ROS 2 Jazzyに対応 (#158)

* jazzyでビルドが通るように修正 * capabilitiesに対応 * gz-sim対応 * OMPLの設定ファイルを追加 * doc, ciをJazzy対応 * Revert "jazzyでビルドが通るように修正" This reverts commit 7fdbb47. * 誤ってフォーマッターをかけてしまっていたので修正します * usb camの依存パッケージのバージョンについて記載 * リリースされるまでバージョン指定を入れておく * two handsをompl設定に追加 * MoveitConfigsBuilder周辺の記載を変更 * Update README.md Co-authored-by: Kuwamai <[email protected]> * Update sciurus17_moveit_config/launch/run_move_group.launch.py Co-authored-by: Kuwamai <[email protected]> * Update README.md Co-authored-by: Kuwamai <[email protected]> * Update README.md Co-authored-by: Kuwamai <[email protected]> * READMEに点群検出サンプルの依存関係に追記 * add dependency in ci * ci通るように修正 --------- Co-authored-by: Kuwamai <[email protected]>
rt-net · Nov 21, 2024 · e95d841 · e95d841
1 parent 15800b2
commit e95d841
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diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -11,13 +11,13 @@ on:
 
 env:
   UPSTREAM_WORKSPACE: .ci.rosinstall
-
+  BEFORE_INSTALL_TARGET_DEPENDENCIES: "sudo apt-get update -qq && sudo apt-get -qq install -y libpcl-dev"
 jobs:
   industrial_ci:
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: humble, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
+          - { ROS_DISTRO: jazzy, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4

diff --git a/README.en.md b/README.en.md
@@ -25,6 +25,7 @@ ROS 2 package suite of Sciurus17.
 ## Supported ROS 2 distributions
 
 - Humble
+- Jazzy
 
 ### ROS 1
 
@@ -37,17 +38,17 @@ ROS 2 package suite of Sciurus17.
   - [Product page](https://www.rt-net.jp/products/sciurus17)
   - [Web Shop](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3895&language=en)
 - Linux OS
-  - Ubuntu 22.04
+  - Ubuntu 24.04
 - ROS
-  - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html)
+  - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/Installation.html)
 
 ## Installation
 
 ### Build from source
 
 ```sh
 # Setup ROS environment
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
 
 # Download packages
 mkdir -p ~/ros2_ws/src

diff --git a/README.md b/README.md
@@ -26,6 +26,7 @@ ROS 2 package suite of Sciurus17.
 ## Supported ROS 2 distributions
 
 - Humble
+- Jazzy
 
 ### ROS 1
 
@@ -38,26 +39,28 @@ ROS 2 package suite of Sciurus17.
   - [製品ページ](https://www.rt-net.jp/products/sciurus17)
   - [ウェブショップ](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3895)
 - Linux OS
-  - Ubuntu 22.04
+  - Ubuntu 24.04
 - ROS
-  - [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html)
+  - [Jazzy Jalisco](https://docs.ros.org/en/jazzy/Installation.html)
 
 ## Installation
 
 ### Build from source
 
 ```sh
 # Setup ROS environment
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
 
 # Download packages
 mkdir -p ~/ros2_ws/src
 cd ~/ros2_ws/src
+git clone -b ros2 https://github.com/rt-net/rt_manipulators_cpp.git
 git clone -b ros2 https://github.com/rt-net/sciurus17_ros.git
 git clone -b ros2 https://github.com/rt-net/sciurus17_description.git
 
 # Install dependencies
 rosdep install -r -y -i --from-paths .
+sudo apt install libpcl-dev
 
 # Build & Install
 cd ~/ros2_ws

diff --git a/sciurus17_control/launch/sciurus17_control.launch.py b/sciurus17_control/launch/sciurus17_control.launch.py
@@ -15,12 +15,12 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import ExecuteProcess
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 
 
 def generate_launch_description():

diff --git a/sciurus17_examples/launch/camera_example.launch.py b/sciurus17_examples/launch/camera_example.launch.py
@@ -15,12 +15,12 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 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
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 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='sciurus17_examples',
                         executable='pick_and_place_tf',
                         output='screen',

diff --git a/sciurus17_examples/launch/demo.launch.py b/sciurus17_examples/launch/demo.launch.py
@@ -15,13 +15,13 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 
 
 def generate_launch_description():

diff --git a/sciurus17_examples/launch/example.launch.py b/sciurus17_examples/launch/example.launch.py
@@ -15,12 +15,12 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from sciurus17_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
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
 import yaml
 
 

diff --git a/sciurus17_examples/src/color_detection.cpp b/sciurus17_examples/src/color_detection.cpp
@@ -22,7 +22,7 @@
 #include "geometry_msgs/msg/point_stamped.hpp"
 #include "sensor_msgs/msg/image.hpp"
 #include "opencv2/opencv.hpp"
-#include "cv_bridge/cv_bridge.h"
+#include "cv_bridge/cv_bridge.hpp"
 using std::placeholders::_1;
 
 namespace sciurus17_examples