port to ros galactic

atiderko · atiderko · commit ca939cd2ad4c · 2022-01-31T14:01:13.000+01:00
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -8,6 +8,7 @@ jobs:
       matrix:
         env:
           - {ROS_DISTRO: foxy, UPSTREAM_WORKSPACE: 'dependencies.rosinstall', CMAKE_ARGS: '--event-handlers console_direct+'}
+          - {ROS_DISTRO: galactic, UPSTREAM_WORKSPACE: 'dependencies.rosinstall', CMAKE_ARGS: '--event-handlers console_direct+'}
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
diff --git a/dependencies.rosinstall b/dependencies.rosinstall
@@ -1,10 +1,10 @@
 - git:
     local-name: iop_msgs
     uri: https://github.com/fkie/iop_msgs
-    version: foxy-devel
+    version: ros2
 
 - git:
     local-name: iop_core
     uri: https://github.com/fkie/iop_core
-    version: foxy-devel
+    version: ros2
 
diff --git a/fkie_iop_global_pose_sensor/CMakeLists.txt b/fkie_iop_global_pose_sensor/CMakeLists.txt
@@ -6,9 +6,15 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+# set default c++ version
+if($ENV{ROS_DISTRO} MATCHES "foxy")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+elseif($ENV{ROS_DISTRO} MATCHES "galactic")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+  endif()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
diff --git a/fkie_iop_global_pose_sensor/package.xml b/fkie_iop_global_pose_sensor/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>fkie_iop_global_pose_sensor</name>
-  <version>1.1.0</version>
+  <version>2.1.0</version>
   <description>Translation of the global position sensor service functionality to/from ROS</description>
 
   <author>Alexander Tiderko</author>
diff --git a/fkie_iop_global_waypoint_driver/CMakeLists.txt b/fkie_iop_global_waypoint_driver/CMakeLists.txt
@@ -6,9 +6,15 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+# set default c++ version
+if($ENV{ROS_DISTRO} MATCHES "foxy")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+elseif($ENV{ROS_DISTRO} MATCHES "galactic")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+  endif()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
diff --git a/fkie_iop_global_waypoint_driver/package.xml b/fkie_iop_global_waypoint_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>fkie_iop_global_waypoint_driver</name>
-  <version>1.1.0</version>
+  <version>2.1.0</version>
   <description>Service to move the platform given a single target waypoint.</description>
 
   <author>Alexander Tiderko</author>
diff --git a/fkie_iop_global_waypoint_list_driver/CMakeLists.txt b/fkie_iop_global_waypoint_list_driver/CMakeLists.txt
@@ -6,9 +6,15 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+# set default c++ version
+if($ENV{ROS_DISTRO} MATCHES "foxy")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+elseif($ENV{ROS_DISTRO} MATCHES "galactic")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+  endif()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
diff --git a/fkie_iop_local_pose_sensor/CMakeLists.txt b/fkie_iop_local_pose_sensor/CMakeLists.txt
@@ -7,9 +7,15 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+# set default c++ version
+if($ENV{ROS_DISTRO} MATCHES "foxy")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+elseif($ENV{ROS_DISTRO} MATCHES "galactic")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+  endif()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
diff --git a/fkie_iop_local_pose_sensor/include/urn_jaus_jss_mobility_LocalPoseSensor/LocalPoseSensor_ReceiveFSM.h b/fkie_iop_local_pose_sensor/include/urn_jaus_jss_mobility_LocalPoseSensor/LocalPoseSensor_ReceiveFSM.h
@@ -45,6 +45,7 @@ along with this program; or you can read the full license at
 
 #include <nav_msgs/msg/odometry.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
+#include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
 
diff --git a/fkie_iop_local_pose_sensor/package.xml b/fkie_iop_local_pose_sensor/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>fkie_iop_local_pose_sensor</name>
-  <version>1.1.0</version>
+  <version>2.1.0</version>
   <description>Translation of the local position sensor service functionality to/from ROS</description>
 
   <author>Alexander Tiderko</author>
diff --git a/fkie_iop_local_waypoint_driver/CMakeLists.txt b/fkie_iop_local_waypoint_driver/CMakeLists.txt
@@ -6,9 +6,15 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+# set default c++ version
+if($ENV{ROS_DISTRO} MATCHES "foxy")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+elseif($ENV{ROS_DISTRO} MATCHES "galactic")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+  endif()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
diff --git a/fkie_iop_local_waypoint_driver/include/urn_jaus_jss_mobility_LocalWaypointDriver/LocalWaypointDriver_ReceiveFSM.h b/fkie_iop_local_waypoint_driver/include/urn_jaus_jss_mobility_LocalWaypointDriver/LocalWaypointDriver_ReceiveFSM.h
@@ -26,6 +26,7 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <std_msgs/msg/float32.hpp>
 #include <std_msgs/msg/bool.hpp>
+#include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
diff --git a/fkie_iop_local_waypoint_driver/package.xml b/fkie_iop_local_waypoint_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>fkie_iop_local_waypoint_driver</name>
-  <version>1.1.0</version>
+  <version>2.1.0</version>
   <description>Service to move the platform given a single target waypoint using local coordinates.</description>
 
   <author>Alexander Tiderko</author>
diff --git a/fkie_iop_local_waypoint_driver/src/urn_jaus_jss_mobility_LocalWaypointDriver/LocalWaypointDriver_ReceiveFSM.cpp b/fkie_iop_local_waypoint_driver/src/urn_jaus_jss_mobility_LocalWaypointDriver/LocalWaypointDriver_ReceiveFSM.cpp
@@ -199,7 +199,7 @@ void LocalWaypointDriver_ReceiveFSM::setWaypointAction(SetLocalWaypoint msg, Rec
 	pose.pose.orientation.z = quat.z();
 	pose.pose.orientation.w = quat.w();
 	if (p_tf_buffer != nullptr) {
-		p_tf_buffer->lookupTransform(p_tf_frame_target, pose.header.frame_id, pose.header.stamp, rclcpp::Duration(0.3));
+		p_tf_buffer->lookupTransform(p_tf_frame_target, pose.header.frame_id, pose.header.stamp, rclcpp::Duration::from_seconds(0.3));
 		auto pose_out = geometry_msgs::msg::PoseStamped();
 		p_tf_buffer->transform(pose, pose_out, p_tf_frame_target);
 		pose = pose_out;
diff --git a/fkie_iop_local_waypoint_list_driver/CMakeLists.txt b/fkie_iop_local_waypoint_list_driver/CMakeLists.txt
@@ -6,9 +6,15 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+# set default c++ version
+if($ENV{ROS_DISTRO} MATCHES "foxy")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+elseif($ENV{ROS_DISTRO} MATCHES "galactic")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+  endif()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
diff --git a/fkie_iop_local_waypoint_list_driver/include/urn_jaus_jss_mobility_LocalWaypointListDriver/LocalWaypointListDriver_ReceiveFSM.h b/fkie_iop_local_waypoint_list_driver/include/urn_jaus_jss_mobility_LocalWaypointListDriver/LocalWaypointListDriver_ReceiveFSM.h
@@ -27,6 +27,7 @@
 #include <nav_msgs/msg/path.hpp>
 #include <std_msgs/msg/float32.hpp>
 #include <std_msgs/msg/bool.hpp>
+#include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
diff --git a/fkie_iop_local_waypoint_list_driver/src/urn_jaus_jss_mobility_LocalWaypointListDriver/LocalWaypointListDriver_ReceiveFSM.cpp b/fkie_iop_local_waypoint_list_driver/src/urn_jaus_jss_mobility_LocalWaypointListDriver/LocalWaypointListDriver_ReceiveFSM.cpp
@@ -252,7 +252,7 @@ void LocalWaypointListDriver_ReceiveFSM::execute_list(std::vector<iop::InternalE
 		geometry_msgs::msg::PoseStamped pose = get_pose_from_waypoint(*it, it == elements.begin());
 		pose.header = path.header;
 		if (p_tf_buffer != nullptr) {
-			p_tf_buffer->lookupTransform(p_tf_frame_target, pose.header.frame_id, pose.header.stamp, rclcpp::Duration(0.3));
+			p_tf_buffer->lookupTransform(p_tf_frame_target, pose.header.frame_id, pose.header.stamp, rclcpp::Duration::from_seconds(0.3));
 			auto pose_out = geometry_msgs::msg::PoseStamped();
 			p_tf_buffer->transform(pose, pose_out, p_tf_frame_target);
 			pose = pose_out;
@@ -268,7 +268,7 @@ void LocalWaypointListDriver_ReceiveFSM::execute_list(std::vector<iop::InternalE
 		p_last_uid = it->get_uid();
 	}
 	path.header.frame_id = p_tf_frame_target;
-	RCLCPP_INFO(logger, "publish command path with %d waypoints", path.poses.size());
+	RCLCPP_INFO(logger, "publish command path with %ld waypoints", path.poses.size());
 	p_pub_path->publish(path);
 }
 
diff --git a/fkie_iop_primitive_driver/CMakeLists.txt b/fkie_iop_primitive_driver/CMakeLists.txt
@@ -6,9 +6,15 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+# set default c++ version
+if($ENV{ROS_DISTRO} MATCHES "foxy")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+elseif($ENV{ROS_DISTRO} MATCHES "galactic")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+  endif()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
diff --git a/fkie_iop_primitive_driver/package.xml b/fkie_iop_primitive_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>fkie_iop_primitive_driver</name>
-  <version>1.1.0</version>
+  <version>2.1.0</version>
   <description>Driver to control send a ROS Twist message to a robot platform.</description>
 
   <author>Alexander Tiderko</author>
diff --git a/fkie_iop_velocity_state_sensor/CMakeLists.txt b/fkie_iop_velocity_state_sensor/CMakeLists.txt
@@ -6,9 +6,15 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+# set default c++ version
+if($ENV{ROS_DISTRO} MATCHES "foxy")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+elseif($ENV{ROS_DISTRO} MATCHES "galactic")
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+  endif()
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
