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majdkhalifemajdkhalife
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Ros2 humble cob common package conversion
1 parent 7a82d29 commit 194059f

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11 files changed

+142
-13
lines changed

11 files changed

+142
-13
lines changed

‎.ci.xacro_test.sh‎

Lines changed: 8 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,13 @@
11
#!/bin/sh
22
status=0
3-
[ "$ROS_DISTRO" \< "melodic" ] && xacro_args='--inorder'
4-
for x in $(find "$TARGET_REPO_PATH" -name '*.xacro'|sort); do
3+
# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it.
4+
if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then
5+
xacro_args='--inorder'
6+
else
7+
xacro_args=''
8+
fi
9+
10+
for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do
511
echo "Testing $x"
612
xacro $xacro_args "$x" > /dev/null || status=1
713
done

‎all_changes.patch‎

Lines changed: 122 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,122 @@
1+
diff --git a/.ci.xacro_test.sh b/.ci.xacro_test.sh
2+
index d53f97b..a80e8a6 100644
3+
--- a/.ci.xacro_test.sh
4+
+++ b/.ci.xacro_test.sh
5+
@@ -1,7 +1,13 @@
6+
#!/bin/sh
7+
status=0
8+
-[ "$ROS_DISTRO" \< "melodic" ] && xacro_args='--inorder'
9+
-for x in $(find "$TARGET_REPO_PATH" -name '*.xacro'|sort); do
10+
+# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it.
11+
+if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then
12+
+ xacro_args='--inorder'
13+
+else
14+
+ xacro_args=''
15+
+fi
16+
+
17+
+for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do
18+
echo "Testing $x"
19+
xacro $xacro_args "$x" > /dev/null || status=1
20+
done
21+
diff --git a/cob_actions/package.xml b/cob_actions/package.xml
22+
index 47261e4..be05704 100644
23+
--- a/cob_actions/package.xml
24+
+++ b/cob_actions/package.xml
25+
@@ -16,4 +16,5 @@
26+
<depend>action_msgs</depend>
27+
28+
<exec_depend>rosidl_default_runtime</exec_depend>
29+
+ <member_of_group>rosidl_interface_packages</member_of_group>
30+
</package>
31+
diff --git a/cob_common/CMakeLists.txt b/cob_common/CMakeLists.txt
32+
index edffff6..402eafb 100644
33+
--- a/cob_common/CMakeLists.txt
34+
+++ b/cob_common/CMakeLists.txt
35+
@@ -1,5 +1,7 @@
36+
cmake_minimum_required(VERSION 3.8)
37+
project(cob_common)
38+
39+
+# Make the ament_metapackage() command available.
40+
find_package(ament_cmake REQUIRED)
41+
-ament_metapackage()
42+
+
43+
+ament_package()
44+
diff --git a/cob_common/package.xml b/cob_common/package.xml
45+
index 9999397..63bbd3c 100644
46+
--- a/cob_common/package.xml
47+
+++ b/cob_common/package.xml
48+
@@ -17,8 +17,6 @@
49+
<exec_depend>cob_actions</exec_depend>
50+
<exec_depend>cob_msgs</exec_depend>
51+
<exec_depend>cob_srvs</exec_depend>
52+
-
53+
- <export>
54+
- <metapackage/>
55+
- </export>
56+
+ <member_of_group>rosidl_interface_packages</member_of_group>
57+
+
58+
</package>
59+
diff --git a/cob_msgs/msg/AccessPoint.msg b/cob_msgs/msg/AccessPoint.msg
60+
index da7d9bd..84c5de9 100644
61+
--- a/cob_msgs/msg/AccessPoint.msg
62+
+++ b/cob_msgs/msg/AccessPoint.msg
63+
@@ -1,5 +1,5 @@
64+
# This message communicates the state of the PR2's wifi access point.
65+
-Header header
66+
+std_msgs/Header header
67+
string essid
68+
string macaddr
69+
int32 signal
70+
diff --git a/cob_msgs/msg/PowerState.msg b/cob_msgs/msg/PowerState.msg
71+
index 47cf00d..d15d711 100644
72+
--- a/cob_msgs/msg/PowerState.msg
73+
+++ b/cob_msgs/msg/PowerState.msg
74+
@@ -1,5 +1,5 @@
75+
# This message communicates the state of the power system.
76+
-Header header
77+
+std_msgs/Header header
78+
float64 voltage # [V]
79+
float64 current # [A]
80+
float64 power_consumption # [W] can only be calculated if not charging
81+
diff --git a/cob_msgs/msg/SafetyControllerState.msg b/cob_msgs/msg/SafetyControllerState.msg
82+
index 04a8e81..12b8d97 100644
83+
--- a/cob_msgs/msg/SafetyControllerState.msg
84+
+++ b/cob_msgs/msg/SafetyControllerState.msg
85+
@@ -1,4 +1,4 @@
86+
-Header header
87+
+std_msgs/Header header
88+
bool has_wireless_emstop
89+
bool has_fall_sensors
90+
bool has_magnetic_safety_switch
91+
diff --git a/cob_msgs/msg/SiteSurvey.msg b/cob_msgs/msg/SiteSurvey.msg
92+
index fadf87b..5d57c98 100644
93+
--- a/cob_msgs/msg/SiteSurvey.msg
94+
+++ b/cob_msgs/msg/SiteSurvey.msg
95+
@@ -1,2 +1,2 @@
96+
-Header header
97+
+std_msgs/Header header
98+
Network[] networks
99+
diff --git a/cob_msgs/package.xml b/cob_msgs/package.xml
100+
index 0575133..34a48cd 100644
101+
--- a/cob_msgs/package.xml
102+
+++ b/cob_msgs/package.xml
103+
@@ -19,4 +19,5 @@
104+
<depend>std_msgs</depend>
105+
106+
<exec_depend>rosidl_default_runtime</exec_depend>
107+
+ <member_of_group>rosidl_interface_packages</member_of_group>
108+
</package>
109+
diff --git a/cob_srvs/package.xml b/cob_srvs/package.xml
110+
index a51c8a3..24be9a6 100644
111+
--- a/cob_srvs/package.xml
112+
+++ b/cob_srvs/package.xml
113+
@@ -13,8 +13,7 @@
114+
115+
<buildtool_depend>ament_cmake</buildtool_depend>
116+
<buildtool_depend>rosidl_default_generators</buildtool_depend>
117+
-
118+
<depend>geometry_msgs</depend>
119+
-
120+
<exec_depend>rosidl_default_runtime</exec_depend>
121+
+ <member_of_group>rosidl_interface_packages</member_of_group>
122+
</package>

‎cob_actions/package.xml‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -16,4 +16,5 @@
1616
<depend>action_msgs</depend>
1717

1818
<exec_depend>rosidl_default_runtime</exec_depend>
19+
<member_of_group>rosidl_interface_packages</member_of_group>
1920
</package>

‎cob_common/CMakeLists.txt‎

Lines changed: 3 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,7 @@
11
cmake_minimum_required(VERSION 3.8)
22
project(cob_common)
33

4+
# Make the ament_metapackage() command available.
45
find_package(ament_cmake REQUIRED)
5-
ament_metapackage()
6+
7+
ament_package()

‎cob_common/package.xml‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -17,8 +17,6 @@
1717
<exec_depend>cob_actions</exec_depend>
1818
<exec_depend>cob_msgs</exec_depend>
1919
<exec_depend>cob_srvs</exec_depend>
20-
21-
<export>
22-
<metapackage/>
23-
</export>
20+
<member_of_group>rosidl_interface_packages</member_of_group>
21+
2422
</package>

‎cob_msgs/msg/AccessPoint.msg‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
# This message communicates the state of the PR2's wifi access point.
2-
Header header
2+
std_msgs/Header header
33
string essid
44
string macaddr
55
int32 signal

‎cob_msgs/msg/PowerState.msg‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
# This message communicates the state of the power system.
2-
Header header
2+
std_msgs/Header header
33
float64 voltage # [V]
44
float64 current # [A]
55
float64 power_consumption # [W] can only be calculated if not charging

‎cob_msgs/msg/SafetyControllerState.msg‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
Header header
1+
std_msgs/Header header
22
bool has_wireless_emstop
33
bool has_fall_sensors
44
bool has_magnetic_safety_switch

‎cob_msgs/msg/SiteSurvey.msg‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,2 @@
1-
Header header
1+
std_msgs/Header header
22
Network[] networks

‎cob_msgs/package.xml‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -19,4 +19,5 @@
1919
<depend>std_msgs</depend>
2020

2121
<exec_depend>rosidl_default_runtime</exec_depend>
22+
<member_of_group>rosidl_interface_packages</member_of_group>
2223
</package>

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