[ROS2] Port kindr_ros and kindr_msgs

README.md

@@ -20,24 +20,29 @@ ROS messages and RViz plugins for kindr objects.
 
 ## Packages
 
-### kindr_msgs
+### kindr_msgs (supports ROS2)
 
 ROS messages for kindr objects.
 
-### kindr_ros
+### kindr_ros (supports ROS2)
 
 Conversion between official ROS messages and kindr objects.
 
-### kindr_rviz_plugins
+### kindr_rviz_plugins (Not yet ported)
 
 RViz plugins to visualize kindr ROS messages.
 
-### multi_dof_joint_trajectory_rviz_plugins
+### multi_dof_joint_trajectory_rviz_plugins (Not yet ported)
 
 RViz plugins to visualize trajectory ROS messages.
 
 ## Usage
 
-To build, clone this repository into your catkin workspace and type
+To build, clone this repository into your colcon workspace and type
 
-    catkin build <package_name>
+    colcon build --packages-up-to <package_name>
+
+To run tests type:
+
+    colcon test --packages-select <package_name>
+    colcon test-result --all --verbose

kindr_msgs/CMakeLists.txt

@@ -1,163 +1,17 @@
 cmake_minimum_required(VERSION 3.5.1)
 project(kindr_msgs)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  message_generation
-  geometry_msgs
-  std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+find_package(ament_cmake_auto)
+ament_auto_find_build_dependencies()
 
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-add_message_files(
-   FILES
-   VectorAtPosition.msg
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/VectorAtPosition.msg"
+  ADD_LINTER_TESTS
 )
 
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  geometry_msgs
-  std_msgs
- )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES kindr_msgs
-  CATKIN_DEPENDS message_runtime geometry_msgs std_msgs
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a cpp library
-# add_library(kindr_msgs
-#   src/${PROJECT_NAME}/kindr_msgs.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(kindr_msgs_node src/kindr_msgs_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(kindr_msgs_node kindr_msgs_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(kindr_msgs_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS kindr_msgs kindr_msgs_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_kindr_msgs.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_auto_package()

kindr_msgs/msg/VectorAtPosition.msg

@@ -12,7 +12,7 @@ uint8 TYPE_ANGULAR_VELOCITY=14
 uint8 TYPE_TORQUE=16
 uint8 TYPE_ANGULAR_MOMEMTUM=17
 
-Header header
+std_msgs/Header header
 uint8 type
 string name
 geometry_msgs/Vector3 vector # Frame defined in header

kindr_msgs/package.xml

@@ -1,21 +1,32 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>kindr_msgs</name>
   <version>0.3.4</version>
   <description>Kindr common msgs</description>
   <maintainer email="[email protected]">Remo Diethelm</maintainer>
   <maintainer email="[email protected]">Philipp Leemann</maintainer>
-  <author email="[email protected]">Peter Fankhauser</author>
+
   <license>BSD</license>
-  <url>https://github.com/anybotics/kindr_ros</url>
-  <buildtool_depend>catkin</buildtool_depend>
+  <url type="website">https://github.com/anybotics/kindr_ros</url>
+
+  <author email="[email protected]">Peter Fankhauser</author>
 
-  <build_depend>message_generation</build_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
 
-  <run_depend>message_runtime</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>

kindr_ros/CMakeLists.txt

@@ -1,57 +1,68 @@
-cmake_minimum_required(VERSION 3.5.1)
+cmake_minimum_required(VERSION 3.5)
 project(kindr_ros)
 
-add_definitions(-std=c++11)
-
-find_package(catkin REQUIRED COMPONENTS
-  geometry_msgs tf
-  )
-
-# Attempt to find catkinized kindr
-find_package(kindr QUIET)
-if(NOT kindr_FOUND)
-  # Attempt to find package-based kindr
-  find_package(PkgConfig REQUIRED)
-  pkg_check_modules(kindr kindr REQUIRED)
+# Use C++14 standard
+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()
+
+find_package(ament_cmake REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(kindr REQUIRED)
 
+find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-catkin_package(
-  INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIR}
-  #  LIBRARIES kindr_ros
-  CATKIN_DEPENDS geometry_msgs tf
-  DEPENDS kindr
+set(dependencies
+  eigen3_cmake_module
+  Eigen3
+  tf2
+  geometry_msgs
 )
 
-include_directories(include)
-include_directories(${catkin_INCLUDE_DIRS})
-include_directories(${EIGEN3_INCLUDE_DIR})
-include_directories(${kindr_INCLUDE_DIRS})
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION include/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
 
-#############
-## Testing ##
-#############
+  ament_lint_auto_find_test_dependencies()
 
-if(CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(${PROJECT_NAME}-test
+  find_package(ament_cmake_gtest REQUIRED)
+
+  ament_add_gtest(${PROJECT_NAME}-test
     test/test_main.cpp
     test/RosGeometryMsgPhysicalQuantitiesTest.cpp
     test/RosGeometryMsgRotationTest.cpp
     test/RosGeometryMsgPoseTest.cpp
     test/RosTfPoseTest.cpp
     test/TfConventionTest.cpp
     WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test
-    )
+  )
+
   if(TARGET ${PROJECT_NAME}-test)
-    target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES})
-    find_package(cmake_code_coverage QUIET)
-    if(cmake_code_coverage_FOUND)
-      add_gtest_coverage(TEST_BUILD_TARGETS ${PROJECT_NAME}-test)
-    endif(cmake_code_coverage_FOUND)
+    target_include_directories(${PROJECT_NAME}-test PUBLIC
+      include
+      ${EIGEN3_INCLUDE_DIRS})
+    ament_target_dependencies(${PROJECT_NAME}-test
+      ${dependencies}
+    )
+    # TODO(SivertHavso): add back code coverage:
+    #   find_package(cmake_code_coverage QUIET)
+    #   if(cmake_code_coverage_FOUND)
+    #     add_gtest_coverage(TEST_BUILD_TARGETS ${PROJECT_NAME}-test)
+    #   endif()
   endif()
 endif()
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  )
+ament_export_include_directories(include)
+
+ament_export_dependencies(
+  ${dependencies}
+)
+
+ament_package()