using ros-controls/control_msgs#228 instead of industrial_robot_motion_interfaces

Author: mathias31415

ur_robot_driver/CMakeLists.txt

@@ -35,7 +35,7 @@ find_package(ur_client_library REQUIRED)
 find_package(ur_dashboard_msgs REQUIRED)
 find_package(ur_msgs REQUIRED)
 find_package(motion_primitives_forward_controller REQUIRED)
-find_package(industrial_robot_motion_interfaces REQUIRED)
+find_package(control_msgs REQUIRED)
 
 include_directories(include)
 
@@ -54,7 +54,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   ur_dashboard_msgs
   ur_msgs
   motion_primitives_forward_controller
-  industrial_robot_motion_interfaces
+  control_msgs
 )
 
 add_library(ur_robot_driver_plugin

ur_robot_driver/README_MotionPrimitive.md

@@ -9,7 +9,7 @@ Hardware interface for executing motion primitives on a UR robot using the ROS 2
 [![Play Video](doc/motion_primitive_ur_driver/motion_primitive_demo_video_preview.png)](https://www.youtube.com/watch?v=htUJtfkgr6Q)
 
 # Related packages/ repos
-- [industrial_robot_motion_interfaces](https://github.com/b-robotized-forks/industrial_robot_motion_interfaces/tree/helper-types)
+- [control_msgs](https://github.com/ros-controls/control_msgs/blob/motion_primitives/control_msgs/action/ExecuteMotionPrimitiveSequence.action)
 - [ros2_controllers with motion_primitives_forward_controller](https://github.com/b-robotized-forks/ros2_controllers/tree/motion_primitive_forward_controller/motion_primitives_forward_controller)
 - [Universal_Robots_ROS2_Driver with motion_primitive_ur_driver](https://github.com/b-robotized-forks/Universal_Robots_ROS2_Driver_MotionPrimitive)
 - [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library)

ur_robot_driver/examples/send_dummy_motion_primitives_hka_ur10e.py

@@ -20,8 +20,8 @@
 from rclpy.node import Node
 from rclpy.action import ActionClient
 from geometry_msgs.msg import PoseStamped
-from industrial_robot_motion_interfaces.msg import MotionPrimitive, MotionArgument, MotionSequence
-from industrial_robot_motion_interfaces.action import ExecuteMotion
+from control_msgs.msg import MotionPrimitive, MotionArgument, MotionPrimitiveSequence
+from control_msgs.action import ExecuteMotionPrimitiveSequence
 from action_msgs.srv import CancelGoal
 from action_msgs.msg import GoalStatus 
 import threading
@@ -179,9 +179,9 @@ class ExecuteMotionClient(Node):
     def __init__(self):
         super().__init__("motion_sequence_client")
 
-        # Initialize action client for ExecuteMotion action
+        # Initialize action client for ExecuteMotionPrimitiveSequence action
         self._client = ActionClient(
-            self, ExecuteMotion, "/motion_primitive_forward_controller/motion_sequence"
+            self, ExecuteMotionPrimitiveSequence, "/motion_primitive_forward_controller/motion_sequence"
         )
 
         # Initialize client for cancel_goal service
@@ -203,8 +203,8 @@ def _send_goal(self):
         self.get_logger().info("Waiting for action server...")
         self._client.wait_for_server()
 
-        goal_msg = ExecuteMotion.Goal()
-        goal_msg.trajectory = MotionSequence()
+        goal_msg = ExecuteMotionPrimitiveSequence.Goal()
+        goal_msg.trajectory = MotionPrimitiveSequence()
 
         # "pick" sequence with moveC in the end
         goal_msg.trajectory.motions = [moveJ_1, moveL_1, moveL_2, moveJ_2, moveC_1]

ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp

@@ -68,10 +68,10 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 // Motion primitives controller
-#include "motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
-#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp"
+#include "motion_primitives_forward_controller/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp"
+#include "control_msgs/msg/motion_primitive.hpp"
 
-using MoprimMotionType = industrial_robot_motion_interfaces::msg::MotionPrimitive;
+using MoprimMotionType = control_msgs::msg::MotionPrimitive;
 using MoprimMotionHelperType = motion_primitives_forward_controller::MotionHelperType;
 
 namespace ur_robot_driver

ur_robot_driver/package.xml

@@ -49,7 +49,7 @@
   <depend>ur_description</depend>
   <depend>ur_msgs</depend>
   <depend>motion_primitives_forward_controller</depend>
-  <depend>industrial_robot_motion_interfaces</depend>
+  <depend>control_msgs</depend>
 
   <exec_depend>force_torque_sensor_broadcaster</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>