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Migration to ROS2 galactic #1

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Migration to ROS2 galactic #1

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cac4533
Update package.xml and CMakeLists for ROS2
argenos Jan 20, 2023
a2fb2df
Update includes and declarations for ROS driver
argenos Jan 20, 2023
77c7a1b
WIP: migrate parameters
argenos Jan 20, 2023
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75 changes: 49 additions & 26 deletions CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,20 +1,33 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5.1)
project(kelo_tulip)

find_package(catkin REQUIRED COMPONENTS
roscpp
geometry_msgs
nav_msgs
sensor_msgs
std_msgs
tf
)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()

# find_package(catkin REQUIRED COMPONENTS
# roscpp
# geometry_msgs
# nav_msgs
# sensor_msgs
# std_msgs
# tf
# )

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)

#set(Boost_USE_STATIC_LIBS ON)
find_package(Boost REQUIRED COMPONENTS thread)

if(WIN32)
set(INCLUDE_DIRS
set(INCLUDE_DIRS_KELO
include
include/kelo_tulip/soem
include/kelo_tulip/soem/osal
Expand All @@ -23,7 +36,7 @@ if(WIN32)
${WINPCAP_INCLUDE_DIRS}
)
else(WIN32)
set(INCLUDE_DIRS
set(INCLUDE_DIRS_KELO
include
include/kelo_tulip/soem
include/kelo_tulip/soem/osal
Expand All @@ -32,14 +45,9 @@ else(WIN32)
)
endif(WIN32)

catkin_package(
INCLUDE_DIRS ${INCLUDE_DIRS}
LIBRARIES tulip_velocity_controller
)

include_directories(
${INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${INCLUDE_DIRS_KELO}
# ${catkin_INCLUDE_DIRS}
)

# Optionally apply cap_net_raw+ep permissions to binary. Requires root previleges.
Expand All @@ -59,8 +67,9 @@ add_library(tulip_velocity_controller
)

target_link_libraries(tulip_velocity_controller
${catkin_LIBRARIES}
# ${catkin_LIBRARIES}
${Boost_LIBRARIES}
${rclcpp_LIBRARIES}
)

add_executable(platform_driver
Expand All @@ -72,10 +81,11 @@ add_executable(platform_driver

target_link_libraries(platform_driver
tulip_velocity_controller
${catkin_LIBRARIES}
# ${catkin_LIBRARIES}
${Boost_LIBRARIES}
soem
pthread
${rclcpp_LIBRARIES}
)

IF(USE_SETCAP)
Expand All @@ -85,20 +95,33 @@ IF(USE_SETCAP)
endif(USE_SETCAP)

install(TARGETS platform_driver
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
DESTINATION include/${PROJECT_NAME}
)

install(DIRECTORY config/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
DESTINATION share/${PROJECT_NAME}/config
)

install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
DESTINATION share/${PROJECT_NAME}/launch
)

ament_export_include_directories(
include
${INCLUDE_DIRS_KELO}
)

ament_export_libraries(
tulip_velocity_controller
)

ament_package(
# INCLUDE_DIRS ${INCLUDE_DIRS}
# LIBRARIES tulip_velocity_controller
)
26 changes: 16 additions & 10 deletions package.xml
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Original file line number Diff line number Diff line change
@@ -1,23 +1,29 @@
<?xml version="1.0"?>
<package>
<package format="2">
<name>kelo_tulip</name>
<version>1.0.0</version>
<description>KELO Tulip software</description>
<author email="[email protected]">walter</author>
<maintainer email="[email protected]">walter</maintainer>
<license>internal</license>

<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<buildtool_depend>ament_cmake</buildtool_depend>

<depend>rclcpp</depend>

<build_depend>geometry_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>tf</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>tf</run_depend>
<build_depend>tf2</build_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>tf2</exec_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
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