rqt_mav_manager and kr_crazyflie_interface migrated to ROS2 humble

interfaces/kr_crazyflie_interface/CMakeLists.txt

@@ -1,48 +1,35 @@
 cmake_minimum_required(VERSION 3.10)
 project(kr_crazyflie_interface)
 
-# set default build type
-if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE RelWithDebInfo)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-add_compile_options(-Wall)
-
-find_package(
-  catkin REQUIRED
-  COMPONENTS roscpp
-             nav_msgs
-             geometry_msgs
-             kr_mav_msgs
-             nodelet)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(kr_mav_msgs REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-include_directories(${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
-
-catkin_package(
-  LIBRARIES
-  ${PROJECT_NAME}
-  CATKIN_DEPENDS
-  roscpp
-  nav_msgs
-  geometry_msgs
-  kr_mav_msgs
-  nodelet
-  DEPENDS
-  EIGEN3)
+add_library(${PROJECT_NAME} SHARED src/so3cmd_to_crazyflie_component.cpp)
+ament_target_dependencies(${PROJECT_NAME} rclcpp rclcpp_components kr_mav_msgs nav_msgs geometry_msgs)
+target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
+rclcpp_components_register_nodes(${PROJECT_NAME} "SO3CmdToCrazyflie")
 
-add_library(${PROJECT_NAME} src/so3cmd_to_crazyflie_nodelet.cpp)
-add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}
+)
 
-install(
-  TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(TARGETS
+  ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
 
-install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
-install(FILES nodelet_plugin.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_package()

interfaces/kr_crazyflie_interface/config/crazyflie.yaml

@@ -1,7 +1,9 @@
-kp_yaw_rate: 0.1
-c1: -0.6709
-c2: 0.1932
-c3: 13.0652
-so3_cmd_timeout: 0.1
-thrust_pwm_max: 60000
-thrust_pwm_min: 20000
+so3cmd_to_crazyflie:
+  ros__parameters:
+    kp_yaw_rate: 0.1
+    c1: -0.6709
+    c2: 0.1932
+    c3: 13.0652
+    so3_cmd_timeout: 0.1
+    thrust_pwm_max: 60000
+    thrust_pwm_min: 20000

interfaces/kr_crazyflie_interface/launch/test.launch.py

@@ -0,0 +1,54 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+
+  robot_ns = LaunchConfiguration('robot')  
+  odom_topic = LaunchConfiguration('odom')
+  so3_cmd_topic = LaunchConfiguration('so3_cmd')
+
+  robot_arg = DeclareLaunchArgument(
+    'robot', default_value=''
+  )
+  odom_arg = DeclareLaunchArgument(
+    'odom', default_value='odom'
+  )
+  so3_cmd_arg = DeclareLaunchArgument(
+    'so3_cmd', default_value='so3_cmd'
+  )
+
+  # Path to the configuration file
+  config_file = FindPackageShare('kr_crazyflie_interface').find('kr_crazyflie_interface') + '/config/crazyflie.yaml'
+
+  # Component configuration
+  so3cmd_to_crazyflie_component = ComposableNodeContainer(
+    name="so3_container",
+    namespace=LaunchConfiguration('robot'),
+    package="rclcpp_components",
+    executable="component_container",
+    composable_node_descriptions=[
+      ComposableNode(
+        package="kr_crazyflie_interface",
+        plugin="SO3CmdToCrazyflie",
+        name="so3cmd_to_crazyflie",
+        parameters=[config_file],
+        remappings=[
+          ("~/odom", odom_topic),
+          ("~/so3_cmd", so3_cmd_topic)
+        ]
+      )
+    ],
+    output='screen'
+  )
+
+  return LaunchDescription([
+      robot_arg,
+      odom_arg,
+      so3_cmd_arg,
+      so3cmd_to_crazyflie_component
+  ])

interfaces/kr_crazyflie_interface/package.xml

@@ -1,24 +1,25 @@
-<package format="2">
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>kr_crazyflie_interface</name>
   <version>1.0.0</version>
   <description>kr_crazyflie_interface</description>
   <maintainer email="[email protected]">Justin Thomas</maintainer>
   <maintainer email="[email protected]">Aaron Weinstein</maintainer>
+  <maintainer email="[email protected]">Pranav Shah</maintainer>
 
   <license>BSD</license>
 
-  <!-- Dependencies which this package needs to build itself. -->
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <!-- Dependencies needed to compile and run this package. -->
-  <depend>roscpp</depend>
+  <depend>rclcpp</depend>
   <depend>nav_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>kr_mav_msgs</depend>
-  <depend>nodelet</depend>
+  <depend>rclcpp_components</depend>
 
   <export>
-    <nodelet plugin="${prefix}/nodelet_plugin.xml"/>
+    <build_type>ament_cmake</build_type>
   </export>
 
 </package>