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ros2
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-87
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8 files changed

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-87
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‎cob_actions/CMakeLists.txt‎

Lines changed: 16 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -1,20 +1,21 @@
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cmake_minimum_required(VERSION 3.0.2)
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cmake_minimum_required(VERSION 3.8)
22
project(cob_actions)
33

4-
find_package(catkin REQUIRED COMPONENTS actionlib_msgs geometry_msgs message_generation)
4+
# Find dependencies
5+
find_package(ament_cmake REQUIRED)
6+
find_package(rosidl_default_generators REQUIRED)
7+
find_package(geometry_msgs REQUIRED)
8+
find_package(action_msgs REQUIRED) # ROS 2 uses built-in action types
59

6-
add_action_files(FILES
7-
Dock.action
8-
SetBool.action
9-
SetFloat.action
10-
SetInt.action
11-
SetString.action
10+
# Generate action interfaces.
11+
# Make sure your action files are in the "action" directory.
12+
rosidl_generate_interfaces(${PROJECT_NAME}
13+
"action/Dock.action"
14+
"action/SetBool.action"
15+
"action/SetFloat.action"
16+
"action/SetInt.action"
17+
"action/SetString.action"
18+
DEPENDENCIES geometry_msgs action_msgs
1219
)
1320

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generate_messages(
15-
DEPENDENCIES actionlib_msgs geometry_msgs
16-
)
17-
18-
catkin_package(
19-
CATKIN_DEPENDS actionlib_msgs geometry_msgs message_runtime
20-
)
21+
ament_package()

‎cob_actions/package.xml‎

Lines changed: 10 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -1,23 +1,19 @@
1-
<package format="2">
1+
<?xml version="1.0"?>
2+
<package format="3">
23
<name>cob_actions</name>
34
<version>0.8.12</version>
4-
<description>This Package contains Care-O-bot specific action definitions.</description>
5-
6-
<license>Apache 2.0</license>
7-
5+
<description>This package contains Care-O-bot specific action definitions.</description>
6+
<license>Apache-2.0</license>
87
<url type="website">http://ros.org/wiki/cob_actions</url>
9-
<!-- <url type="bugtracker"></url> -->
10-
118
<maintainer email="[email protected]">Benjamin Maidel</maintainer>
129
<maintainer email="[email protected]">Denis Lehmann</maintainer>
1310
<maintainer email="[email protected]">Felix Messmer</maintainer>
14-
<author email="[email protected]">Felix Messmer</author>
1511

16-
<buildtool_depend>catkin</buildtool_depend>
17-
18-
<build_depend>message_generation</build_depend>
19-
<exec_depend>message_runtime</exec_depend>
20-
<depend>actionlib_msgs</depend>
12+
<buildtool_depend>ament_cmake</buildtool_depend>
13+
<buildtool_depend>rosidl_default_generators</buildtool_depend>
14+
2115
<depend>geometry_msgs</depend>
22-
16+
<depend>action_msgs</depend>
17+
18+
<exec_depend>rosidl_default_runtime</exec_depend>
2319
</package>

‎cob_common/CMakeLists.txt‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,5 @@
1-
cmake_minimum_required(VERSION 3.0.2)
1+
cmake_minimum_required(VERSION 3.8)
22
project(cob_common)
3-
find_package(catkin REQUIRED)
4-
catkin_metapackage()
3+
4+
find_package(ament_cmake REQUIRED)
5+
ament_metapackage()

‎cob_common/package.xml‎

Lines changed: 11 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1,22 +1,23 @@
1-
<package format="2">
1+
<?xml version="1.0"?>
2+
<package format="3">
23
<name>cob_common</name>
34
<version>0.8.12</version>
4-
<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>
5-
<license>Apache 2.0</license>
6-
5+
<description>
6+
The cob_common stack hosts common packages used within the Care-O-bot repository, such as utility packages or common message and service definitions.
7+
</description>
8+
<license>Apache-2.0</license>
79
<url type="website">http://ros.org/wiki/cob_common</url>
8-
<!-- <url type="bugtracker"></url> -->
9-
1010
<maintainer email="[email protected]">Benjamin Maidel</maintainer>
1111
<maintainer email="[email protected]">Denis Lehmann</maintainer>
1212
<maintainer email="[email protected]">Felix Messmer</maintainer>
13-
14-
<buildtool_depend>catkin</buildtool_depend>
15-
13+
14+
<buildtool_depend>ament_cmake</buildtool_depend>
15+
16+
<!-- List dependencies on the subpackages -->
1617
<exec_depend>cob_actions</exec_depend>
1718
<exec_depend>cob_msgs</exec_depend>
1819
<exec_depend>cob_srvs</exec_depend>
19-
20+
2021
<export>
2122
<metapackage/>
2223
</export>

‎cob_msgs/CMakeLists.txt‎

Lines changed: 17 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,21 @@
1-
cmake_minimum_required(VERSION 3.0.2)
1+
cmake_minimum_required(VERSION 3.8)
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+
find_package(ament_cmake REQUIRED)
5+
find_package(rosidl_default_generators REQUIRED)
6+
find_package(diagnostic_msgs REQUIRED)
7+
find_package(std_msgs REQUIRED)
148

15-
generate_messages(DEPENDENCIES diagnostic_msgs std_msgs)
9+
# Assuming your message files are now located in the "msg" directory.
10+
rosidl_generate_interfaces(${PROJECT_NAME}
11+
"msg/AccessPoint.msg"
12+
"msg/DashboardState.msg"
13+
"msg/EmergencyStopState.msg"
14+
"msg/Network.msg"
15+
"msg/PowerState.msg"
16+
"msg/SafetyControllerState.msg"
17+
"msg/SiteSurvey.msg"
18+
DEPENDENCIES diagnostic_msgs std_msgs
19+
)
1620

17-
catkin_package(CATKIN_DEPENDS diagnostic_msgs message_runtime std_msgs)
21+
ament_package()

‎cob_msgs/package.xml‎

Lines changed: 7 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -1,24 +1,22 @@
1-
<package format="2">
1+
<?xml version="1.0"?>
2+
<package format="3">
23
<name>cob_msgs</name>
34
<version>0.8.12</version>
45
<description>
5-
Messages for representing state information, such as battery information and emergency stop status.
6+
Messages for representing state information, such as battery and emergency stop statuses.
67
</description>
7-
88
<maintainer email="[email protected]">Benjamin Maidel</maintainer>
99
<maintainer email="[email protected]">Denis Lehmann</maintainer>
1010
<maintainer email="[email protected]">Felix Messmer</maintainer>
1111
<maintainer email="[email protected]">Florian Weisshardt</maintainer>
1212
<author email="[email protected]">Florian Weisshardt</author>
13+
<license>Apache-2.0</license>
1314

14-
<license>Apache 2.0</license>
15-
16-
<buildtool_depend>catkin</buildtool_depend>
17-
18-
<build_depend>message_generation</build_depend>
19-
<exec_depend>message_runtime</exec_depend>
15+
<buildtool_depend>ament_cmake</buildtool_depend>
16+
<buildtool_depend>rosidl_default_generators</buildtool_depend>
2017

2118
<depend>diagnostic_msgs</depend>
2219
<depend>std_msgs</depend>
2320

21+
<exec_depend>rosidl_default_runtime</exec_depend>
2422
</package>

‎cob_srvs/CMakeLists.txt‎

Lines changed: 11 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,19 +1,17 @@
1-
cmake_minimum_required(VERSION 3.0.2)
1+
cmake_minimum_required(VERSION 3.8)
22
project(cob_srvs)
33

4-
find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation)
4+
find_package(ament_cmake REQUIRED)
5+
find_package(rosidl_default_generators REQUIRED)
6+
find_package(geometry_msgs REQUIRED)
57

6-
add_service_files(FILES
7-
Dock.srv
8-
SetFloat.srv
9-
SetInt.srv
10-
SetString.srv
11-
)
12-
13-
generate_messages(
8+
# Assuming your service files are now in the "srv" directory.
9+
rosidl_generate_interfaces(${PROJECT_NAME}
10+
"srv/Dock.srv"
11+
"srv/SetFloat.srv"
12+
"srv/SetInt.srv"
13+
"srv/SetString.srv"
1414
DEPENDENCIES geometry_msgs
1515
)
1616

17-
catkin_package(
18-
CATKIN_DEPENDS geometry_msgs message_runtime
19-
)
17+
ament_package()

‎cob_srvs/package.xml‎

Lines changed: 7 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1,23 +1,20 @@
1-
<package format="2">
1+
<?xml version="1.0"?>
2+
<package format="3">
23
<name>cob_srvs</name>
34
<version>0.8.12</version>
4-
<description>This Package contains Care-O-bot specific service definitions.</description>
5-
6-
<license>Apache 2.0</license>
7-
5+
<description>This package contains Care-O-bot specific service definitions.</description>
6+
<license>Apache-2.0</license>
87
<url type="website">http://ros.org/wiki/cob_srvs</url>
9-
<!-- <url type="bugtracker"></url> -->
10-
118
<maintainer email="[email protected]">Benjamin Maidel</maintainer>
129
<maintainer email="[email protected]">Denis Lehmann</maintainer>
1310
<maintainer email="[email protected]">Felix Messmer</maintainer>
1411
<maintainer email="[email protected]">Florian Weisshardt</maintainer>
1512
<author email="[email protected]">Florian Weisshardt</author>
1613

17-
<buildtool_depend>catkin</buildtool_depend>
14+
<buildtool_depend>ament_cmake</buildtool_depend>
15+
<buildtool_depend>rosidl_default_generators</buildtool_depend>
1816

19-
<build_depend>message_generation</build_depend>
20-
<exec_depend>message_runtime</exec_depend>
2117
<depend>geometry_msgs</depend>
2218

19+
<exec_depend>rosidl_default_runtime</exec_depend>
2320
</package>

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