From 1c3ab27707e38b50d1e2cff89ec5998ee8a7b336 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Wed, 19 Apr 2023 14:00:44 +0000
Subject: [PATCH] add object detection package

---
 src/object_detection/CMakeLists.txt       | 48 +++++++++++++++++++++++
 src/object_detection/package.xml          | 22 +++++++++++
 src/object_detection/src/lidar_reader.cpp | 43 ++++++++++++++++++++
 3 files changed, 113 insertions(+)
 create mode 100644 src/object_detection/CMakeLists.txt
 create mode 100644 src/object_detection/package.xml
 create mode 100644 src/object_detection/src/lidar_reader.cpp

diff --git a/src/object_detection/CMakeLists.txt b/src/object_detection/CMakeLists.txt
new file mode 100644
index 00000000..7c3ff38c
--- /dev/null
+++ b/src/object_detection/CMakeLists.txt
@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 3.5)
+project(object_detection)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(TerabeeApi REQUIRED)
+
+add_executable(lidar_reader src/lidar_reader.cpp)
+ament_target_dependencies(lidar_reader rclcpp)
+
+target_link_libraries(lidar_reader ${TerabeeApi_LIBRARIES})
+target_include_directories(lidar_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})
+
+install(TARGETS
+  lidar_reader
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/src/object_detection/package.xml b/src/object_detection/package.xml
new file mode 100644
index 00000000..02c38d67
--- /dev/null
+++ b/src/object_detection/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>object_detection</name>
+  <version>0.0.0</version>
+  <description>Package to read the TeraBee lidar and multiflex sensors</description>
+  <maintainer email="semmer99@gmail.com">sem</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <build_depend>rclcpp</build_depend>
+  <build_depend>TerabeeApi</build_depend>
+  <exec_depend>TerabeeApi</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/object_detection/src/lidar_reader.cpp b/src/object_detection/src/lidar_reader.cpp
new file mode 100644
index 00000000..29e70f64
--- /dev/null
+++ b/src/object_detection/src/lidar_reader.cpp
@@ -0,0 +1,43 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include <terabee/ITerarangerFactory.hpp>
+#include <terabee/ITerarangerTowerEvo.hpp>
+#include <terabee/TowerDistanceData.hpp>
+#include <terabee/ImuData.hpp>
+
+using terabee::ITerarangerTowerEvo;
+using terabee::TowerDistanceData;
+using terabee::ImuData;
+
+using namespace std::chrono_literals;
+
+/* This example creates a subclass of Node and uses std::bind() to register a
+* member function as a callback from the timer. */
+
+class LidarReader : public rclcpp::Node
+{
+  public:
+    LidarReader()
+    : Node("lidar_reader")
+    { 
+    }
+
+  private:
+    void timer_callback()
+    {
+      RCLCPP_INFO(this->get_logger(), "yeet");
+    }
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<LidarReader>());
+  rclcpp::shutdown();
+  return 0;
+}