port to ROS2 (UniversalRobots#5)

fix ROS2 message type

Make geometry_msgs findable by CMake

update dependencies

CMakeLists.txt

@@ -1,64 +1,30 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(cartesian_control_msgs)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  actionlib_msgs
-  geometry_msgs
-  message_generation
-)
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-add_message_files(
-  FILES
-  CartesianPosture.msg
-  CartesianTolerance.msg
-  CartesianTrajectory.msg
-  CartesianTrajectoryPoint.msg
-)
-
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-add_action_files(
-  FILES
-  FollowCartesianTrajectory.action
-)
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
+if(CMAKE_COMPILER_IS_GNUXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/FollowCartesianTrajectory.action"
+  "msg/CartesianPosture.msg"
+  "msg/CartesianTolerance.msg"
+  "msg/CartesianTrajectory.msg"
+  "msg/CartesianTrajectoryPoint.msg"
   DEPENDENCIES
-    actionlib_msgs
+    action_msgs
+    builtin_interfaces
     geometry_msgs
+    std_msgs
 )
 
+ament_export_dependencies(rosidl_default_runtime)
 
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES cartesian_control_msgs
-  CATKIN_DEPENDS
-    actionlib_msgs
-    geometry_msgs
-    message_runtime
-#  DEPENDS system_lib
-)
+ament_package()

action/FollowCartesianTrajectory.action

@@ -1,7 +1,7 @@
 CartesianTrajectory trajectory
 CartesianTolerance path_tolerance
 CartesianTolerance goal_tolerance
-duration goal_time_tolerance
+builtin_interfaces/Duration goal_time_tolerance
 
 ---
 
@@ -18,7 +18,7 @@ string error_string
 
 ---
 
-Header header
+std_msgs/Header header
 string tcp_frame
 CartesianTrajectoryPoint desired
 CartesianTrajectoryPoint actual

msg/CartesianTrajectory.msg

@@ -1,4 +1,4 @@
 # header.frame_id is the frame in which all data from CartesianTrajectoryPoint[] is given
-Header header
+std_msgs/Header header
 CartesianTrajectoryPoint[] points
 string controlled_frame

msg/CartesianTrajectoryPoint.msg

@@ -1,4 +1,4 @@
-duration time_from_start
+builtin_interfaces/Duration time_from_start
 geometry_msgs/Pose pose
 geometry_msgs/Twist twist
 geometry_msgs/Accel acceleration

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>cartesian_control_msgs</name>
   <version>0.1.0</version>
   <description>Cartesian trajectory execution interface.</description>
@@ -13,19 +13,16 @@
 
   <author email="[email protected]">Felix Exner</author>
 
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
-
-  <depend>actionlib_msgs</depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <depend>action_msgs</depend>
+  <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
 
-
-  <!-- The export tag contains other, unspecified, tags -->
+  <member_of_group>rosidl_interface_packages</member_of_group>
   <export>
-    <!-- Other tools can request additional information be placed here -->
-
+    <build_type>ament_cmake</build_type>
   </export>
 </package>