WIP ROS2 Foxy branch

.github/workflows/ros2-build.yml

@@ -0,0 +1,17 @@
+name: ROS2 Colcon Build
+
+on: [push]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        package-name: spot_ros
+        target-ros2-distro: foxy
+

spot_description/CMakeLists.txt

@@ -1,14 +1,13 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(spot_description)
 
-find_package(catkin REQUIRED COMPONENTS)
+find_package(ament_cmake REQUIRED)
 
-catkin_package()
+install(DIRECTORY launch urdf meshes
+        DESTINATION share/${PROJECT_NAME})
 
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME})
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+ament_package()

spot_description/launch/description.launch.py

@@ -0,0 +1,22 @@
+import os
+
+import launch
+import launch_ros.actions
+from launch_ros.substitutions import FindPackageShare
+
+import xacro
+
+def generate_launch_description():
+    pkg_share = FindPackageShare('spot_description').find('spot_description')
+    urdf_dir = os.path.join(pkg_share, 'urdf')
+    print(f'urdf_dir: {urdf_dir}')
+    xacro_file = os.path.join(urdf_dir, 'spot.urdf.xacro')
+    doc = xacro.process_file(xacro_file)
+    robot_desc = doc.toprettyxml(indent='  ')
+    params = {'robot_description': robot_desc}
+    rsp = launch_ros.actions.Node(package='robot_state_publisher',
+                                  executable='robot_state_publisher',
+                                  output='both',
+                                  parameters=[params])
+
+    return launch.LaunchDescription([rsp])

spot_description/package.xml

@@ -1,19 +1,23 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd"
+            schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>spot_description</name>
-  <version>0.0.0</version>
+  <version>2.0.0</version>
   <description>The spot_description package</description>
 
   <maintainer email="[email protected]">Dave Niewinski</maintainer>
 
   <license>BSD</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <export>
+    <build_type>ament_cmake</build_type>
   </export>
+
 </package>

spot_driver/package.xml

@@ -1,22 +1,23 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>spot_driver</name>
-  <version>0.0.0</version>
+  <version>2.0.0</version>
   <description>The spot_driver package</description>
 
   <maintainer email="[email protected]">Dave Niewinski</maintainer>
 
   <license>BSD</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>rclpy</exec_depend>
   <exec_depend>spot_msgs</exec_depend>
   <exec_depend>std_srvs</exec_depend>
   <exec_depend>tf2_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>rospy</exec_depend>
 
   <export>
+    <build_type>ament_python</build_type>
     <rosdoc config="rosdoc.yaml" />
   </export>
 </package>

spot_driver/setup.py

@@ -0,0 +1,36 @@
+
+from setuptools import setup
+
+package_name = 'spot_driver'
+
+setup(
+    name=package_name,
+    version='2.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    author='Dave Niewinski',
+    author_email='[email protected]',
+    maintainer='Austin Deric',
+    maintainer_email='[email protected]',
+    keywords=['ROS'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: BSD',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='The spot_driver package',
+    license='BSD',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'driver = spot_driver.spot_ros.py:main',
+        ],
+    },
+)

spot_msgs/CMakeLists.txt

@@ -1,46 +1,36 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(spot_msgs)
 
-find_package(catkin REQUIRED COMPONENTS
-  geometry_msgs
-  nav_msgs
-  sensor_msgs
-  std_msgs
-  message_generation
-)
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
-add_message_files(
-  FILES
-  BatteryStateArray.msg
-  BehaviorFault.msg
-  EStopStateArray.msg
-  FootStateArray.msg
-  LeaseArray.msg
-  LeaseOwner.msg
-  Metrics.msg
-  SystemFault.msg
-  WiFiState.msg
-  BatteryState.msg
-  BehaviorFaultState.msg
-  EStopState.msg
-  Feedback.msg
-  FootState.msg
-  Lease.msg
-  LeaseResource.msg
-  PowerState.msg
-  SystemFaultState.msg
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/BatteryStateArray.msg"
+  "msg/BehaviorFault.msg"
+  "msg/EStopStateArray.msg"
+  "msg/FootStateArray.msg"
+  "msg/LeaseArray.msg"
+  "msg/LeaseOwner.msg"
+  "msg/Metrics.msg"
+  "msg/SystemFault.msg"
+  "msg/WiFiState.msg"
+  "msg/BatteryState.msg"
+  "msg/BehaviorFaultState.msg"
+  "msg/EStopState.msg"
+  "msg/Feedback.msg"
+  "msg/FootState.msg"
+  "msg/Lease.msg"
+  "msg/LeaseResource.msg"
+  "msg/PowerState.msg"
+  "msg/SystemFaultState.msg"
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs nav_msgs sensor_msgs
 )
 
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  geometry_msgs
-)
+ament_export_dependencies(rosidl_default_runtime)
 
-catkin_package(
-  CATKIN_DEPENDS message_runtime
-)
-
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
+ament_package()

spot_msgs/msg/BatteryState.msg

@@ -5,10 +5,10 @@ uint8 STATUS_CHARGING = 2
 uint8 STATUS_DISCHARGING = 3
 uint8 STATUS_BOOTING = 4
 
-Header header
+std_msgs/Header header
 string identifier
 float64 charge_percentage
-duration estimated_runtime
+builtin_interfaces/Duration estimated_runtime
 float64 current
 float64 voltage
 float64[] temperatures

spot_msgs/msg/BehaviorFault.msg

@@ -8,7 +8,7 @@ uint8 STATUS_UNKNOWN = 0
 uint8 STATUS_CLEARABLE = 1
 uint8 STATUS_UNCLEARABLE = 2
 
-Header header
+std_msgs/Header header
 uint32 behavior_fault_id
 uint8 cause
 uint8 status

spot_msgs/msg/EStopState.msg

@@ -8,7 +8,7 @@ uint8 STATE_UNKNOWN = 0
 uint8 STATE_ESTOPPED = 1
 uint8 STATE_NOT_ESTOPPED = 2
 
-Header header
+std_msgs/Header header
 string name
 uint8 type
 uint8 state

spot_msgs/msg/Metrics.msg

@@ -1,5 +1,5 @@
-Header header
+std_msgs/Header header
 float32 distance
 int32 gait_cycles
-duration time_moving
-duration electric_power
+builtin_interfaces/Duration time_moving
+builtin_interfaces/Duration electric_power

spot_msgs/msg/PowerState.msg

@@ -11,8 +11,8 @@ uint8 STATE_UNKNOWN_SHORE_POWER = 0
 uint8 STATE_ON_SHORE_POWER = 1
 uint8 STATE_OFF_SHORE_POWER = 2
 
-Header header
+std_msgs/Header header
 uint8 motor_power_state
 uint8 shore_power_state
 float64 locomotion_charge_percentage
-duration locomotion_estimated_runtime
+builtin_interfaces/Duration locomotion_estimated_runtime

spot_msgs/msg/SystemFault.msg

@@ -4,9 +4,9 @@ uint8 SEVERITY_INFO = 1
 uint8 SEVERITY_WARN = 2
 uint8 SEVERITY_CRITICAL = 3
 
-Header header
+std_msgs/Header header
 string name
-duration duration
+builtin_interfaces/Duration duration
 int32 code
 uint64 uid
 string error_message

spot_msgs/package.xml

@@ -1,25 +1,27 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd"
+            schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>spot_msgs</name>
-  <version>0.0.0</version>
+  <version>2.0.0</version>
   <description>The spot_msgs package</description>
 
   <maintainer email="[email protected]">Dave Niewinski</maintainer>
   <license>BSD</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>rosidl_default_generators</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

spot_ros/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.5)
+project(spot_ros)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()