Merge pull request #158 from KumarRobotics/devel/humble_pranav

Translate kr_tracker_msgs and kr_mav_msgs into ROS2

kr_mav_msgs/CMakeLists.txt

@@ -1,34 +1,41 @@
 cmake_minimum_required(VERSION 3.10)
 project(kr_mav_msgs)
 
-# set default build type
-if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE RelWithDebInfo)
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS message_generation geometry_msgs)
+# Default to C++14
+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 dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-add_message_files(
-  DIRECTORY
-  msg
-  FILES
-  AuxCommand.msg
-  Corrections.msg
-  MotorRPM.msg
-  OutputData.msg
-  PWMCommand.msg
-  PositionCommand.msg
-  SO3Command.msg
-  Serial.msg
-  StatusData.msg
-  TRPYCommand.msg)
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+"msg/AuxCommand.msg"
+"msg/Corrections.msg"
+"msg/MotorRPM.msg"
+"msg/OutputData.msg"
+"msg/PositionCommand.msg"
+"msg/PWMCommand.msg"
+"msg/Serial.msg"
+"msg/SO3Command.msg"
+"msg/StatusData.msg"
+"msg/TRPYCommand.msg"
+DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
+)
 
-generate_messages(DEPENDENCIES geometry_msgs)
+ament_export_dependencies(rosidl_default_runtime)
 
-catkin_package(
-  CATKIN_DEPENDS
-  geometry_msgs
-  message_runtime
-  DEPENDS
-  EIGEN3)
+ament_package()

kr_mav_msgs/msg/MotorRPM.msg

@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 uint8 motor_count
 int16[8] rpm

kr_mav_msgs/msg/OutputData.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 uint16 loop_rate
 float64 voltage
 geometry_msgs/Quaternion orientation

kr_mav_msgs/msg/PWMCommand.msg

@@ -1,3 +1,3 @@
-Header header
+std_msgs/Header header
 # pwm values should be between 0 (1ms pulse width) and 1 (2ms pulse width)
 float64[2] pwm

kr_mav_msgs/msg/PositionCommand.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 geometry_msgs/Point position
 geometry_msgs/Vector3 velocity
 geometry_msgs/Vector3 acceleration

kr_mav_msgs/msg/SO3Command.msg

@@ -1,7 +1,7 @@
-Header header
+std_msgs/Header header
 geometry_msgs/Vector3 force
 geometry_msgs/Quaternion orientation
 geometry_msgs/Vector3 angular_velocity
 kr_mav_msgs/AuxCommand aux
-float64[3] kR
-float64[3] kOm
+float64[3] kr
+float64[3] kom

kr_mav_msgs/msg/Serial.msg

@@ -6,7 +6,7 @@ uint8 PWM_CMD = 119 # 'w' in base 10
 uint8 STATUS_DATA = 99 # 'c' in base 10
 uint8 OUTPUT_DATA = 100 # 'd' in base 10
 
-Header header
+std_msgs/Header header
 uint8 channel
 uint8 type # One of the types listed above
 uint8[] data

kr_mav_msgs/msg/StatusData.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 uint16 loop_rate
 float64 voltage
 uint8 seq

kr_mav_msgs/msg/TRPYCommand.msg

@@ -1,9 +1,9 @@
-Header header
+std_msgs/Header header
 float64 thrust
 float64 roll
 float64 pitch
 float64 yaw
 geometry_msgs/Vector3 angular_velocity
-float64[3] kR
-float64[3] kOm
+float64[3] kr
+float64[3] kom
 kr_mav_msgs/AuxCommand aux

kr_mav_msgs/package.xml

@@ -1,19 +1,28 @@
-<package format="2">
+<package format="3">
   <name>kr_mav_msgs</name>
   <version>1.0.0</version>
   <description>kr_mav_msgs</description>
   <maintainer email="[email protected]">Kartik Mohta</maintainer>
   <maintainer email="[email protected]">Michael Watterson</maintainer>
   <maintainer email="[email protected]">Justin Thomas</maintainer>
+  <maintainer email="[email protected]">Kashish Garg</maintainer>
 
   <license>BSD</license>
-
   <author>Kartik Mohta</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <depend>action_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 
 </package>

trackers/kr_tracker_msgs/CMakeLists.txt

@@ -1,38 +1,54 @@
 cmake_minimum_required(VERSION 3.10)
 project(kr_tracker_msgs)
 
-# set default build type
-if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE RelWithDebInfo)
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS message_generation nav_msgs geometry_msgs actionlib_msgs)
-
-add_service_files(DIRECTORY srv FILES Transition.srv)
-
-add_action_files(
-  DIRECTORY
-  action
-  FILES
-  LineTracker.action
-  VelocityTracker.action
-  CircleTracker.action
-  TrajectoryTracker.action
-  LissajousTracker.action
-  LissajousAdder.action)
-
-add_message_files(
-  DIRECTORY
-  msg
-  FILES
-  TrackerStatus.msg
-  VelocityGoal.msg)
-
-generate_messages(DEPENDENCIES geometry_msgs actionlib_msgs)
-
-catkin_package(
-  CATKIN_DEPENDS
-  nav_msgs
-  geometry_msgs
-  actionlib_msgs
-  message_runtime)
+# Default to C++14
+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 dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+"msg/TrackerStatus.msg"
+"msg/VelocityGoal.msg"
+
+"srv/Transition.srv"
+
+"action/CircleTracker.action"
+"action/LineTracker.action"
+"action/LissajousAdder.action"
+"action/LissajousTracker.action"
+"action/TrajectoryTracker.action"
+"action/VelocityTracker.action"
+
+DEPENDENCIES std_msgs builtin_interfaces geometry_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

trackers/kr_tracker_msgs/action/CircleTracker.action

@@ -1,7 +1,7 @@
 #goal definition
-float64 Ax
-float64 Ay
-float64 T
+float64 ax
+float64 ay
+float64 t
 float64 duration
 ---
 #result definition
@@ -12,4 +12,4 @@ float64 length
 ---
 #feedback
 # time in tracker
-float64 duration
+float64 duration

trackers/kr_tracker_msgs/action/LineTracker.action

@@ -6,8 +6,8 @@ float64 yaw
 float64 v_des
 float64 a_des
 bool relative
-time t_start
-duration duration
+builtin_interfaces/Time t_start
+builtin_interfaces/Duration duration
 ---
 #result definition
 # send back goal

trackers/kr_tracker_msgs/package.xml

@@ -1,20 +1,29 @@
-<package format="2">
+<package format="3">
   <name>kr_tracker_msgs</name>
   <version>1.0.0</version>
   <description>kr_tracker_msgs</description>
   <maintainer email="[email protected]">Dinesh Thakur</maintainer>
   <maintainer email="[email protected]">Kartik Mohta</maintainer>
+  <maintainer email="[email protected]">Kashish Garg</maintainer>
 
   <license>BSD</license>
-
   <author>Dinesh Thakur</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>nav_msgs</depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <depend>action_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
-  <depend>actionlib_msgs</depend>
 
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>