port cob_actions

Author: fmessmer

cob_actions/CMakeLists.txt

@@ -1,20 +1,39 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(cob_actions)
 
-find_package(catkin REQUIRED COMPONENTS actionlib_msgs geometry_msgs message_generation)
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
 
-add_action_files(FILES
-  Dock.action
-  SetBool.action
-  SetFloat.action
-  SetInt.action
-  SetString.action
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-generate_messages(
-  DEPENDENCIES actionlib_msgs geometry_msgs
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(actionlib_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+set(action_files
+  "action/Dock.action"
+  "action/SetBool.action"
+  "action/SetFloat.action"
+  "action/SetInt.action"
+  "action/SetString.action"
 )
 
-catkin_package(
-    CATKIN_DEPENDS actionlib_msgs geometry_msgs message_runtime
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${action_files}
+  DEPENDENCIES builtin_interfaces actionlib_msgs geometry_msgs
+  ADD_LINTER_TESTS
 )
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

cob_actions/COLCON_IGNORE

@@ -1,21 +1,29 @@
-<package format="2">
+<?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>cob_actions</name>
   <version>0.7.8</version>
   <description>This Package contains Care-O-bot specific action definitions.</description>
 
   <license>Apache 2.0</license>
 
-  <url type="website">http://ros.org/wiki/cob_actions</url>
-  <!-- <url type="bugtracker"></url> -->
-
   <maintainer email="[email protected]">Felix Messmer</maintainer>
   <author email="[email protected]">Felix Messmer</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <depend>actionlib_msgs</depend>
+  <depend>action_msgs</depend>
+  <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
 
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>