Jazzy対応 (#198)

* crane_plushのjazzy対応を参考に設定ファイルをjazzy対応 * .h->.hppに対応 * idustrial_ci.yamlをjazzyに対応 * crane_x7_moveit_configのPackage.xmlにauthor追加 * ファイル名変更controlles.yaml->moveit_controlles.yaml * Setup Assistantで生成した設定ファイルを追加 * crane_x7_descriptionのjazzyブランチに対応させる * Update README.md * Update README.en.md * MoveItConfigsBuilderによるMoveit設定に対応 * import yamlを復活 * gz_sim対応 * ブランチ名修正 * Update README * Update README * use_d435によるrvizコンフィグファイルパスの切り替え * 変数名、パラメータ変更 * RVizコンフィグファイル変更 * 不要な記述を削除 * setup_assistant設定追加 * パッケージ情報更新 * スタイル修正 * Update README * Gazeboカメラ位置調整 * move_group_capabilitiesの変更に対応 * 依存パッケージ修正 * CIのバージョン更新 Co-authored-by: YusukeKato <[email protected]> * ヘッダーファイル名修正 * computeCartesianPathの変更に対応 --------- Co-authored-by: mizonon <[email protected]> Co-authored-by: YusukeKato <[email protected]>
rt-net · Jan 9, 2025 · d82509b · d82509b
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diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -17,9 +17,9 @@ jobs:
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros }
+          - { ROS_DISTRO: jazzy, ROS_REPO: ros }
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: "ros-industrial/industrial_ci@master"
         env: ${{ matrix.env }}
diff --git a/README.en.md b/README.en.md
@@ -13,7 +13,7 @@ ROS 2 package suite of CRANE-X7.
 - [crane\_x7\_ros](#crane_x7_ros)
   - [Table of Contents](#table-of-contents)
   - [Supported ROS 2 distributions](#supported-ros-2-distributions)
-    - [ROS](#ros)
+    - [ROS 1](#ros-1)
   - [Requirements](#requirements)
   - [Installation](#installation)
     - [Build from source](#build-from-source)
@@ -24,35 +24,34 @@ ROS 2 package suite of CRANE-X7.
 ## Supported ROS 2 distributions
 
 - [Foxy](https://github.com/rt-net/crane_x7_ros/tree/foxy-devel)
-- Humble
+- [Humble](https://github.com/rt-net/crane_x7_ros/tree/humble)
+- [Jazzy](https://github.com/rt-net/crane_x7_ros/tree/jazzy)
 
-### ROS
+### ROS 1
 
 - [Melodic](https://github.com/rt-net/crane_x7_ros/tree/master)
 - [Noetic](https://github.com/rt-net/crane_x7_ros/tree/master)
+
 ## Requirements
 
 - CRANE-X7
   - [Product Introduction](https://rt-net.jp/products/crane-x7/)
   - [Web Shop](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3660&language=en)
 - Linux OS
-  - Ubuntu 22.04
+  - Ubuntu 24.04
 - ROS
-  - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html)
+  - [Jazzy](https://docs.ros.org/en/jazzy/Installation.html)
 
 ## Installation
 
 ### Build from source
 
 ```sh
-# Setup ROS environment
-$ source /opt/ros/humble/setup.bash
-
 # Download crane_x7 repositories
 $ mkdir -p ~/ros2_ws/src
 $ cd ~/ros2_ws/src
-$ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git
-$ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git
+$ git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_ros.git
+$ git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_description.git
 
 # Install dependencies
 $ rosdep install -r -y -i --from-paths .

diff --git a/README.md b/README.md
@@ -13,7 +13,7 @@ ROS 2 package suite of CRANE-X7.
 - [crane\_x7\_ros](#crane_x7_ros)
   - [Table of Contents](#table-of-contents)
   - [Supported ROS 2 distributions](#supported-ros-2-distributions)
-    - [ROS](#ros)
+    - [ROS 1](#ros-1)
   - [Requirements](#requirements)
   - [Installation](#installation)
     - [Build from source](#build-from-source)
@@ -25,9 +25,10 @@ ROS 2 package suite of CRANE-X7.
 ## Supported ROS 2 distributions
 
 - [Foxy](https://github.com/rt-net/crane_x7_ros/tree/foxy-devel)
-- Humble
+- [Humble](https://github.com/rt-net/crane_x7_ros/tree/humble)
+- [Jazzy](https://github.com/rt-net/crane_x7_ros/tree/jazzy)
 
-### ROS
+### ROS 1
 
 - [Melodic](https://github.com/rt-net/crane_x7_ros/tree/master)
 - [Noetic](https://github.com/rt-net/crane_x7_ros/tree/master)
@@ -38,23 +39,20 @@ ROS 2 package suite of CRANE-X7.
   - [製品ページ](https://rt-net.jp/products/crane-x7/)
   - [ウェブショップ](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3660)
 - Linux OS
-  - Ubuntu 22.04
+  - Ubuntu 24.04
 - ROS
-  - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html)
+  - [Jazzy](https://docs.ros.org/en/jazzy/Installation.html)
 
 ## Installation
 
 ### Build from source
 
 ```sh
-# Setup ROS environment
-$ source /opt/ros/humble/setup.bash
-
 # Download crane_x7 repositories
 $ mkdir -p ~/ros2_ws/src
 $ cd ~/ros2_ws/src
-$ git clone -b ros2 https://github.com/rt-net/crane_x7_ros.git
-$ git clone -b ros2 https://github.com/rt-net/crane_x7_description.git
+$ git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_ros.git
+$ git clone -b $ROS_DISTRO https://github.com/rt-net/crane_x7_description.git
 
 # Install dependencies
 $ rosdep install -r -y -i --from-paths .

diff --git a/crane_x7_examples/launch/camera_example.launch.py b/crane_x7_examples/launch/camera_example.launch.py
@@ -19,8 +19,8 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import SetParameter
 from launch_ros.actions import Node
+from launch_ros.actions import SetParameter
 import yaml
 
 
@@ -67,7 +67,7 @@ def generate_launch_description():
         description=('Set true when using the gazebo simulator.')
     )
 
-    picking_node = Node(name="pick_and_place_tf",
+    picking_node = Node(name='pick_and_place_tf',
                         package='crane_x7_examples',
                         executable='pick_and_place_tf',
                         output='screen',

diff --git a/crane_x7_examples/launch/demo.launch.py b/crane_x7_examples/launch/demo.launch.py
@@ -56,6 +56,24 @@ def generate_launch_description():
         'manipulator_links.csv'
     )
 
+    declare_rviz_config = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=get_package_share_directory(
+            'crane_x7_moveit_config'
+        ) + '/config/moveit.rviz',
+        description='Set the path to rviz configuration file.',
+        condition=UnlessCondition(LaunchConfiguration('use_d435')),
+    )
+
+    declare_rviz_config_camera = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=get_package_share_directory(
+            'crane_x7_examples'
+        ) + '/launch/camera_example.rviz',
+        description='Set the path to rviz configuration file.',
+        condition=IfCondition(LaunchConfiguration('use_d435')),
+    )
+
     description_loader = RobotDescriptionLoader()
     description_loader.port_name = LaunchConfiguration('port_name')
     description_loader.baudrate = LaunchConfiguration('baudrate')
@@ -70,22 +88,9 @@ def generate_launch_description():
             PythonLaunchDescriptionSource([
                 get_package_share_directory('crane_x7_moveit_config'),
                 '/launch/run_move_group.launch.py']),
-            condition=UnlessCondition(LaunchConfiguration('use_d435')),
-            launch_arguments={
-                'loaded_description': description
-            }.items()
-        )
-
-    rviz_config_file = get_package_share_directory(
-        'crane_x7_examples') + '/launch/camera_example.rviz'
-    move_group_camera = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([
-                get_package_share_directory('crane_x7_moveit_config'),
-                '/launch/run_move_group.launch.py']),
-            condition=IfCondition(LaunchConfiguration('use_d435')),
             launch_arguments={
                 'loaded_description': description,
-                'rviz_config_file': rviz_config_file
+                'rviz_config': LaunchConfiguration('rviz_config')
             }.items()
         )
 
@@ -113,8 +118,9 @@ def generate_launch_description():
         declare_port_name,
         declare_baudrate,
         declare_use_d435,
+        declare_rviz_config,
+        declare_rviz_config_camera,
         move_group,
-        move_group_camera,
         control_node,
         realsense_node
     ])
diff --git a/crane_x7_examples/launch/example.launch.py b/crane_x7_examples/launch/example.launch.py
@@ -18,9 +18,9 @@
 from crane_x7_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch_ros.actions import SetParameter
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
+from launch_ros.actions import SetParameter
 import yaml
 
 

diff --git a/crane_x7_examples/src/aruco_detection.cpp b/crane_x7_examples/src/aruco_detection.cpp
@@ -27,7 +27,7 @@
 #include "sensor_msgs/msg/image.hpp"
 #include "opencv2/opencv.hpp"
 #include "opencv2/aruco.hpp"
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 #include "tf2/LinearMath/Quaternion.h"
 #include "tf2/LinearMath/Matrix3x3.h"
 #include "tf2_ros/transform_broadcaster.h"

diff --git a/crane_x7_examples/src/cartesian_path.cpp b/crane_x7_examples/src/cartesian_path.cpp
@@ -23,7 +23,7 @@
 #include "angles/angles.h"
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/quaternion.hpp"
-#include "moveit/move_group_interface/move_group_interface.h"
+#include "moveit/move_group_interface/move_group_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
@@ -90,11 +90,8 @@ int main(int argc, char ** argv)
   }
 
   moveit_msgs::msg::RobotTrajectory trajectory;
-  const double jump_threshold = 0.0;
   const double eef_step = 0.01;
-  move_group_arm.computeCartesianPath(
-    waypoints, eef_step, jump_threshold,
-    trajectory);
+  move_group_arm.computeCartesianPath(waypoints, eef_step, trajectory);
   move_group_arm.execute(trajectory);
 
   // SRDFに定義されている"home"の姿勢にする

diff --git a/crane_x7_examples/src/color_detection.cpp b/crane_x7_examples/src/color_detection.cpp
@@ -29,8 +29,8 @@
 #include "tf2_ros/transform_broadcaster.h"
 #include "opencv2/opencv.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
-#include "cv_bridge/cv_bridge.h"
-#include "image_geometry/pinhole_camera_model.h"
+#include "cv_bridge/cv_bridge.hpp"
+#include "image_geometry/pinhole_camera_model.hpp"
 using std::placeholders::_1;
 
 class ImageSubscriber : public rclcpp::Node

diff --git a/crane_x7_examples/src/gripper_control.cpp b/crane_x7_examples/src/gripper_control.cpp
@@ -19,7 +19,7 @@
 #include <cmath>
 
 #include "angles/angles.h"
-#include "moveit/move_group_interface/move_group_interface.h"
+#include "moveit/move_group_interface/move_group_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 using MoveGroupInterface = moveit::planning_interface::MoveGroupInterface;

diff --git a/crane_x7_examples/src/joint_values.cpp b/crane_x7_examples/src/joint_values.cpp
@@ -18,7 +18,7 @@
 // /src/move_group_interface_tutorial.cpp
 
 #include "angles/angles.h"
-#include "moveit/move_group_interface/move_group_interface.h"
+#include "moveit/move_group_interface/move_group_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 using MoveGroupInterface = moveit::planning_interface::MoveGroupInterface;

diff --git a/crane_x7_examples/src/pick_and_place.cpp b/crane_x7_examples/src/pick_and_place.cpp
@@ -22,7 +22,7 @@
 #include "angles/angles.h"
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/quaternion.hpp"
-#include "moveit/move_group_interface/move_group_interface.h"
+#include "moveit/move_group_interface/move_group_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 

diff --git a/crane_x7_examples/src/pick_and_place_tf.cpp b/crane_x7_examples/src/pick_and_place_tf.cpp
@@ -28,7 +28,7 @@
 #include "geometry_msgs/msg/quaternion.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "geometry_msgs/msg/twist.hpp"
-#include "moveit/move_group_interface/move_group_interface.h"
+#include "moveit/move_group_interface/move_group_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2/convert.h"

diff --git a/crane_x7_examples/src/pose_groupstate.cpp b/crane_x7_examples/src/pose_groupstate.cpp
@@ -17,7 +17,7 @@
 // /5c15da709e9ea8529b54b313dc570f164f9a713e/doc/examples/subframes
 // /src/subframes_tutorial.cpp
 
-#include "moveit/move_group_interface/move_group_interface.h"
+#include "moveit/move_group_interface/move_group_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 using MoveGroupInterface = moveit::planning_interface::MoveGroupInterface;