ -171,3 +173,4 @@ if [ -n "${ROS_DISTRO}" ]; then
     esac
 
 fi
+

.devcontainer/humble/devcontainer.json

@@ -3,7 +3,7 @@
     "dockerComposeFile": "../../docker/docker-compose.yaml",
     "shutdownAction": "stopCompose",
 
-    "name": "Fixposition SDK (ROS Humble)", "service": "humble-dev", "runServices": [ "humble-dev" ],
+    "name": "Fixposition SDK (ROS2 Humble)", "service": "humble-dev", "runServices": [ "humble-dev" ],
 
     // Use this user in the container, re-map IDs to local user automatically
     "remoteUser": "fpsdk",

.devcontainer/jazzy/devcontainer.json

@@ -3,7 +3,7 @@
     "dockerComposeFile": "../../docker/docker-compose.yaml",
     "shutdownAction": "stopCompose",
 
-    "name": "Fixposition SDK (ROS Jazzy)", "service": "jazzy-dev", "runServices": [ "jazzy-dev" ],
+    "name": "Fixposition SDK (ROS2 Jazzy)", "service": "jazzy-dev", "runServices": [ "jazzy-dev" ],
 
     // Use this user in the container, re-map IDs to local user automatically
     "remoteUser": "fpsdk",

.devcontainer/lyrical/devcontainer.json

@@ -3,7 +3,7 @@
     "dockerComposeFile": "../../docker/docker-compose.yaml",
     "shutdownAction": "stopCompose",
 
-    "name": "Fixposition SDK (ROS Lyrical)", "service": "lyrical-dev", "runServices": [ "lyrical-dev" ],
+    "name": "Fixposition SDK (ROS2 Lyrical)", "service": "lyrical-dev", "runServices": [ "lyrical-dev" ],
 
     // Use this user in the container, re-map IDs to local user automatically
     "remoteUser": "fpsdk",

.devcontainer/noetic/devcontainer.json

@@ -3,7 +3,7 @@
     "dockerComposeFile": "../../docker/docker-compose.yaml",
     "shutdownAction": "stopCompose",
 
-    "name": "Fixposition SDK (ROS Noetic)", "service": "noetic-dev", "runServices": [ "noetic-dev" ],
+    "name": "Fixposition SDK (ROS1 Noetic)", "service": "noetic-dev", "runServices": [ "noetic-dev" ],
 
     // Use this user in the container, re-map IDs to local user automatically
     "remoteUser": "fpsdk",

.gitignore

@@ -41,6 +41,7 @@ baz*
 /*.gz
 /*.json
 /.claude
+/*_bag
 
 # We must not commit such files ever. See section FPSDK_BUILD_ROS in fpsdk_doc/fpsdk_build.hpp
 CATKIN_IGNORE

CMakeLists.txt

@@ -8,10 +8,4 @@ project(fpsdk
 )
 
 add_subdirectory(fpsdk_common)
-if(FPSDK_USE_ROS1)
-    add_subdirectory(fpsdk_ros1)
-endif()
-if(FPSDK_USE_ROS2)
-    add_subdirectory(fpsdk_ros2)
-endif()
 add_subdirectory(fpsdk_apps)

Makefile

@@ -12,31 +12,22 @@ BUILD_TESTING  =
 VERBOSE        = 0
 USE_PROJ       =
 USE_FFMPEG     =
+USE_BZ2        =
 C_COMPILER     =
 CXX_COMPILER   =
 
 # User vars
 -include config.mk
 
-# Check if we have ROS
-FPSDK_USE_ROS1=
-FPSDK_USE_ROS2=
-ifneq ($(ROS_PACKAGE_PATH),)
-	FPSDK_USE_ROS1=yes
-else ifeq ($(ROS_VERSION),2)
-	FPSDK_USE_ROS2=yes
-# else
-# 	$(info No ROS_PACKAGE_PATH (ROS1) and no ROS_VERSION (ROS2) found)
-endif
-
 # A unique ID for this exact config we're using
-configuid=$(shell echo "$(BUILD_TYPE) $(INSTALL_PREFIX) $(BUILD_TESTING) $(USE_PROJ) $(USE_FFMPEG) $(FPSDK_VERSION_STRING) $(C_COMPILER) $(CXX_COMPILER) $$(uname -a)" | md5sum | cut -d " " -f1)
+configuid=$(shell echo "$(BUILD_TYPE) $(INSTALL_PREFIX) $(BUILD_TESTING) $(USE_PROJ) $(USE_FFMPEG) $(USE_BZ2) $(FPSDK_VERSION_STRING) $(C_COMPILER) $(CXX_COMPILER) $$(uname -a)" | md5sum | cut -d " " -f1)
 
 .PHONY: help
 help:
 	@echo "Usage:"
 	@echo
-	@echo "    make <target> [INSTALL_PREFIX=...] [BUILD_TYPE=Debug|Release] [BUILD_TESTING=|ON|OFF] [USE_PROJ=|ON|OFF] [USE_FFMPEG=|ON|OFF] [FPSDK_VERSION_STRING=x.x.x-gggggggg] [VERBOSE=1]"
+	@echo "    make <target> [INSTALL_PREFIX=...] [BUILD_TYPE=Debug|Release] [BUILD_TESTING=|ON|OFF] [USE_PROJ=|ON|OFF]"
+	@echo "        [USE_FFMPEG=|ON|OFF] [USE_BZ2=|ON|OFF] [FPSDK_VERSION_STRING=x.x.x-gggggggg] [VERBOSE=1]"
 	@echo
 	@echo "Where possible <target>s are:"
 	@echo
@@ -138,6 +129,9 @@ endif
 ifneq ($(USE_FFMPEG),)
   CMAKE_ARGS += -DFPSDK_USE_FFMPEG=$(USE_FFMPEG)
 endif
+ifneq ($(USE_BZ2),)
+  CMAKE_ARGS += -DFPSDK_USE_BZ2=$(USE_BZ2)
+endif
 ifneq ($(FPSDK_VERSION_STRING),)
   CMAKE_ARGS += -DVERSION_STRING=$(FPSDK_VERSION_STRING)
 endif
@@ -204,8 +198,6 @@ $(BUILD_DIR)/.make-cmake: $(deps_cmake) $(BUILD_DIR)/.make-configuid-$(configuid
 
 deps_build = $(sort $(wildcard fpsdk.sh fpsdk_doc/* \
     fpsdk_common/* fpsdk_common/*/* fpsdk_common/*/*/* fpsdk_common/*/*/*/* \
-    fpsdk_ros1/* fpsdk_ros1/*/* fpsdk_ros1/*/*/* fpsdk_ros1/*/*/*/* \
-    fpsdk_ros2/* fpsdk_ros2/*/* fpsdk_ros2/*/*/* fpsdk_ros2/*/*/*/* \
     fpsdk_apps/* fpsdk_apps/*/* fpsdk_apps/*/*/* fpsdk_apps/*/*/*/*))
 
 .PHONY: build
@@ -232,12 +224,6 @@ $(BUILD_DIR)/.make-install: $(BUILD_DIR)/.make-build
 test: $(BUILD_DIR)/.make-build
 	@echo "$(HLW)***** Test ($(BUILD_TYPE)) *****$(HLO)"
 	$(V)(cd $(BUILD_DIR)/fpsdk_common && ctest $(CTEST_ARGS))
-ifneq ($(FPSDK_USE_ROS1),)
-	$(V)(cd $(BUILD_DIR)/fpsdk_ros1 && ctest $(CTEST_ARGS))
-endif
-ifneq ($(FPSDK_USE_ROS2),)
-	$(V)(cd $(BUILD_DIR)/fpsdk_ros2 && ctest $(CTEST_ARGS))
-endif
 
 # ----------------------------------------------------------------------------------------------------------------------
 

README.md

@@ -8,6 +8,5 @@ The documentation (dependencies, build instructions, API, etc.) is in Doxygen. S
 [fpsdk_doc/fpsdk_doc.hpp](fpsdk_doc/fpsdk_doc.hpp) or find a generated HTML version of the main branch here:
 https://fixposition.github.io/fixposition-sdk/fixposition-sdk-docs
 
-License: see the LICENSE files: [LICENSE](LICENSE), [fpsdk_common/LICENSE](fpsdk_common/LICENSE),
-[fpsdk_ros1/LICENSE](fpsdk_ros1/LICENSE), [fpsdk_ros2/LICENSE](fpsdk_ros2/LICENSE),
+License: see the LICENSE files: [LICENSE](LICENSE), [fpsdk_common/LICENSE](fpsdk_common/LICENSE) and
 [fpsdk_apps/LICENSE](fpsdk_apps/LICENSE).

docker/ci.sh

@@ -239,7 +239,7 @@ function build_toplevel_release_noros_mindeps
     cmake -B build/${buildname} -S . \
         -DCMAKE_INSTALL_PREFIX=install/${buildname} \
         -DCMAKE_BUILD_TYPE=Release \
-        -DFPSDK_USE_PROJ=OFF -DFPSDK_USE_FFMPEG=OFF || return 1
+        -DFPSDK_USE_BZ2=OFF -DFPSDK_USE_PROJ=OFF -DFPSDK_USE_FFMPEG=OFF || return 1
     cmake --build build/${buildname} ${CMAKE_BUILD_ARGS} || return 1
     cmake --install build/${buildname} || return 1
 
@@ -259,7 +259,7 @@ function build_projs_release_noros_mindeps
     cmake -B build/${buildname}/fpsdk_common -S fpsdk_common \
         -DCMAKE_INSTALL_PREFIX=install/${buildname} \
         -DCMAKE_BUILD_TYPE=Release \
-        -DFPSDK_USE_PROJ=OFF -DFPSDK_USE_FFMPEG=OFF || return 1
+        -DFPSDK_USE_BZ2=OFF -DFPSDK_USE_PROJ=OFF -DFPSDK_USE_FFMPEG=OFF || return 1
     cmake --build build/${buildname}/fpsdk_common ${CMAKE_BUILD_ARGS} || return 1
     cmake --install build/${buildname}/fpsdk_common || return 1
 
@@ -278,7 +278,6 @@ TITLES["build_examples"]="Build examples"
 function build_examples
 {
     local ok=0
-    # Note: the fpsdk_ros[12]_demo examples are built elsewhere
     cd ${FPSDK_SRC_DIR}/examples
     make build -k
 
@@ -357,12 +356,6 @@ function build_projs_release_ros1
     cmake --build build/${buildname}/fpsdk_common ${CMAKE_BUILD_ARGS} || return 1
     cmake --install build/${buildname}/fpsdk_common || return 1
 
-    cmake -B build/${buildname}/fpsdk_ros1 -S fpsdk_ros1 \
-        -DCMAKE_INSTALL_PREFIX=install/${buildname} \
-        -DCMAKE_BUILD_TYPE=Release || return 1
-    cmake --build build/${buildname}/fpsdk_ros1 ${CMAKE_BUILD_ARGS} || return 1
-    cmake --install build/${buildname}/fpsdk_ros1 || return 1
-
     cmake -B build/${buildname}/fpsdk_apps -S fpsdk_apps \
         -DCMAKE_INSTALL_PREFIX=install/${buildname} \
         -DCMAKE_BUILD_TYPE=Release || return 1
@@ -384,9 +377,7 @@ function build_catkin_release
     mkdir -p build/${buildname}/src
     cd build/${buildname}/src
     ln -s ../../../fpsdk_common .
-    ln -s ../../../fpsdk_ros1 .
     ln -s ../../../fpsdk_apps .
-    ln -s ../../../examples/ros1_fpsdk_demo .
     cd ..
     catkin init || return 1
     catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release || return 1
@@ -482,12 +473,6 @@ function build_projs_release_ros2
     cmake --build build/${buildname}/fpsdk_common ${CMAKE_BUILD_ARGS} || return 1
     cmake --install build/${buildname}/fpsdk_common || return 1
 
-    cmake -B build/${buildname}/fpsdk_ros2 -S fpsdk_ros2 \
-        -DCMAKE_INSTALL_PREFIX=install/${buildname} \
-        -DCMAKE_BUILD_TYPE=Release || return 1
-    cmake --build build/${buildname}/fpsdk_ros2 ${CMAKE_BUILD_ARGS} || return 1
-    cmake --install build/${buildname}/fpsdk_ros2 || return 1
-
     cmake -B build/${buildname}/fpsdk_apps -S fpsdk_apps \
         -DCMAKE_INSTALL_PREFIX=install/${buildname} \
         -DCMAKE_BUILD_TYPE=Release || return 1
@@ -509,9 +494,7 @@ function build_colcon_release
     mkdir -p build/${buildname}/src
     cd build/${buildname}/src
     ln -s ../../../fpsdk_common .
-    ln -s ../../../fpsdk_ros2 .
     ln -s ../../../fpsdk_apps .
-    ln -s ../../../examples/ros2_fpsdk_demo .
     cd ..
     colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release || return 1
     set +u

docker/scripts/install_apt_base.sh

@@ -34,6 +34,7 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.lyrical.trixie      jq
     ....................lyrical.trixie      libbacktrace-dev                  # GCC has its own, but clang needs this
     noetic.humble.jazzy.lyrical.trixie      libboost-all-dev                  # This is not small... :-/
+    noetic.humble.jazzy.lyrical.trixie      libbz2-dev                        # For compressing ROS1 bags
     noetic.humble.jazzy.lyrical.trixie      libclone-perl
     noetic.humble.jazzy.lyrical.trixie      libcurl4-openssl-dev
     noetic.humble.jazzy.lyrical.trixie      libeigen3-dev

examples/camera_streaming/Makefile

@@ -2,8 +2,6 @@
 
 deps = $(sort $(wildcard CMakeList.txt Makefile ../../fpsdk_doc/* *.cpp \
     ../../fpsdk_common/* ../../fpsdk_common/*/* ../../fpsdk_common/*/*/* ../../fpsdk_common/*/*/*/* \
-    ../../fpsdk_ros1/* ../../fpsdk_ros1/*/* ../../fpsdk_ros1/*/*/* ../../fpsdk_ros1/*/*/*/* \
-    ../../fpsdk_ros2/* ../../fpsdk_ros2/*/* ../../fpsdk_ros2/*/*/* ../../fpsdk_ros2/*/*/*/* \
     ../../fpsdk_apps/* ../../fpsdk_apps/*/* ../../fpsdk_apps/*/*/* ../../fpsdk_apps/*/*/*/*))
 
 .PHONY: default

examples/fpb_measurements/Makefile

@@ -2,8 +2,6 @@
 
 deps = $(sort $(wildcard CMakeList.txt Makefile ../../fpsdk_doc/* *.cpp \
     ../../fpsdk_common/* ../../fpsdk_common/*/* ../../fpsdk_common/*/*/* ../../fpsdk_common/*/*/*/* \
-    ../../fpsdk_ros1/* ../../fpsdk_ros1/*/* ../../fpsdk_ros1/*/*/* ../../fpsdk_ros1/*/*/*/* \
-    ../../fpsdk_ros2/* ../../fpsdk_ros2/*/* ../../fpsdk_ros2/*/*/* ../../fpsdk_ros2/*/*/*/* \
     ../../fpsdk_apps/* ../../fpsdk_apps/*/* ../../fpsdk_apps/*/*/* ../../fpsdk_apps/*/*/*/*))
 
 .PHONY: default

examples/fusion_epoch/Makefile

@@ -2,8 +2,6 @@
 
 deps = $(sort $(wildcard CMakeList.txt Makefile ../../fpsdk_doc/* *.cpp \
     ../../fpsdk_common/* ../../fpsdk_common/*/* ../../fpsdk_common/*/*/* ../../fpsdk_common/*/*/*/* \
-    ../../fpsdk_ros1/* ../../fpsdk_ros1/*/* ../../fpsdk_ros1/*/*/* ../../fpsdk_ros1/*/*/*/* \
-    ../../fpsdk_ros2/* ../../fpsdk_ros2/*/* ../../fpsdk_ros2/*/*/* ../../fpsdk_ros2/*/*/*/* \
     ../../fpsdk_apps/* ../../fpsdk_apps/*/* ../../fpsdk_apps/*/*/* ../../fpsdk_apps/*/*/*/*))
 
 .PHONY: default

examples/parser_intro/Makefile

@@ -2,8 +2,6 @@
 
 deps = $(sort $(wildcard CMakeList.txt Makefile ../../fpsdk_doc/* *.cpp \
     ../../fpsdk_common/* ../../fpsdk_common/*/* ../../fpsdk_common/*/*/* ../../fpsdk_common/*/*/*/* \
-    ../../fpsdk_ros1/* ../../fpsdk_ros1/*/* ../../fpsdk_ros1/*/*/* ../../fpsdk_ros1/*/*/*/* \
-    ../../fpsdk_ros2/* ../../fpsdk_ros2/*/* ../../fpsdk_ros2/*/*/* ../../fpsdk_ros2/*/*/*/* \
     ../../fpsdk_apps/* ../../fpsdk_apps/*/* ../../fpsdk_apps/*/*/* ../../fpsdk_apps/*/*/*/*))
 
 .PHONY: default