Fix dependencies for galactic (#392)

* Add missing controller dependencies to ur_bringup

* Add missing moveit dependencies

* Updated ur_robot_driver dependencies

* Updated dependencies of ur_controllers

* Update ur_controllers/CMakeLists.txt

Co-authored-by: RobertWilbrandt <[email protected]>

* Moved dependency to test_dependency

Co-authored-by: RobertWilbrandt <[email protected]>

Author: fmauch

ur_bringup/package.xml

@@ -24,14 +24,19 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>force_torque_sensor_broadcaster</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>position_controllers</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros2_controllers_test_nodes</exec_depend>
   <exec_depend>rviz2</exec_depend>
+  <exec_depend>ur_controllers</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>urdf</exec_depend>
+  <exec_depend>velocity_controllers</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <export>

ur_controllers/CMakeLists.txt

@@ -12,35 +12,27 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(angles REQUIRED)
-find_package(control_msgs REQUIRED)
 find_package(controller_interface REQUIRED)
-find_package(geometry_msgs REQUIRED)
 find_package(joint_trajectory_controller REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(realtime_tools REQUIRED)
-find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
-find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
 find_package(ur_msgs REQUIRED)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   angles
-  control_msgs
   controller_interface
-  geometry_msgs
   joint_trajectory_controller
   pluginlib
   rclcpp_lifecycle
   rcutils
   realtime_tools
-  sensor_msgs
   std_msgs
   std_srvs
-  ur_client_library
   ur_dashboard_msgs
   ur_msgs
 )

ur_controllers/package.xml

@@ -20,19 +20,15 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>angles</depend>
-  <depend>control_msgs</depend>
   <depend>controller_interface</depend>
-  <depend>geometry_msgs</depend>
   <depend>joint_trajectory_controller</depend>
+  <depend>lifecycle_msgs</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>rcutils</depend>
   <depend>realtime_tools</depend>
-  <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
-  <!-- TODO: rosdep cannot find ur_client_library -->
-  <depend>ur_client_library</depend>
   <depend>ur_dashboard_msgs</depend>
   <depend>ur_msgs</depend>
 

ur_moveit_config/package.xml

@@ -17,8 +17,12 @@
 
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
   <exec_depend>moveit_servo</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>urdf</exec_depend>

ur_robot_driver/CMakeLists.txt

@@ -13,31 +13,34 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(controller_manager REQUIRED)
+find_package(controller_manager_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
-find_package(geometry_msgs REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
-find_package(rclpy REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(controller_manager_msgs REQUIRED)
 
 include_directories(include)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_manager
+  controller_manager_msgs
+  geometry_msgs
   hardware_interface
   pluginlib
   rclcpp
+  rclcpp_lifecycle
+  std_msgs
   std_srvs
+  tf2_geometry_msgs
   ur_client_library
   ur_dashboard_msgs
-  std_msgs
-  controller_manager_msgs
 )
 
 add_library(ur_robot_driver_plugin

ur_robot_driver/package.xml

@@ -24,23 +24,24 @@
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>controller_manager</depend>
+  <depend>controller_manager_msgs</depend>
+  <depend>geometry_msgs</depend>
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
   <depend>rclpy</depend>
+  <depend>std_msgs</depend>
   <depend>std_srvs</depend>
-  <depend>geometry_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
-  <!-- TODO: rosdep cannot find ur_client_library -->
+  <depend>ur_bringup</depend>
   <depend>ur_client_library</depend>
+  <depend>ur_controllers</depend>
   <depend>ur_dashboard_msgs</depend>
-  <depend>launch_testing_ament_cmake</depend>
-  <depend>ur_msgs</depend>
   <depend>ur_description</depend>
-  <depend>ur_bringup</depend>
-  <depend>ur_controllers</depend>
-  <depend>std_msgs</depend>
-  <depend>controller_manager_msgs</depend>
+  <depend>ur_msgs</depend>
+
+  <test_depend>launch_testing_ament_cmake</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>