rae_improv

scripts/build_all_static.sh

@@ -14,13 +14,14 @@ cp "$SDK_PACKAGE" "$TMP/unpack/"
 cd "$TMP/unpack"
 tar xvf spectacularAI_*.tar.gz
 make PREFIX="$TMP/install" test
+make install
 
 cd "$ROOT"
 ./scripts/build_all.sh -DspectacularAI_DIR="$TMP/install/lib/cmake/spectacularAI"
 
 INSTALL_DIR="spectacularai_ros2/install/spectacularai_ros2/"
 # Strip the executable (just in case the CMake build failed to do that)
-strip "$INSTALL_DIR/lib/libvislam.so"
+strip "$INSTALL_DIR/lib/libspectacularai_ros2.so"
 
 # Copy license/notice file form the SDK package
 LICENSE_OUTPUT_DIR="$INSTALL_DIR"

spectacularai_ros2/CMakeLists.txt

@@ -6,7 +6,7 @@ set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -O2")
 set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 
-set(DYNAMIC_SAI_LIBRARY OFF CACHE STRING "Use dynamic Spectacular AI SDK")
+set(DYNAMIC_SAI_LIBRARY ON )
 
 set(PLUGIN_SRC
   src/ros2_plugin.cpp)
@@ -25,23 +25,23 @@ find_package(message_filters REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 
 find_package(depthai_ros_msgs REQUIRED) # Depth AI features
-
-# add_executable(vislam ${PLUGIN_SRC})
-add_library(vislam SHARED ${PLUGIN_SRC})
+include_directories(include)
+# add_executable(${PROJECT_NAME} ${PLUGIN_SRC})
+add_library(${PROJECT_NAME} SHARED ${PLUGIN_SRC})
 
 # Dynamic dependencies of the static library SDK variant
 set(SAI_STATIC_MANUAL_LINK_LIBS z)
-target_link_libraries(vislam PRIVATE spectacularAI::spectacularAI ${SAI_STATIC_MANUAL_LINK_LIBS})
+target_link_libraries(${PROJECT_NAME} PRIVATE spectacularAI::spectacularAI ${SAI_STATIC_MANUAL_LINK_LIBS})
 # Strip the output executable
-set_target_properties(vislam PROPERTIES LINK_FLAGS -s)
+set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS -s)
 
-rclcpp_components_register_nodes(vislam "spectacularAI::ros2::Node")
+rclcpp_components_register_nodes(${PROJECT_NAME} "spectacularAI::ros2::Node")
 
 # ROS dependencies
-ament_target_dependencies(vislam PUBLIC rclcpp rclcpp_components sensor_msgs nav_msgs tf2_geometry_msgs image_transport message_filters tf2 tf2_ros depthai_ros_msgs)
+ament_target_dependencies(${PROJECT_NAME} PUBLIC spectacularAI rclcpp rclcpp_components sensor_msgs nav_msgs tf2_geometry_msgs image_transport message_filters tf2 tf2_ros depthai_ros_msgs)
 
 install(
-  TARGETS vislam DESTINATION lib/
+  TARGETS ${PROJECT_NAME} DESTINATION lib/
   RUNTIME DESTINATION lib/
   ARCHIVE DESTINATION lib/
   LIBRARY DESTINATION lib/
@@ -52,5 +52,24 @@ install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 if (DYNAMIC_SAI_LIBRARY)
   install(IMPORTED_RUNTIME_ARTIFACTS spectacularAI::spectacularAI)
 endif()
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+
+install(DIRECTORY include/
+        DESTINATION include/
+)
+
+install(TARGETS ${PROJECT_NAME}
+      EXPORT ${PROJECT_NAME}Targets
+              ARCHIVE DESTINATION lib
+              LIBRARY DESTINATION lib
+              RUNTIME DESTINATION bin
+              INCLUDES DESTINATION include
+
+)
+install(EXPORT ${PROJECT_NAME}Targets
+      DESTINATION share/${PROJECT_NAME}/cmake)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
 
 ament_package()

spectacularai_ros2/src/helpers.hpp → spectacularai_ros2/include/spectacularai_ros2/helpers.hpp

@@ -197,8 +197,8 @@ geometry_msgs::msg::TransformStamped poseToTransformStampped(spectacularAI::Pose
     tf.transform.translation.x = pose.position.x;
     tf.transform.translation.y = pose.position.y;
     tf.transform.translation.z = pose.position.z;
-    tf.transform.rotation.x = pose.orientation.x;
-    tf.transform.rotation.y = pose.orientation.y;
+    tf.transform.rotation.x = 0;
+    tf.transform.rotation.y = 0;
     tf.transform.rotation.z = pose.orientation.z;
     tf.transform.rotation.w = pose.orientation.w;
     return tf;

spectacularai_ros2/src/pose_helper.hpp → spectacularai_ros2/include/spectacularai_ros2/pose_helper.hpp

@@ -32,10 +32,10 @@ class PoseHelper {
             double deltaT = vioOutput->pose.time - lastTime;
             odomPosition.x += vioOutput->velocity.x * deltaT;
             odomPosition.y += vioOutput->velocity.y * deltaT;
-            odomPosition.z += vioOutput->velocity.z * deltaT;
+            odomPosition.z = 0;
         }
         lastTime = vioOutput->pose.time;
-
+        
         odomPose = spectacularAI::Pose {
             .time = vioOutput->pose.time,
             .position = odomPosition,