Bring-in ROS2 branches

.github/workflows/package.yml

@@ -23,7 +23,7 @@ jobs:
       with-ros: true
       matrix: |
         {
-          "dist": ["bionic", "focal"],
+          "dist": ["bionic", "focal", "jammy"],
           "arch": ["amd64"]
         }
     secrets:

CMakeLists.txt

@@ -1,34 +1,67 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.5)
 project(mc_rtc_msgs VERSION 1.1.0)
 
-find_package(catkin REQUIRED COMPONENTS message_generation geometry_msgs)
-
-add_service_files(
-  DIRECTORY srv
-  FILES
-  EnableController.srv
-  open_grippers.srv
-  close_grippers.srv
-  set_gripper.srv
-  get_joint_pos.srv
-  set_joint_pos.srv
-  play_next_stance.srv
-  send_msg.srv
-  send_recv_msg.srv
-  move_com.srv
-)
-
-add_message_files(
-  DIRECTORY msg
-  FILES
-  JointSensors.msg
-)
-generate_messages(DEPENDENCIES geometry_msgs)
-
-catkin_package(
-  CATKIN_DEPENDS geometry_msgs
-)
-
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h")
+if(NOT DEFINED ENV{ROS_VERSION})
+  message(FATAL_ERROR "ROS_VERSION is not set in the environment")
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS message_generation geometry_msgs)
+
+  add_service_files(
+    DIRECTORY srv
+    FILES
+    EnableController.srv
+    open_grippers.srv
+    close_grippers.srv
+    set_gripper.srv
+    get_joint_pos.srv
+    set_joint_pos.srv
+    play_next_stance.srv
+    send_msg.srv
+    send_recv_msg.srv
+    move_com.srv
+  )
+
+  add_message_files(
+    DIRECTORY msg
+    FILES
+    JointSensors.msg
+  )
+  generate_messages(DEPENDENCIES geometry_msgs)
+
+  catkin_package(
+    CATKIN_DEPENDS geometry_msgs
+  )
+
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h")
+elseif($ENV{ROS_VERSION} EQUAL 2)
+  find_package(ament_cmake REQUIRED)
+  find_package(rosidl_default_generators REQUIRED)
+  find_package(geometry_msgs REQUIRED)
+
+  rosidl_generate_interfaces(${PROJECT_NAME}
+    msg/ros2/JointSensors.msg
+    srv/ros2/CloseGrippers.srv
+    srv/EnableController.srv
+    srv/ros2/GetJointPos.srv
+    srv/ros2/MoveCoM.srv
+    srv/ros2/OpenGrippers.srv
+    srv/ros2/PlayNextStance.srv
+    srv/ros2/SendMsg.srv
+    srv/ros2/SendRecvMsg.srv
+    srv/ros2/SetGripper.srv
+    srv/ros2/SetJointPos.srv
+    DEPENDENCIES geometry_msgs
+  )
+
+  install(DIRECTORY include/
+    DESTINATION include/${PROJECT_NAME}
+    FILES_MATCHING PATTERN "*.h")
+
+  ament_package()
+else()
+  message(FATAL_ERROR "Unknown ROS version: $ENV{ROS_VERSION}")
+endif()

debian/control

@@ -8,16 +8,21 @@ Vcs-git: https://github.com/jrl-umi3218/mc_rtc_msgs
 Vcs-Browser: https://github.com/jrl-umi3218/mc_rtc_msgs
 Build-Depends: debhelper (>= 9),
                cmake,
-               ros-@ROS_DISTRO@-catkin,
-               ros-@ROS_DISTRO@-message-generation,
+#ROS1                ros-@ROS_DISTRO@-catkin,
+#ROS1                ros-@ROS_DISTRO@-message-generation,
+#ROS2                python3-colcon-common-extensions,
+#ROS2                ros-@ROS_DISTRO@-ament-cmake,
+#ROS2                ros-@ROS_DISTRO@-ament-package,
+#ROS2                ros-@ROS_DISTRO@-rosidl-default-generators,
                ros-@ROS_DISTRO@-geometry-msgs
 
 
 Package: ros-@ROS_DISTRO@-mc-rtc-msgs
 Architecture: any
 Section: misc
 Depends: ${misc:Depends},
-         ros-@ROS_DISTRO@-message-runtime,
+#ROS1          ros-@ROS_DISTRO@-message-runtime,
+#ROS2          ros-@ROS_DISTRO@-rosidl-default-runtime,
          ros-@ROS_DISTRO@-geometry-msgs
 Description: Messages and services used for mc_rtc ROS integration
  Messages and services used for mc_rtc ROS integration

debian/rules

@@ -5,14 +5,15 @@ export ROS_DISTRO:=@ROS_DISTRO@
 export ROS_PYTHON_VERSION:=$(shell . /opt/ros/${ROS_DISTRO}/setup.sh && echo $$ROS_PYTHON_VERSION)
 ifeq (${ROS_PYTHON_VERSION}, 3)
 	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python3/dist-packages:${PYTHONPATH}
+	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python$(shell python3 -c "import sys; print(f'{sys.version_info.major}.{sys.version_info.minor}');")/site-packages:${PYTHONPATH}
 	export PYTHON_EXECUTABLE:=/usr/bin/python3
 else
 	export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages:${PYTHONPATH}
 	export PYTHON_EXECUTABLE:=/usr/bin/python
 endif
 export PKG_CONFIG_PATH:=/opt/ros/${ROS_DISTRO}/lib/pkgconfig:$PKG_CONFIG_PATH
 export ROS_MASTER_URI:=http://localhost:11311
-export PYTHONPATH:=/opt/ros/${ROS_DISTRO}/lib/python2.7/dist-packages:$PYTHONPATH
+export LD_LIBRARY_PATH:=/opt/ros/${ROS_DISTRO}/lib:$LD_LIBRARY_PATH
 export CMAKE_PREFIX_PATH:=/opt/ros/${ROS_DISTRO}:$CMAKE_PREFIX_PATH
 
 TMP = $(CURDIR)/debian/tmp

msg/ros2/JointSensors.msg

@@ -0,0 +1,5 @@
+std_msgs/Header header
+string[] name
+float64[] motor_temperature
+float64[] driver_temperature
+float64[] motor_current

package.xml

@@ -1,19 +1,29 @@
-<package>
+<?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>mc_rtc_msgs</name>
-  <description>mc_rtc_msgs</description>
   <version>1.1.0</version>
-  <author>Pierre Gergondet</author>
+  <description>mc_rtc_msgs</description>
   <maintainer email="[email protected]">Pierre Gergondet</maintainer>
   <license>BSD</license>
   <url>https://github.com/jrl-umi3218/mc_rtc_msgs</url>
+  <author>Pierre Gergondet</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">rosidl_default_generators</buildtool_depend>
 
-  <build_depend>message_generation</build_depend>
-  <build_depend>geometry_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
 
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
-</package>
+  <depend>geometry_msgs</depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>
 
+  <member_of_group condition="$ROS_VERSION == 2">rosidl_interface_packages</member_of_group>
 
+  <export>
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+  </export>
+</package>

srv/ros2/CloseGrippers.srv

@@ -0,0 +1,2 @@
+---
+bool success

srv/ros2/GetJointPos.srv

@@ -0,0 +1,4 @@
+string jname
+---
+bool success
+float64 q

srv/ros2/MoveCoM.srv

@@ -0,0 +1,3 @@
+float64[3] com
+---
+bool success

srv/ros2/OpenGrippers.srv

@@ -0,0 +1,2 @@
+---
+bool success

srv/ros2/PlayNextStance.srv

@@ -0,0 +1,2 @@
+---
+bool success

srv/ros2/SendMsg.srv

@@ -0,0 +1,3 @@
+string msg
+---
+bool success

srv/ros2/SendRecvMsg.srv

@@ -0,0 +1,4 @@
+string msg
+---
+bool success
+string msg

srv/ros2/SetGripper.srv

@@ -0,0 +1,4 @@
+string gname
+float64[] values
+---
+bool success

srv/ros2/SetJointPos.srv

@@ -0,0 +1,4 @@
+string jname
+float64 q
+---
+bool success