diff --git a/.ci.xacro_test.sh b/.ci.xacro_test.sh index d53f97b3..a80e8a66 100644 --- a/.ci.xacro_test.sh +++ b/.ci.xacro_test.sh @@ -1,7 +1,13 @@ #!/bin/sh status=0 -[ "$ROS_DISTRO" \< "melodic" ] && xacro_args='--inorder' -for x in $(find "$TARGET_REPO_PATH" -name '*.xacro'|sort); do +# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it. +if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then + xacro_args='--inorder' +else + xacro_args='' +fi + +for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do echo "Testing $x" xacro $xacro_args "$x" > /dev/null || status=1 done diff --git a/all_changes.patch b/all_changes.patch new file mode 100644 index 00000000..af32416f --- /dev/null +++ b/all_changes.patch @@ -0,0 +1,122 @@ +diff --git a/.ci.xacro_test.sh b/.ci.xacro_test.sh +index d53f97b..a80e8a6 100644 +--- a/.ci.xacro_test.sh ++++ b/.ci.xacro_test.sh +@@ -1,7 +1,13 @@ + #!/bin/sh + status=0 +-[ "$ROS_DISTRO" \< "melodic" ] && xacro_args='--inorder' +-for x in $(find "$TARGET_REPO_PATH" -name '*.xacro'|sort); do ++# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it. ++if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then ++ xacro_args='--inorder' ++else ++ xacro_args='' ++fi ++ ++for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do + echo "Testing $x" + xacro $xacro_args "$x" > /dev/null || status=1 + done +diff --git a/cob_actions/package.xml b/cob_actions/package.xml +index 47261e4..be05704 100644 +--- a/cob_actions/package.xml ++++ b/cob_actions/package.xml +@@ -16,4 +16,5 @@ + action_msgs + + rosidl_default_runtime ++ rosidl_interface_packages + +diff --git a/cob_common/CMakeLists.txt b/cob_common/CMakeLists.txt +index edffff6..402eafb 100644 +--- a/cob_common/CMakeLists.txt ++++ b/cob_common/CMakeLists.txt +@@ -1,5 +1,7 @@ + cmake_minimum_required(VERSION 3.8) + project(cob_common) + ++# Make the ament_metapackage() command available. + find_package(ament_cmake REQUIRED) +-ament_metapackage() ++ ++ament_package() +diff --git a/cob_common/package.xml b/cob_common/package.xml +index 9999397..63bbd3c 100644 +--- a/cob_common/package.xml ++++ b/cob_common/package.xml +@@ -17,8 +17,6 @@ + cob_actions + cob_msgs + cob_srvs +- +- +- +- ++ rosidl_interface_packages ++ + +diff --git a/cob_msgs/msg/AccessPoint.msg b/cob_msgs/msg/AccessPoint.msg +index da7d9bd..84c5de9 100644 +--- a/cob_msgs/msg/AccessPoint.msg ++++ b/cob_msgs/msg/AccessPoint.msg +@@ -1,5 +1,5 @@ + # This message communicates the state of the PR2's wifi access point. +-Header header ++std_msgs/Header header + string essid + string macaddr + int32 signal +diff --git a/cob_msgs/msg/PowerState.msg b/cob_msgs/msg/PowerState.msg +index 47cf00d..d15d711 100644 +--- a/cob_msgs/msg/PowerState.msg ++++ b/cob_msgs/msg/PowerState.msg +@@ -1,5 +1,5 @@ + # This message communicates the state of the power system. +-Header header ++std_msgs/Header header + float64 voltage # [V] + float64 current # [A] + float64 power_consumption # [W] can only be calculated if not charging +diff --git a/cob_msgs/msg/SafetyControllerState.msg b/cob_msgs/msg/SafetyControllerState.msg +index 04a8e81..12b8d97 100644 +--- a/cob_msgs/msg/SafetyControllerState.msg ++++ b/cob_msgs/msg/SafetyControllerState.msg +@@ -1,4 +1,4 @@ +-Header header ++std_msgs/Header header + bool has_wireless_emstop + bool has_fall_sensors + bool has_magnetic_safety_switch +diff --git a/cob_msgs/msg/SiteSurvey.msg b/cob_msgs/msg/SiteSurvey.msg +index fadf87b..5d57c98 100644 +--- a/cob_msgs/msg/SiteSurvey.msg ++++ b/cob_msgs/msg/SiteSurvey.msg +@@ -1,2 +1,2 @@ +-Header header ++std_msgs/Header header + Network[] networks +diff --git a/cob_msgs/package.xml b/cob_msgs/package.xml +index 0575133..34a48cd 100644 +--- a/cob_msgs/package.xml ++++ b/cob_msgs/package.xml +@@ -19,4 +19,5 @@ + std_msgs + + rosidl_default_runtime ++ rosidl_interface_packages + +diff --git a/cob_srvs/package.xml b/cob_srvs/package.xml +index a51c8a3..24be9a6 100644 +--- a/cob_srvs/package.xml ++++ b/cob_srvs/package.xml +@@ -13,8 +13,7 @@ + + ament_cmake + rosidl_default_generators +- + geometry_msgs +- + rosidl_default_runtime ++ rosidl_interface_packages + diff --git a/cob_actions/CMakeLists.txt b/cob_actions/CMakeLists.txt index 31d0d55c..e80af62e 100644 --- a/cob_actions/CMakeLists.txt +++ b/cob_actions/CMakeLists.txt @@ -1,20 +1,21 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(cob_actions) -find_package(catkin REQUIRED COMPONENTS actionlib_msgs geometry_msgs message_generation) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(action_msgs REQUIRED) # ROS 2 uses built-in action types -add_action_files(FILES - Dock.action - SetBool.action - SetFloat.action - SetInt.action - SetString.action +# Generate action interfaces. +# Make sure your action files are in the "action" directory. +rosidl_generate_interfaces(${PROJECT_NAME} + "action/Dock.action" + "action/SetBool.action" + "action/SetFloat.action" + "action/SetInt.action" + "action/SetString.action" + DEPENDENCIES geometry_msgs action_msgs ) -generate_messages( - DEPENDENCIES actionlib_msgs geometry_msgs -) - -catkin_package( - CATKIN_DEPENDS actionlib_msgs geometry_msgs message_runtime -) +ament_package() diff --git a/cob_actions/package.xml b/cob_actions/package.xml index eb5c71b6..be057042 100644 --- a/cob_actions/package.xml +++ b/cob_actions/package.xml @@ -1,23 +1,20 @@ - + + cob_actions 0.8.12 - This Package contains Care-O-bot specific action definitions. - - Apache 2.0 - + This package contains Care-O-bot specific action definitions. + Apache-2.0 http://ros.org/wiki/cob_actions - - Benjamin Maidel Denis Lehmann Felix Messmer - Felix Messmer - catkin - - message_generation - message_runtime - actionlib_msgs + ament_cmake + rosidl_default_generators + geometry_msgs - + action_msgs + + rosidl_default_runtime + rosidl_interface_packages diff --git a/cob_common/CMakeLists.txt b/cob_common/CMakeLists.txt index c8af5653..402eafb7 100644 --- a/cob_common/CMakeLists.txt +++ b/cob_common/CMakeLists.txt @@ -1,4 +1,7 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(cob_common) -find_package(catkin REQUIRED) -catkin_metapackage() + +# Make the ament_metapackage() command available. +find_package(ament_cmake REQUIRED) + +ament_package() diff --git a/cob_common/package.xml b/cob_common/package.xml index e198eb06..63bbd3c1 100644 --- a/cob_common/package.xml +++ b/cob_common/package.xml @@ -1,23 +1,22 @@ - + + cob_common 0.8.12 - 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. - Apache 2.0 - + + The cob_common stack hosts common packages used within the Care-O-bot repository, such as utility packages or common message and service definitions. + + Apache-2.0 http://ros.org/wiki/cob_common - - Benjamin Maidel Denis Lehmann Felix Messmer - - catkin - + + ament_cmake + + cob_actions cob_msgs cob_srvs + rosidl_interface_packages - - - diff --git a/cob_msgs/CMakeLists.txt b/cob_msgs/CMakeLists.txt index 4e26651e..a41cb262 100644 --- a/cob_msgs/CMakeLists.txt +++ b/cob_msgs/CMakeLists.txt @@ -1,17 +1,21 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(cob_msgs) -find_package(catkin REQUIRED COMPONENTS diagnostic_msgs message_generation std_msgs) -add_message_files(FILES - AccessPoint.msg - DashboardState.msg - EmergencyStopState.msg - Network.msg - PowerState.msg - SafetyControllerState.msg - SiteSurvey.msg -) +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(diagnostic_msgs REQUIRED) +find_package(std_msgs REQUIRED) -generate_messages(DEPENDENCIES diagnostic_msgs std_msgs) +# Assuming your message files are now located in the "msg" directory. +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/AccessPoint.msg" + "msg/DashboardState.msg" + "msg/EmergencyStopState.msg" + "msg/Network.msg" + "msg/PowerState.msg" + "msg/SafetyControllerState.msg" + "msg/SiteSurvey.msg" + DEPENDENCIES diagnostic_msgs std_msgs +) -catkin_package(CATKIN_DEPENDS diagnostic_msgs message_runtime std_msgs) +ament_package() diff --git a/cob_msgs/msg/AccessPoint.msg b/cob_msgs/msg/AccessPoint.msg index da7d9bda..84c5de97 100644 --- a/cob_msgs/msg/AccessPoint.msg +++ b/cob_msgs/msg/AccessPoint.msg @@ -1,5 +1,5 @@ # This message communicates the state of the PR2's wifi access point. -Header header +std_msgs/Header header string essid string macaddr int32 signal diff --git a/cob_msgs/msg/PowerState.msg b/cob_msgs/msg/PowerState.msg index 47cf00d7..d15d7111 100644 --- a/cob_msgs/msg/PowerState.msg +++ b/cob_msgs/msg/PowerState.msg @@ -1,5 +1,5 @@ # This message communicates the state of the power system. -Header header +std_msgs/Header header float64 voltage # [V] float64 current # [A] float64 power_consumption # [W] can only be calculated if not charging diff --git a/cob_msgs/msg/SafetyControllerState.msg b/cob_msgs/msg/SafetyControllerState.msg index 04a8e81e..12b8d97b 100644 --- a/cob_msgs/msg/SafetyControllerState.msg +++ b/cob_msgs/msg/SafetyControllerState.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header bool has_wireless_emstop bool has_fall_sensors bool has_magnetic_safety_switch diff --git a/cob_msgs/msg/SiteSurvey.msg b/cob_msgs/msg/SiteSurvey.msg index fadf87b9..5d57c98a 100644 --- a/cob_msgs/msg/SiteSurvey.msg +++ b/cob_msgs/msg/SiteSurvey.msg @@ -1,2 +1,2 @@ -Header header +std_msgs/Header header Network[] networks diff --git a/cob_msgs/package.xml b/cob_msgs/package.xml index 0e7ca4df..34a48cd8 100644 --- a/cob_msgs/package.xml +++ b/cob_msgs/package.xml @@ -1,24 +1,23 @@ - + + cob_msgs 0.8.12 - Messages for representing state information, such as battery information and emergency stop status. + Messages for representing state information, such as battery and emergency stop statuses. - Benjamin Maidel Denis Lehmann Felix Messmer Florian Weisshardt Florian Weisshardt + Apache-2.0 - Apache 2.0 - - catkin - - message_generation - message_runtime + ament_cmake + rosidl_default_generators diagnostic_msgs std_msgs + rosidl_default_runtime + rosidl_interface_packages diff --git a/cob_srvs/CMakeLists.txt b/cob_srvs/CMakeLists.txt index 83df9231..171d07e3 100644 --- a/cob_srvs/CMakeLists.txt +++ b/cob_srvs/CMakeLists.txt @@ -1,19 +1,17 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(cob_srvs) -find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation) +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(geometry_msgs REQUIRED) -add_service_files(FILES - Dock.srv - SetFloat.srv - SetInt.srv - SetString.srv -) - -generate_messages( +# Assuming your service files are now in the "srv" directory. +rosidl_generate_interfaces(${PROJECT_NAME} + "srv/Dock.srv" + "srv/SetFloat.srv" + "srv/SetInt.srv" + "srv/SetString.srv" DEPENDENCIES geometry_msgs ) -catkin_package( - CATKIN_DEPENDS geometry_msgs message_runtime -) +ament_package() diff --git a/cob_srvs/package.xml b/cob_srvs/package.xml index 44c95437..24be9a63 100644 --- a/cob_srvs/package.xml +++ b/cob_srvs/package.xml @@ -1,23 +1,19 @@ - + + cob_srvs 0.8.12 - This Package contains Care-O-bot specific service definitions. - - Apache 2.0 - + This package contains Care-O-bot specific service definitions. + Apache-2.0 http://ros.org/wiki/cob_srvs - - Benjamin Maidel Denis Lehmann Felix Messmer Florian Weisshardt Florian Weisshardt - catkin - - message_generation - message_runtime + ament_cmake + rosidl_default_generators geometry_msgs - + rosidl_default_runtime + rosidl_interface_packages