Added mocap interfaces to comply with Rep mocap

.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,30 @@
+# Issue Report
+
+### Description
+Describe the issue or suggestion you are reporting.
+
+### Steps to Reproduce
+1. Step 1
+2. Step 2
+3. Step 3
+.. Step N
+
+### Expected Result
+Describe what you expected to happen.
+
+### Actual Result
+Describe what actually happened.
+
+### Screenshots
+Attach screenshots if relevant.
+
+### Environment
+- **Operating System**:
+- **ROS Distribution**:
+- **Additional Details**: 
+
+### Configuration
+Please paste the configuration file used (yaml) located in the config folder
+
+### Execution Log
+Include the execution log of the driver to assist in diagnosing the issue. This log should capture any error messages or warnings related to the YAML configuration.

.github/workflows/rep-mocap.yaml

@@ -0,0 +1,38 @@
+name: rep-mocap
+on:
+  pull_request:
+    branches:
+      - rep-mocap
+  push:
+    branches:
+      - rep-mocap
+
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-24.04]
+      fail-fast: false
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v2
+
+      - name: Setup ROS 2
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: rolling
+      - name: build and test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: mocap4r2_vicon_driver
+          target-ros2-distro: rolling
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/dependency_repos.repos
+      - name: Codecov
+        uses: codecov/[email protected]
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/rolling.yaml

@@ -1,5 +1,4 @@
 name: rolling
-
 on:
   pull_request:
     branches:
@@ -13,19 +12,22 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-22.04]
+        os: [ubuntu-24.04]
       fail-fast: false
     steps:
+      - name: Repo checkout
+        uses: actions/checkout@v2
+
       - name: Setup ROS 2
-        uses: ros-tooling/[email protected].1
+        uses: ros-tooling/[email protected].9
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: rolling
       - name: build and test
-        uses: ros-tooling/[email protected].5
+        uses: ros-tooling/[email protected].15
         with:
-          package-name: mocap4r2_vicon_driver
-          target-ros2-distro: humble
-          vcs-repo-file-url: https://raw.githubusercontent.com/MOCAP4ROS2-Project/mocap4ros2_vicon/rolling/dependency_repos.repos
+          package-name: mocap4r2_control mocap4r2_control_msgs rqt_mocap4r2_control mocap4r2_marker_publisher mocap4r2_marker_viz mocap4r2_marker_viz_srvs
+          target-ros2-distro: rolling
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/dependency_repos.repos
       - name: Codecov
         uses: codecov/[email protected]
         with:

README.md

@@ -9,7 +9,7 @@ This project provides support for ROS2 integration with Vicon cameras (MOCAP sys
 ## Dependencies:
 Vicon drivers for ROS2 are based on Vicon DataStream SDK 1.11.0. When compiling the `mocap4r2_vicon_driver`, SDK is downloaded and installed, requiring packages `wget` and `p7zip-full` for this.
 Also, our package depends on other two repositories from MOCAP4ROS2 Project:
-- [mocap4r2_msgs](https://github.com/MOCAP4ROS2-Project/mocap4r2_msgs)
+- [mocap_interfaces](https://github.com/MOCAP4ROS2-Project/mocap_interfaces)
 - [mocap4r2_control](https://github.com/MOCAP4ROS2-Project/mocap)
 
 A rosinstall file is provided to automatically manage them. 
@@ -26,7 +26,7 @@ mkdir -p ~/mocap4r2_ws/src
 cd ~/mocap4r2_ws/src
 
 ## clone vicon repository
-git clone https://github.com/MOCAP4ROS2-Project/mocap4ros2_vicon.git -b master
+git clone https://github.com/MOCAP4ROS2-Project/mocap4ros2_vicon.git -b rolling
 ## clone necessary mocap repositories
 cp mocap4ros2_vicon/mocap4ros2.rosinstall .rosinstall
 wstool update

dependency_repos.repos

@@ -1,7 +1,7 @@
 repositories:
-  mocap4r2_msgs:
+  mocap_interfaces:
     type: git
-    url: https://github.com/MOCAP4ROS2-Project/mocap4r2_msgs.git
+    url: https://github.com/MOCAP4ROS2-Project/mocap_interfaces.git
     version: rolling
   mocap4r2:
     type: git

mocap4r2_vicon_driver/CMakeLists.txt

@@ -15,7 +15,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
-find_package(mocap4r2_msgs REQUIRED)
+find_package(mocap_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(mocap4r2_control REQUIRED)
 
@@ -25,7 +25,7 @@ find_package(Boost REQUIRED COMPONENTS thread date_time chrono)
 set(dependencies
   rclcpp
   rclcpp_lifecycle
-  mocap4r2_msgs
+  mocap_interfaces
   mocap4r2_control
   geometry_msgs
 )

mocap4r2_vicon_driver/include/mocap4r2_vicon_driver/mocap4r2_vicon_driver.hpp

@@ -29,9 +29,9 @@
 #include "rclcpp/rclcpp.hpp"
 #include "mocap4r2_control/ControlledLifecycleNode.hpp"
 
-#include "mocap4r2_msgs/msg/marker.hpp"
-#include "mocap4r2_msgs/msg/markers.hpp"
-#include "mocap4r2_msgs/msg/rigid_bodies.hpp"
+#include "mocap_interfaces/msg/marker.hpp"
+#include "mocap_interfaces/msg/marker_array.hpp"
+#include "mocap_interfaces/msg/rigid_body_array.hpp"
 
 namespace mocap4r2_vicon_driver
 {
@@ -56,8 +56,8 @@ class ViconDriverNode : public mocap4r2_control::ControlledLifecycleNode
 
 protected:
   ViconDataStreamSDK::CPP::Client client;
-  rclcpp_lifecycle::LifecyclePublisher<mocap4r2_msgs::msg::Markers>::SharedPtr markers_pub_;
-  rclcpp_lifecycle::LifecyclePublisher<mocap4r2_msgs::msg::RigidBodies>::SharedPtr
+  rclcpp_lifecycle::LifecyclePublisher<mocap_interfaces::msg::MarkerArray>::SharedPtr markers_pub_;
+  rclcpp_lifecycle::LifecyclePublisher<mocap_interfaces::msg::RigidBodyArray>::SharedPtr
     rigid_bodies_pub_;
   rclcpp::TimerBase::SharedPtr timer_;
 

mocap4r2_vicon_driver/package.xml

@@ -15,7 +15,7 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
-  <depend>mocap4r2_msgs</depend>
+  <depend>mocap_interfaces</depend>
   <depend>mocap4r2_control</depend>
   <depend>boost</depend>
 

mocap4r2_vicon_driver/src/mocap4r2_vicon_driver/mocap4r2_vicon_driver.cpp

@@ -111,24 +111,24 @@ void ViconDriverNode::process_frame()
 
     // rclcpp::Duration frame_delay = rclcpp::Duration(client.GetLatencyTotal().Total);
 
-    mocap4r2_msgs::msg::RigidBodies rigid_bodies_msg;
+    mocap_interfaces::msg::RigidBodyArray rigid_bodies_msg;
     rigid_bodies_msg.header.stamp = now();  // TODO(any): add client.GetLatencyTotal() ?
     rigid_bodies_msg.header.frame_id = frame_id_;
-    rigid_bodies_msg.frame_number = frameCount_++;
+    rigid_bodies_msg.seq = frameCount_++;
 
-    mocap4r2_msgs::msg::Markers markers_msg;
+    mocap_interfaces::msg::MarkerArray markers_msg;
     markers_msg.header.stamp = now();  // TODO(any): add client.GetLatencyTotal() ?
     markers_msg.header.frame_id = frame_id_;
-    markers_msg.frame_number = frameCount_++;
+    markers_msg.seq = frameCount_++;
 
     unsigned int SubjectCount = client.GetSubjectCount().SubjectCount;
     for (unsigned int SubjectIndex = 0; SubjectIndex < SubjectCount; ++SubjectIndex) {
       std::string this_subject_name = client.GetSubjectName(SubjectIndex).SubjectName;
 
       unsigned int num_subject_markers = client.GetMarkerCount(this_subject_name).MarkerCount;
       for (unsigned int MarkerIndex = 0; MarkerIndex < num_subject_markers; ++MarkerIndex) {
-        mocap4r2_msgs::msg::Marker this_marker;
-        this_marker.id_type = mocap4r2_msgs::msg::Marker::USE_NAME;
+        mocap_interfaces::msg::Marker this_marker;
+        this_marker.id_type = mocap_interfaces::msg::Marker::USE_NAME;
         this_marker.marker_name = client.GetMarkerName(this_subject_name, MarkerIndex).MarkerName;
 
         ViconDataStreamSDK::CPP::Output_GetMarkerGlobalTranslation
@@ -154,7 +154,7 @@ void ViconDriverNode::process_frame()
         ViconDataStreamSDK::CPP::Output_GetSegmentGlobalRotationQuaternion rot =
           client.GetSegmentGlobalRotationQuaternion(this_subject_name, this_segment_name);
 
-        mocap4r2_msgs::msg::RigidBody this_segment;
+        mocap_interfaces::msg::RigidBody this_segment;
         std::string rigid_body_name = this_subject_name + "." + this_segment_name;
         this_segment.rigid_body_name = rigid_body_name;
         this_segment.pose.position.x = trans.Translation[0] / 1000.0;
@@ -165,14 +165,14 @@ void ViconDriverNode::process_frame()
         this_segment.pose.orientation.z = rot.Rotation[2];
         this_segment.pose.orientation.w = rot.Rotation[3];
         this_segment.markers = markers_msg.markers;
-        rigid_bodies_msg.rigidbodies.push_back(this_segment);
+        rigid_bodies_msg.rigid_bodies.push_back(this_segment);
       }
     }
     // Publishing messages
     if (markers_msg.markers.size() > 0) {
       markers_pub_->publish(markers_msg);
     }
-    if (rigid_bodies_msg.rigidbodies.size() > 0) {
+    if (rigid_bodies_msg.rigid_bodies.size() > 0) {
       rigid_bodies_pub_->publish(rigid_bodies_msg);
     }
   }
@@ -188,8 +188,9 @@ ViconDriverNode::on_configure(const rclcpp_lifecycle::State &)
 {
   initParameters();
 
-  markers_pub_ = create_publisher<mocap4r2_msgs::msg::Markers>("/markers", rclcpp::QoS(1000));
-  rigid_bodies_pub_ = create_publisher<mocap4r2_msgs::msg::RigidBodies>(
+  markers_pub_ = create_publisher<mocap_interfaces::msg::MarkerArray>(
+    "/markers", rclcpp::QoS(1000));
+  rigid_bodies_pub_ = create_publisher<mocap_interfaces::msg::RigidBodyArray>(
     "/rigid_bodies", rclcpp::QoS(1000));
 
   auto stat = client.Connect(host_name_).Result;