Merge pull request #1 from tier4/feature/nodelet

Feature/nodelet

pandar_driver/CMakeLists.txt

@@ -0,0 +1,93 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(pandar_driver)
+
+add_compile_options(-std=c++14)
+
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  roslib
+  nodelet
+  pluginlib
+  pandar_msgs
+)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  CATKIN_DEPENDS
+    pandar_msgs
+  LIBRARIES
+    pandar_input
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+# Target
+add_library(pandar_input
+  src/lib/socket_input.cpp
+  src/lib/pcap_input.cpp
+)
+target_link_libraries(pandar_input
+  pcap
+  ${catkin_LIBRARIES}
+)
+
+## add node
+add_executable(pandar_driver_node
+  src/driver/node.cpp
+  src/driver/pandar_driver.cpp
+)
+
+target_link_libraries(pandar_driver_node
+  pandar_input  
+  ${catkin_LIBRARIES}
+)
+
+## add nodelet
+add_library(pandar_driver_nodelet
+  src/driver/nodelet.cpp
+  src/driver/pandar_driver.cpp
+)
+
+target_link_libraries(pandar_driver_nodelet
+  pandar_input
+  ${catkin_LIBRARIES}
+)
+
+
+# Install
+## executables and libraries
+install(
+  TARGETS
+    pandar_driver_node
+    pandar_driver_nodelet
+    pandar_input
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## files
+install(
+  FILES
+    nodelet_pandar_driver.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+## project namespaced headers
+install(
+  DIRECTORY
+    include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+## directories
+install(
+  DIRECTORY
+    launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

pandar_driver/include/pandar_driver/input.h

@@ -0,0 +1,12 @@
+#pragma once
+#include <pandar_msgs/PandarPacket.h>
+
+namespace pandar_driver
+{
+class Input
+{
+public:
+  virtual ~Input(){};
+  virtual int getPacket(pandar_msgs::PandarPacket* pkt) = 0;
+};
+}  // namespace pandar_driver

pandar_driver/include/pandar_driver/pandar_driver.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include <ros/ros.h>
+
+namespace pandar_driver
+{
+class Input;
+class PandarDriver
+{
+public:
+  PandarDriver(ros::NodeHandle node, ros::NodeHandle private_nh);
+  ~PandarDriver(){};
+  bool poll(void);
+
+private:
+  std::string device_ip_;
+  int lidar_port_;
+  int gps_port_;
+  double scan_phase_;
+  size_t azimuth_index_;
+
+  std::string model_;
+  std::string frame_id_;
+  std::string pcap_path_;
+
+  ros::Publisher pandar_packet_pub_;
+  std::shared_ptr<Input> input_;
+
+  std::function<bool(size_t)> is_valid_packet_;
+};
+}  // namespace pandar_driver