Add Polygon Info obtained from zbar #11
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CI is failing because of an upstream issue in ament_cmake.. |
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@paulbovbel would you be able to review the changes in this PR, and if you agree with the changes, do you think there's a better way to deprecate the existing topic? |
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@ijnek sorry I missed this. You should consider deprecating the topic for the upcoming Iron release, and then removing it in rolling. |
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| cmake_minimum_required(VERSION 3.5) | |||
| project(zbar_ros_interfaces) | |||
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Usually these packages are labeled _msgs rather than _interfaces in the ROS ecosystem.
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My understanding is _msgs is the old ROS 1 convention, and _interfaces is the new ROS 2 convention.
Ref:
https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html
https://roboticsbackend.com/ros2-create-custom-message/ ("End with “_interfaces” so it’s clear the package is an interface package. You’ll often see packages ending with “_msgs”, but this is the old convention.")
| RCLCPP_DEBUG(get_logger(), "Barcode detected with data: '%s'", symbol.data.c_str()); | ||
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| RCLCPP_DEBUG( | ||
| get_logger(), "Polygon around barcode has %d points", symbol_it->get_location_size()); |
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It's a shame vision_msgs only has 'bounding box' type boundaries rather than the polygons zbar reports.
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Rebased onto |
Signed-off-by: ijnek <kenjibrameld@gmail.com>
Fix print formatting Signed-off-by: ijnek <kenjibrameld@gmail.com>
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
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CI failure due to ros-tooling/setup-ros@v0.7 having no support for ubuntu noble, but confirmed that ci passes if using ros-tooling/setup-ros@master |
Use an interface
zbar_ros_interfaces/msg/Symbol.msgto communicate more information about the qr code that is available in zbar.Deprecated the "barcode" topic in favor of the "symbol" topic (I needed a different name for the topic to avoid msg type conflict). A deprecation warning shows up in the zbar_ros_node when a subscription is detected on the 'barcode' topic.
Before merging,
ros2branch torolling, to adhere to recommendations from OpenRobotics.