WIP | ROS2 port

.gitignore

@@ -0,0 +1,35 @@
+# C++
+################################################################
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app

fetch_gazebo/CMakeLists.txt

@@ -1,69 +1,73 @@
 cmake_minimum_required(VERSION 3.7.2)
 project(fetch_gazebo)
 
-find_package(Boost REQUIRED)
-find_package(gazebo REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(angles REQUIRED)
+find_package(control_toolbox REQUIRED)
+find_package(gazebo_dev REQUIRED)
+find_package(gazebo_ros REQUIRED)
+find_package(robot_controllers REQUIRED)
+find_package(robot_controllers_interface REQUIRED)
+find_package(rclcpp REQUIRED)
 
-find_package(catkin
-  REQUIRED
-    angles
-    control_toolbox
-    gazebo_ros
-    robot_controllers
-    robot_controllers_interface
-)
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${Boost_INCLUDE_DIR}
-  ${GAZEBO_INCLUDE_DIRS}
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
+include_directories(include)
 link_directories(
-  ${GAZEBO_LIBRARY_DIRS}
+  ${gazebo_dev_LIBRARY_DIRS}
 )
 
-catkin_package(
-  CATKIN_DEPENDS
-    control_toolbox
-    gazebo_plugins
-    gazebo_ros
-    robot_controllers
-    robot_controllers_interface
-  LIBRARIES
-    fetch_gazebo_plugin
-  INCLUDE_DIRS
-    include
+# Libraries
+add_library(fetch_gazebo_plugin SHARED
+  src/plugin.cpp
 )
-
-add_library(fetch_gazebo_plugin src/plugin.cpp)
-target_link_libraries(fetch_gazebo_plugin
-  ${catkin_LIBRARIES}
-  ${GAZEBO_LIBRARIES}
+ament_target_dependencies(fetch_gazebo_plugin
+  angles
+  control_toolbox
+  gazebo_ros
+  robot_controllers
+  robot_controllers_interface
+  rclcpp
 )
 
+## Install
 install(
   TARGETS fetch_gazebo_plugin
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 
+ament_export_include_directories(
+  include
+)
+
+ament_export_dependencies(ament_cmake)
+ament_export_dependencies(rclcpp)
+
 install(
   DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(
   PROGRAMS
-    scripts/prepare_simulated_robot.py
-    scripts/prepare_simulated_robot_pick_place.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    "scripts/prepare_simulated_robot.py"
+    "scripts/prepare_simulated_robot_pick_place.py"
+  DESTINATION bin
 )
 
 install(
-  DIRECTORY config include launch robots worlds models
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DIRECTORY config launch robots worlds models
+  DESTINATION share/${PROJECT_NAME}
 )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

fetch_gazebo/package.xml

@@ -1,5 +1,5 @@
-<?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>fetch_gazebo</name>
   <version>0.9.2</version>
   <description>
@@ -15,29 +15,33 @@
   <license>BSD</license>
   <url>http://ros.org/wiki/fetch_gazebo</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>angles</build_depend>
   <build_depend>gazebo_dev</build_depend>
 
   <depend>control_toolbox</depend>
-  <depend>boost</depend>
-  <depend>gazebo_plugins</depend>
   <depend>gazebo_ros</depend>
+  <depend>rclcpp</depend>
   <depend>robot_controllers</depend>
   <depend>robot_controllers_interface</depend>
   <depend>sensor_msgs</depend>
 
-  <exec_depend>actionlib</exec_depend>
+  <!-- <exec_depend>actionlib</exec_depend> -->
   <exec_depend>control_msgs</exec_depend>
   <exec_depend>depth_image_proc</exec_depend>
   <exec_depend>fetch_description</exec_depend>
   <exec_depend>gazebo</exec_depend>
+  <exec_depend>gazebo_plugins</exec_depend>
   <exec_depend>image_proc</exec_depend>
-  <exec_depend>nodelet</exec_depend>
-  <exec_depend>rgbd_launch</exec_depend>
+  <!-- <exec_depend>nodelet</exec_depend> -->
+  <!-- <exec_depend>rgbd_launch</exec_depend> -->
   <exec_depend>trajectory_msgs</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>topic_tools</exec_depend>
+  <!-- <exec_depend>topic_tools</exec_depend> -->
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>

fetch_gazebo/src/plugin.cpp

@@ -35,7 +35,7 @@
 // Author: Michael Ferguson
 
 #include <ros/ros.h>
-#include <sensor_msgs/JointState.h>
+#include "sensor_msgs/msg/joint_state.hpp"
 #include <robot_controllers_interface/controller_manager.h>
 #include <fetch_gazebo/joint_handle.h>
 #include <gazebo/common/common.hh>
@@ -123,7 +123,7 @@ void FetchGazeboPlugin::Init()
   controller_manager_.init(pnh);
 
   // Publish joint states only after controllers are fully ready
-  joint_state_pub_ = nh_.advertise<sensor_msgs::JointState>("joint_states", 10);
+  joint_state_pub_ = nh_.advertise<sensor_msgs::msg::JointState>("joint_states", 10);
 
   ROS_INFO("Finished initializing FetchGazeboPlugin");
 }
@@ -153,7 +153,7 @@ void FetchGazeboPlugin::OnUpdate(
     return;
 
   // Publish joint_state message
-  sensor_msgs::JointState js;
+  sensor_msgs::msg::JointState js;
   js.header.stamp = ros::Time(currTime.Double());
   for (size_t i = 0; i < joints_.size(); ++i)
   {