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Merge pull request #299 from fmessmer/foxy_port_ros2
[foxy] port packages
2 parents ce478e0 + aa6ab9b commit 780f09b

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17 files changed

+190
-88
lines changed

17 files changed

+190
-88
lines changed

‎.travis.yml‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -14,12 +14,10 @@ env:
1414
- CATKIN_LINT_ARGS='--ignore description_boilerplate'
1515
- CMAKE_ARGS=-DCMAKE_BUILD_TYPE=Release
1616
- PYLINT_ARGS="--output-format=parseable --errors-only"
17-
- PYLINT_CHECK=true
17+
- PYLINT_CHECK=false
1818
- ROS_REPO=main
1919
matrix:
20-
- ROS_DISTRO=kinetic
21-
- ROS_DISTRO=melodic
22-
- ROS_DISTRO=noetic
20+
- ROS_DISTRO=foxy
2321
install:
2422
- git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
2523
script:

‎cob_actions/CMakeLists.txt‎

Lines changed: 32 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,20 +1,39 @@
1-
cmake_minimum_required(VERSION 3.0.2)
1+
cmake_minimum_required(VERSION 3.5)
22
project(cob_actions)
33

4-
find_package(catkin REQUIRED COMPONENTS actionlib_msgs geometry_msgs message_generation)
4+
# Default to C99
5+
if(NOT CMAKE_C_STANDARD)
6+
set(CMAKE_C_STANDARD 99)
7+
endif()
58

6-
add_action_files(FILES
7-
Dock.action
8-
SetBool.action
9-
SetFloat.action
10-
SetInt.action
11-
SetString.action
12-
)
9+
# Default to C++14
10+
if(NOT CMAKE_CXX_STANDARD)
11+
set(CMAKE_CXX_STANDARD 14)
12+
endif()
13+
14+
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
15+
add_compile_options(-Wall -Wextra -Wpedantic)
16+
endif()
1317

14-
generate_messages(
15-
DEPENDENCIES actionlib_msgs geometry_msgs
18+
find_package(ament_cmake REQUIRED)
19+
find_package(rosidl_default_generators REQUIRED)
20+
find_package(builtin_interfaces REQUIRED)
21+
find_package(actionlib_msgs REQUIRED)
22+
find_package(geometry_msgs REQUIRED)
23+
24+
set(action_files
25+
"action/Dock.action"
26+
"action/SetBool.action"
27+
"action/SetFloat.action"
28+
"action/SetInt.action"
29+
"action/SetString.action"
1630
)
1731

18-
catkin_package(
19-
CATKIN_DEPENDS actionlib_msgs geometry_msgs message_runtime
32+
rosidl_generate_interfaces(${PROJECT_NAME}
33+
${action_files}
34+
DEPENDENCIES builtin_interfaces actionlib_msgs geometry_msgs
35+
ADD_LINTER_TESTS
2036
)
37+
38+
ament_export_dependencies(rosidl_default_runtime)
39+
ament_package()

‎cob_actions/package.xml‎

Lines changed: 15 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -1,21 +1,29 @@
1-
<package format="2">
1+
<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
24
<name>cob_actions</name>
35
<version>0.7.8</version>
46
<description>This Package contains Care-O-bot specific action definitions.</description>
57

68
<license>Apache 2.0</license>
79

8-
<url type="website">http://ros.org/wiki/cob_actions</url>
9-
<!-- <url type="bugtracker"></url> -->
10-
1110
<maintainer email="[email protected]">Felix Messmer</maintainer>
1211
<author email="[email protected]">Felix Messmer</author>
1312

14-
<buildtool_depend>catkin</buildtool_depend>
13+
<buildtool_depend>ament_cmake</buildtool_depend>
14+
<buildtool_depend>rosidl_default_generators</buildtool_depend>
1515

16-
<build_depend>message_generation</build_depend>
17-
<exec_depend>message_runtime</exec_depend>
16+
<depend>builtin_interfaces</depend>
1817
<depend>actionlib_msgs</depend>
1918
<depend>geometry_msgs</depend>
2019

20+
<exec_depend>rosidl_default_runtime</exec_depend>
21+
22+
<test_depend>ament_lint_common</test_depend>
23+
24+
<member_of_group>rosidl_interface_packages</member_of_group>
25+
26+
<export>
27+
<build_type>ament_cmake</build_type>
28+
</export>
2129
</package>

‎cob_common/CMakeLists.txt‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
cmake_minimum_required(VERSION 3.0.2)
1+
cmake_minimum_required(VERSION 3.5)
22
project(cob_common)
3-
find_package(catkin REQUIRED)
4-
catkin_metapackage()
3+
find_package(ament_cmake REQUIRED)
4+
ament_package()

‎cob_common/package.xml‎

Lines changed: 5 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,6 @@
1-
<package format="2">
1+
<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
24
<name>cob_common</name>
35
<version>0.7.8</version>
46
<description>The cob_common stack hosts common packages that are used within the Care-O-bot repository. E.g. utility packages or common message and service definitions etc. Also the urdf desciption of the robot is located in this stack.</description>
@@ -9,7 +11,7 @@
911

1012
<maintainer email="[email protected]">Felix Messmer</maintainer>
1113

12-
<buildtool_depend>catkin</buildtool_depend>
14+
<buildtool_depend>ament_cmake</buildtool_depend>
1315

1416
<exec_depend>cob_actions</exec_depend>
1517
<exec_depend>cob_description</exec_depend>
@@ -18,6 +20,6 @@
1820
<exec_depend>raw_description</exec_depend>
1921

2022
<export>
21-
<metapackage/>
23+
<build_type>ament_cmake</build_type>
2224
</export>
2325
</package>

‎cob_description/CMakeLists.txt‎

Lines changed: 12 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -1,14 +1,19 @@
1-
cmake_minimum_required(VERSION 3.0.2)
1+
cmake_minimum_required(VERSION 3.5)
22
project(cob_description)
33

4-
find_package(catkin REQUIRED COMPONENTS)
5-
6-
catkin_package()
4+
find_package(ament_cmake REQUIRED)
75

86
install(DIRECTORY Media meshes urdf
9-
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
7+
DESTINATION share/${PROJECT_NAME}
108
)
119

12-
catkin_install_python(PROGRAMS test/test_urdf.py
13-
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
10+
install(PROGRAMS test/test_urdf.py
11+
DESTINATION share/${PROJECT_NAME}/test
1412
)
13+
14+
if(BUILD_TESTING)
15+
find_package(ament_lint_auto REQUIRED)
16+
#ament_lint_auto_find_test_dependencies()
17+
endif()
18+
19+
ament_package()

‎cob_description/package.xml‎

Lines changed: 12 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,6 @@
1-
<package format="2">
1+
<?xml version="1.0"?>
2+
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
3+
<package format="3">
24
<name>cob_description</name>
35
<version>0.7.8</version>
46
<description>This package contains the description (mechanical, kinematic, visual,
@@ -16,15 +18,20 @@
1618
<author email="[email protected]">Florian Weisshardt</author>
1719
<author email="[email protected]">Felix Messmer</author>
1820

19-
<buildtool_depend>catkin</buildtool_depend>
21+
<buildtool_depend>ament_cmake</buildtool_depend>
2022

2123
<exec_depend>gazebo_ros</exec_depend>
22-
<exec_depend>rosbash</exec_depend>
23-
<exec_depend>rospy</exec_depend>
24-
<exec_depend>rosunit</exec_depend>
24+
<!--exec_depend>rosbash</exec_depend-->
25+
<!--exec_depend>rospy</exec_depend-->
26+
<!--exec_depend>rosunit</exec_depend-->
2527
<exec_depend>xacro</exec_depend>
2628

29+
<test_depend>ament_cmake_gtest</test_depend>
30+
<test_depend>ament_lint_auto</test_depend>
31+
<test_depend>ament_lint_common</test_depend>
32+
2733
<export>
2834
<gazebo_ros gazebo_media_path="${prefix}"/>
35+
<build_type>ament_cmake</build_type>
2936
</export>
3037
</package>

‎cob_msgs/CMakeLists.txt‎

Lines changed: 36 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,40 @@
1-
cmake_minimum_required(VERSION 3.0.2)
1+
cmake_minimum_required(VERSION 3.5)
22
project(cob_msgs)
3-
find_package(catkin REQUIRED COMPONENTS diagnostic_msgs message_generation std_msgs)
43

5-
add_message_files(FILES
6-
AccessPoint.msg
7-
DashboardState.msg
8-
EmergencyStopState.msg
9-
Network.msg
10-
PowerState.msg
11-
SafetyControllerState.msg
12-
SiteSurvey.msg
13-
)
4+
# Default to C99
5+
if(NOT CMAKE_C_STANDARD)
6+
set(CMAKE_C_STANDARD 99)
7+
endif()
8+
9+
# Default to C++14
10+
if(NOT CMAKE_CXX_STANDARD)
11+
set(CMAKE_CXX_STANDARD 14)
12+
endif()
13+
14+
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
15+
add_compile_options(-Wall -Wextra -Wpedantic)
16+
endif()
1417

15-
generate_messages(DEPENDENCIES diagnostic_msgs std_msgs)
18+
find_package(ament_cmake REQUIRED)
19+
find_package(rosidl_default_generators REQUIRED)
20+
find_package(builtin_interfaces REQUIRED)
21+
find_package(diagnostic_msgs REQUIRED)
22+
find_package(std_msgs REQUIRED)
23+
24+
set(msg_files
25+
"msg/AccessPoint.msg"
26+
"msg/DashboardState.msg"
27+
"msg/EmergencyStopState.msg"
28+
"msg/Network.msg"
29+
"msg/PowerState.msg"
30+
"msg/SafetyControllerState.msg"
31+
"msg/SiteSurvey.msg"
32+
)
33+
rosidl_generate_interfaces(${PROJECT_NAME}
34+
${msg_files}
35+
DEPENDENCIES builtin_interfaces diagnostic_msgs std_msgs
36+
ADD_LINTER_TESTS
37+
)
1638

17-
catkin_package(CATKIN_DEPENDS diagnostic_msgs message_runtime std_msgs)
39+
ament_export_dependencies(rosidl_default_runtime)
40+
ament_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

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