Merge branch 'porting-ros2' into main

.clang-format

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+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
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+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
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+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
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+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
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+}
+...

.github/workflows/main.yml

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+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+
+name: CI
+
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+          - {ROS_DISTRO: foxy, CATKIN_LINT: true}
+          - {ROS_DISTRO: foxy, CLANG_FORMAT_CHECK: file}
+          - {ROS_DISTRO: galactic}
+          - {ROS_DISTRO: humble}
+          - {ROS_DISTRO: iron}
+    env:
+      CCACHE_DIR: /github/home/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}

.gitignore

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+*.json
+*.pyc
+*.orig

LICENSE

@@ -1,3 +1,7 @@
+<<<<<<< HEAD
+=======
+
+>>>>>>> porting-ros2
                                  Apache License
                            Version 2.0, January 2004
                         http://www.apache.org/licenses/
@@ -186,7 +190,11 @@
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
+<<<<<<< HEAD
    Copyright [yyyy] [name of copyright owner]
+=======
+   Copyright 2022 Pepperl+Fuchs SE
+>>>>>>> porting-ros2
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

README.md

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+## ROS drivers for R2000 and R2300 laser scanners
+
+![Build Status](https://github.com/PepperlFuchs/pf_lidar_ros2_driver/actions/workflows/main.yml/badge.svg?branch=main)
+
+**Required platform:**  
+Ubuntu 20.04 / ROS Foxy OR Ubuntu 20.04 / ROS Galactic  OR Ubuntu 22.04 / ROS Humble
+
+**Clone the repository:**  
+Clone the repository in the `src` folder of your ROS workspace
+```
+git clone https://github.com/PepperlFuchs/pf_lidar_ros2_driver.git
+```
+
+**Install the missing dependencies:**  
+```
+export ROS_DISTRO=foxy OR export ROS_DISTRO=galactic OR export ROS_DISTRO=humble
+cd <path/to/workspace>
+rosdep update --include-eol-distros
+rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y
+```
+
+**Build the workspace:**  
+```
+source /opt/ros/$ROS_DISTRO/setup.bash
+colcon build --symlink-install
+source <path/to/workspace>/install/setup.bash
+```
+
+**Usage:**  
+Now you are ready to use the driver. Make the necessary power and ethernet connections. Make sure your computer's IP address is on the same subnet mask as that of the device. Change the `scanner_ip` value in the respective yaml config file that can be found in: `src/pf_lidar_ros_driver/src/pf_driver/config/`. You can now launch one of the drivers in the following manner:  
+R2000:
+```
+ros2 launch pf_driver r2000.launch.py
+```
+R2300 4-layer:
+```
+ros2 launch pf_driver r2300.launch.py
+```
+R2300 1-layer:
+```
+ros2 launch pf_driver r2300_single_layer.launch.py
+```
+
+With R2300, the term scan refers to a contiguous group of measurements spanning one particular horizontal circular
+sector. Depending on the orientation of the mirrors on the cube, the scans may be taken in the same or slightly different
+layers.  
+
+In R2300 4-layer sensors, all four mirrors are inclined slightly differently so that scans are taken at the following vertical
+angle (relative to the mounting plane). Note that the layers are numbered in the order they are scanned during one
+turn. This is not strictly from bottom to top:
+
+| **Layer index** | **Angle** | **Description** |
+|-----------------|-----------|-----------------|
+|0 |-4.5°|bottom (connector side)|
+|1 |-1.5° | - |
+|2 |+4.5° | top |
+|3 |+1.5° | - |

src/CMakeLists.txt

@@ -0,0 +1 @@
+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake

src/pf_description/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package pf_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.2.0 (2022-05-03)
+-------------------
+* fix xacro filename cases `#70 <https://github.com/PepperlFuchs/pf_lidar_ros_driver/issues/70>`_ from PepperlFuchs/fix_xacro_filenames
+* replaced r2300 stl file `#69 <https://github.com/PepperlFuchs/pf_lidar_ros_driver/issues/69>`_ from PepperlFuchs/update_stl
+* update test as per renamed launch file
+* rename xacros and update mesh centre
+* added urdf for r2000 and r2300 `#66 <https://github.com/PepperlFuchs/pf_lidar_ros_driver/issues/66>`_ from PepperlFuchs/urdf
+* add tests for robot_description bringup
+* fix deps for CI
+* add urdf bringup launch file
+* added urdf for r2000
+* added urdf for r2300
+* Contributors: Harsh Deshpande
+
+1.1.1 (2021-02-18)
+------------------
+
+1.1.0 (2021-02-09)
+------------------

src/pf_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.7)
+project(pf_description)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  add_launch_test(tests/test_r2000_bringup.launch.py)
+  add_launch_test(tests/test_r2300_bringup.launch.py)
+endif()
+
+install(DIRECTORY launch meshes rviz urdf DESTINATION share/${PROJECT_NAME})
+
+ament_package()

src/pf_description/launch/pf_bringup.launch

@@ -0,0 +1,7 @@
+<launch>
+    <arg name="scanner" default="r2000" />
+    <arg name="model" default="$(find pf_description)/urdf/$(arg scanner)_world.urdf.xacro" />
+
+    <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+</launch>

src/pf_description/launch/pf_bringup.launch.py

@@ -0,0 +1,42 @@
+from ament_index_python.packages import get_package_share_directory
+import os
+import launch_ros
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import Command, LaunchConfiguration, TextSubstitution
+import launch
+
+
+def launch_setup(context, *args, **kwargs):
+    package_name = 'pf_description'
+    scanner_arg = LaunchConfiguration('scanner').perform(context)
+
+    pkg_share = launch_ros.substitutions.FindPackageShare(
+        package=package_name).find(package_name)
+    scanner_description_path = os.path.join(
+        pkg_share, 'urdf', scanner_arg + '_world.urdf.xacro')
+    rviz_config_path = os.path.join(pkg_share, 'rviz', scanner_arg + '.rviz')
+
+    robot_state_publisher_node = launch_ros.actions.Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[{'robot_description': Command(
+            ['xacro ', scanner_description_path])}]
+    )
+
+    rviz2_node = launch_ros.actions.Node(
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
+        arguments=['-d' + rviz_config_path],
+    )
+
+    return [robot_state_publisher_node, rviz2_node]
+
+
+def generate_launch_description():
+    return launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(
+            "scanner", default_value=TextSubstitution(text="r2000")),
+        OpaqueFunction(function=launch_setup)
+    ])

src/pf_description/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>pf_description</name>
+  <version>1.2.0</version>
+  <description>The pf_description package</description>
+
+  <maintainer email="harshavardhan.deshpande@ipa.fraunhofer.de">Harsh Deshpande</maintainer>
+  <author email="harshavardhan.deshpande@ipa.fraunhofer.de">Harsh Deshpande</author>
+  <license>Apache2.0</license>
+  <url type="website">https://github.com/PepperlFuchs/pf_lidar_ros_driver</url>
+
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>