Ros2

CMakeLists.txt

@@ -1,33 +1,24 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(emc_system)
 
+set(CMAKE_CXX_STANDARD 14)
+
 add_compile_options(-Wall -Werror=all)
 add_compile_options(-Wextra -Werror=extra)
 
-find_package(catkin REQUIRED COMPONENTS
-    geometry_msgs
-    sensor_msgs
-    nav_msgs
-    roscpp
-    tf2
-    tf2_ros    
-)
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 # find_package(Boost REQUIRED COMPONENTS system program_options)
 # find_package(PCL REQUIRED)
 find_package(OpenCV REQUIRED)
 
-# ------------------------------------------------------------------------------------------------
-#                                          CATKIN EXPORT
-# ------------------------------------------------------------------------------------------------
-
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES bla
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
-)
-
 # ------------------------------------------------------------------------------------------------
 #                                              BUILD
 # ------------------------------------------------------------------------------------------------
@@ -39,21 +30,21 @@ include_directories(
 )
 
 add_library(emc_system
-    include/emc/engine.h
+    #include/emc/engine.h
     include/emc/communication.h
     include/emc/data.h
     include/emc/odom.h
     include/emc/io.h
     include/emc/rate.h
     include/emc/bumper.h
 
-    src/engine.cpp
+    #src/engine.cpp
     src/communication.cpp
-    src/data.cpp
+    #src/data.cpp
     src/io.cpp
     src/rate.cpp
 )
-target_link_libraries(emc_system ${catkin_LIBRARIES})
+ament_target_dependencies(emc_system geometry_msgs sensor_msgs visualization_msgs nav_msgs rclcpp tf2 tf2_ros)
 
 # ------------------------------------------------------------------------------------------------
 #                                              TOOLS
@@ -69,8 +60,8 @@ target_link_libraries(emc_viz emc_system ${OpenCV_LIBRARIES})
 add_executable(emc_test_io examples/test_io.cpp)
 target_link_libraries(emc_test_io emc_system)
 
-add_executable(testspeech examples/testspeech.cpp)
-target_link_libraries(testspeech emc_system)
+add_executable(emc_test_speech examples/testspeech.cpp)
+target_link_libraries(emc_test_speech emc_system)
 
 # ------------------------------------------------------------------------------------------------
 #                                             EXAMPLES
@@ -79,15 +70,25 @@ target_link_libraries(testspeech emc_system)
 add_executable(emc_example1 examples/example01.cpp)
 target_link_libraries(emc_example1 emc_system)
 
-add_executable(emc_example2 examples/example02.cpp)
-target_link_libraries(emc_example2 emc_system)
+#add_executable(emc_example2 examples/example02.cpp)
+#target_link_libraries(emc_example2 emc_system)
 
 # ------------------------------------------------------------------------------------------------
 #                                             UNIT TESTS
 # ------------------------------------------------------------------------------------------------
 
-if(CATKIN_ENABLE_TESTING)
-    find_package(rostest REQUIRED)
-    add_rostest_gtest(tests_io test/io.test test/test_io.cpp)
-    target_link_libraries(tests_io emc_system ${catkin_LIBRARIES})
-endif()
+#if(BUILD_TESTING)
+#    find_package(rostest REQUIRED)
+#    add_rostest_gtest(tests_io test/io.test test/test_io.cpp)
+#    target_link_libraries(tests_io emc_system)
+#    ament_target_dependencies(emc_system geometry_msgs sensor_msgs nav_msgs roscpp tf2 tf2_ros rostest)
+#endif()
+
+#############
+## Install ##
+#############
+install(TARGETS emc_example1 emc_test_io emc_test_speech
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

include/emc/communication.h

@@ -5,24 +5,26 @@
 #include "emc/odom.h"
 #include "emc/bumper.h"
 
-#include <ros/publisher.h>
-#include <ros/subscriber.h>
-#include <ros/callback_queue.h>
+#include "rclcpp/rclcpp.hpp"
+//#include <ros/callback_queue.h>
 #include <tf2_ros/transform_broadcaster.h>
-#include <sensor_msgs/JointState.h>
-#include <nav_msgs/MapMetaData.h>
+#include "nav_msgs/msg/map_meta_data.hpp"
+
+#include <std_msgs/msg/bool.hpp>
+#include <sensor_msgs/msg/laser_scan.hpp>
+#include <visualization_msgs/msg/marker.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+#include <std_msgs/msg/empty.hpp>
+#include <std_msgs/msg/string.hpp>
 
-#include <std_msgs/Bool.h>
-#include <sensor_msgs/LaserScan.h>
-#include <visualization_msgs/Marker.h>
-#include <nav_msgs/Odometry.h>
 #include <string>
 #include <memory>
 
 namespace emc
 {
 
-class Communication
+class Communication : public rclcpp::Node
 {
 
 public:
@@ -44,70 +46,54 @@ class Communication
 
     void sendOpendoorRequest();
 
-    void sendMarker(visualization_msgs::Marker marker);
+    void sendMarker(visualization_msgs::msg::Marker marker);
 
     void speak(const std::string& text);
 
     void play(const std::string& file);
 
     // Postion data
-    void sendPoseEstimate(const geometry_msgs::Transform& pose);
+    void sendPoseEstimate(const geometry_msgs::msg::Transform& pose);
 
 private:
 
     // Base velocity reference
+    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr pub_cmd_vel_;
+    rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr pub_open_door_;
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_speak_;
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_play_;
+    rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr pub_marker_;
 
-    ros::Publisher pub_base_ref_;
-
-    ros::Publisher pub_open_door_;
-
-    ros::Publisher pub_speak_;
-
-    ros::Publisher pub_play_;
-
-    ros::Publisher pub_marker_;
-    // Position data
-
-    std::unique_ptr<tf2_ros::TransformBroadcaster> pub_tf2; //has to be defined after ros::init(), which is called in the constructor
-
+    // pose publishing
+    std::string robot_frame_name;
+    std::unique_ptr<tf2_ros::TransformBroadcaster> pub_tf2_;
 
     // Laser data
+    rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr sub_laser_;
 
-    ros::CallbackQueue laser_cb_queue_;
-
-    ros::Subscriber sub_laser_;
+    sensor_msgs::msg::LaserScan::SharedPtr laser_msg_;
 
-    sensor_msgs::LaserScanConstPtr laser_msg_;
-
-    void laserCallback(const sensor_msgs::LaserScanConstPtr& msg);
+    void laserCallback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
 
 
     // Odometry data
 
-    ros::CallbackQueue odom_cb_queue_;
-
-    ros::Subscriber sub_odom_;
+    rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
 
-    nav_msgs::OdometryConstPtr odom_msg_;
+    nav_msgs::msg::Odometry::SharedPtr odom_msg_;
 
-    void odomCallback(const nav_msgs::OdometryConstPtr& msg);
+    void odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg);
 
     // Bumper data
+    rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr sub_bumper_f_;
+    rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr sub_bumper_b_;
 
-    ros::CallbackQueue bumper_f_cb_queue_;
-    ros::CallbackQueue bumper_b_cb_queue_;
+    std_msgs::msg::Bool::SharedPtr bumper_f_msg_;
+    std_msgs::msg::Bool::SharedPtr bumper_b_msg_;
 
-    ros::Subscriber sub_bumper_f_;
-    ros::Subscriber sub_bumper_b_;
+    void bumperfCallback(const std_msgs::msg::Bool::SharedPtr msg);
+    void bumperbCallback(const std_msgs::msg::Bool::SharedPtr msg);
 
-    std_msgs::BoolConstPtr bumper_f_msg_;
-    std_msgs::BoolConstPtr bumper_b_msg_;
-
-    void bumperfCallback(const std_msgs::BoolConstPtr& msg);
-    void bumperbCallback(const std_msgs::BoolConstPtr& msg);
-
-    // pose publishing
-    std::string robot_frame_name;
 };
 
 } // end namespace emc

include/emc/data.h

@@ -32,6 +32,7 @@ struct ControlEffort
 
 // ----------------------------------------------------------------------------------------------------
 
+/*
 class FSMInterface
 {
 
@@ -51,7 +52,7 @@ class FSMInterface
     std::string event_;
 
 };
-
+*/
 } // end namespace emc
 
 #endif

include/emc/rate.h

@@ -1,11 +1,14 @@
 #ifndef EMC_SYSTEM_RATE_H_
 #define EMC_SYSTEM_RATE_H_
 
-namespace ros
+#include "rclcpp/rclcpp.hpp"
+#include <rclcpp/logger.hpp>
+
+/*namespace rclcpp
 {
-class Rate;
+class GenericRate;
 }
-
+*/
 namespace emc
 {
 
@@ -22,8 +25,8 @@ class Rate
 
 private:
 
-    ros::Rate* rate_;
-
+    rclcpp::GenericRate<std::chrono::system_clock>* rate_;
+    //rclcpp::Logger logger_;
 };
 
 

package.xml

@@ -1,4 +1,4 @@
-<?xml version="1.0"?>
+<?xml version="2.0"?>
 <?xml-model
   href="http://download.ros.org/schema/package_format3.xsd"
   schematypens="http://www.w3.org/2001/XMLSchema"?>
@@ -11,19 +11,25 @@
 
   <license>TODO</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
-  <depend>roscpp</depend>
+  <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
+  <depend>visualization_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
 
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
   <doc_depend>doxygen</doc_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
+
   <export>
     <rosdoc config="rosdoc.yaml" />
+    <build_type>ament_cmake</build_type>
   </export>
 
 </package>