ROS2 tf_pcl package

.gitignore

@@ -143,3 +143,5 @@ mypy.ini
 
 # Pycharm extension setup files
 .idea/*
+/common/helpers/ros2_numpy
+/common/helpers/ament_virtualenv

common/helpers/tf_pcl/package.xml

@@ -1,20 +1,30 @@
 <?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>tf_pcl</name>
-    <version>0.0.0</version>
-    <description>TODO: Package description</description>
-    <maintainer email="[email protected]">jingwen</maintainer>
-    <license>Apache-2.0</license>
+  <name>tf_pcl</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">siyao</maintainer>
+  <license>TODO: License declaration</license>
 
-    <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>scipy</depend>
+  <depend>tf2_ros</depend>
+  <depend>numpy</depend>
+  <depend>ros2_numpy</depend>
+  <build_depend>ament_virtualenv</build_depend>
 
-    <depend>std_msgs</depend>
 
-    <test_depend>ament_lint_auto</test_depend>
-    <test_depend>ament_lint_common</test_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>
 
-    <export>
-        <build_type>ament_cmake</build_type>
-    </export>
-</package>
+  <export>
+    <build_type>ament_python</build_type>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+</package>

common/helpers/tf_pcl/requirements.txt

@@ -0,0 +1 @@
+numpy<1.24

common/helpers/tf_pcl/setup.py

@@ -1,23 +1,49 @@
-from setuptools import setup
+from setuptools import find_packages, setup
 
-package_name = "tf_pcl"
+package_name = 'tf_pcl'
+import setuptools.command.install
+import ament_virtualenv.install
+
+class InstallCommand(setuptools.command.install.install):
+    def run(self):
+        super().run()
+        ament_virtualenv.install.install_venv(
+            install_base=self.install_base,
+            scripts_base=self.install_scripts,
+            package_name=package_name,
+            python_version='3'
+        )
+        # instead of self.install_base we may also use:
+        # self.config_vars['platbase'] or self.config_vars['base']
+        # Exchange the python_version with '3' if your package uses Python3.
+        return
 
 setup(
     name=package_name,
-    version="0.0.1",
+    version='0.0.0',
     packages=[package_name],
     package_dir={"": "src"},
+    install_requires=['setuptools'],
+    zip_safe=True,
     data_files=[
-        # Install package.xml in the appropriate location
-        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
-        ("share/" + package_name, ["package.xml"]),
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
     ],
-    install_requires=["setuptools"],  # Add any Python dependencies here
-    zip_safe=True,
-    maintainer="Your Name",
-    maintainer_email="[email protected]",
-    description="A ROS 2 package for point cloud transformations",
-    license="Apache License 2.0",  # Update license as per your project
-    tests_require=["pytest"],  # Add any test dependencies here
-    entry_points={"console_scripts": ["pointcloud_transformer = tf_pcl.__init__:main"]},
-)
+    maintainer='siyao',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
+    cmdclass={'install': InstallCommand
+    },
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)