ROS support , example?

[chrissunny94]

Hi , i am trying to understand how to properly wrap a C++ project using Pybind11 .

Kindly look at a FORK of FLOAM (Lidar Odometry and Mapping )

https://github.com/chrissunny94/floam , i have started integrating Pybind11 into this stack , but facing a lot of hurdles on this way .

Its a pressing issue for me and i want this as a reference for other people to properly use pybind11 with a proper project .

I am adding keywords for better reach

• ROS
• Robot Operating System
• ROS2
• Catkin
• Colcon
• ament_cmake
• PCL

Here is an example of a part of the code i am trying to wrap using Pybind11 .

I am finding it hard to understand how to handle

• namespaces
• how to declare objects of class

        #include <pybind11/pybind11.h>
        
        #include "lidar.h"
        
        
        lidar::Lidar::Lidar(){
         
        }
        
        
        void lidar::Lidar::setLines(double num_lines_in){
            num_lines=num_lines_in;
        }
        
        
        void lidar::Lidar::setVerticalAngle(double vertical_angle_in){
            vertical_angle = vertical_angle_in;
        }
        
        
        void lidar::Lidar::setVerticalResolution(double vertical_angle_resolution_in){
            vertical_angle_resolution = vertical_angle_resolution_in;
        }
        
        
        void lidar::Lidar::setScanPeriod(double scan_period_in){
            scan_period = scan_period_in;
        }
        
        
        void lidar::Lidar::setMaxDistance(double max_distance_in){
	        max_distance = max_distance_in;
        }
        
        void lidar::Lidar::setMinDistance(double min_distance_in){
	        min_distance = min_distance_in;
        }
        
        
        #define STRINGIFY(x) #x
        #define MACRO_STRINGIFY(x) STRINGIFY(x)
        
        int add(int i, int j) {
            return i + j;
        }
        
        namespace py = pybind11;
        
        PYBIND11_MODULE(floam_lidar, m) {
            m.doc() = R"pbdoc(
                Pybind11 example plugin
                -----------------------
        
                .. currentmodule:: cmake_example
        
                .. autosummary::
                   :toctree: _generate
        
                   setLines
                   setVerticalAngle
                   setVerticalResolution
                   setScanPeriod
                   setMaxDistance
                   setMinDistance
        
            )pbdoc";
        
            py::class_<lidar::Lidar::Lidar>(m, "lidar")
                .def(py::init<const std::string &, int>())
                .def("setLines", &lidar::Lidar::Lidar::setLines)
            
        #ifdef VERSION_INFO
            m.attr("__version__") = MACRO_STRINGIFY(VERSION_INFO);
        #else
            m.attr("__version__") = "dev";
        #endif
        }

[immanueln98]

Hi Chris!

Where you able to successfully wrap your pybind with c++ in ROS2?

[chrissunny94]

@immanueln98 , yes i had made some progress on this . Let me look into it and get back to you .