Merge pull request #10 from collaborative-robotics/rc-1.3.0

rc 1.3.0

CHANGELOG.md

@@ -1,6 +1,11 @@
 Change log
 ==========
 
+1.3.0 (2024-08-09)
+==================
+
+* Updated code, `package.xml` and `CMakeLists.txt` so the same repository can be used for both ROS1 and ROS2
+
 1.2.0 (2023-11-21)
 ==================
 

CMakeLists.txt

@@ -1,31 +1,29 @@
-cmake_minimum_required (VERSION 3.1)
-project (crtk_python_client VERSION 1.2.0)
-
-## 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
-              rospy
-              )
-
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you 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 my_pkg
-   CATKIN_DEPENDS rospy
-#  DEPENDS system_lib
-)
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-catkin_python_setup ()
+cmake_minimum_required (VERSION 3.10)
+project (crtk_python_client VERSION 1.3.0)
+
+# first test for ROS1
+find_package (catkin QUIET
+  COMPONENTS rospy)
+
+if (catkin_FOUND)
+
+  catkin_package (CATKIN_DEPENDS rospy)
+  catkin_python_setup ()
+
+else (catkin_FOUND)
+
+  # look for ROS2
+  find_package (ament_cmake QUIET)
+  if (ament_cmake_FOUND)
+    find_package (ament_cmake_python REQUIRED)
+    ament_python_install_package (crtk
+      PACKAGE_DIR ${crtk_python_client_SOURCE_DIR}/src/crtk)
+
+    file (GLOB crtk_SCRIPTS scripts/*.py)
+    install (PROGRAMS ${crtk_SCRIPTS}
+      DESTINATION lib/${PROJECT_NAME})
+
+    ament_package ()
+  endif (ament_cmake_FOUND)
+
+endif (catkin_FOUND)

package.xml

@@ -1,19 +1,25 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>crtk_python_client</name>
-  <version>1.2.0</version>
+  <version>1.3.0</version>
   <description>crtk Python client</description>
-
   <maintainer email="[email protected]">Anton Deguet</maintainer>
   <maintainer email="[email protected]">Adnan Munawar</maintainer>
   <license>MIT</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>rospy</build_depend>
-  <run_depend>rospy</run_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">crtk_msgs</exec_depend>
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_python</buildtool_depend>
+  <depend condition="$ROS_VERSION == 2">rclpy</depend>
+  <depend condition="$ROS_VERSION == 2">crtk_msgs</depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
   </export>
 
 </package>

scripts/crtk_teleop_example.py

@@ -20,7 +20,6 @@
 import crtk
 import math
 import PyKDL
-import rospy
 import sys
 
 

src/crtk/__init__.py

@@ -4,10 +4,19 @@
 # Copyright (c) 2016-2023 Johns Hopkins University, University of Washington, Worcester Polytechnic Institute
 # Released under MIT License
 
-__all__ = ["ral", "wait_move_handle", "utils", "joystick_button", "measured_cp"]
+__all__ = ['wait_move_handle', 'utils', 'joystick_button', 'measured_cp']
 
 # ros abstraction layer
-from .ral import ral
+import os
+__ros_version_string = os.environ['ROS_VERSION']
+if __ros_version_string == '1':
+    __all__.append('ros_ral1')
+    from .ral_ros1 import ral
+elif __ros_version_string == '2':
+    __all__.append('ros_ral2')
+    from .ral_ros2 import ral
+else:
+    print('environment variable ROS_VERSION must be either 1 or 2, did you source your setup.bash?')
 
 # handle classes
 from .wait_move_handle import wait_move_handle

src/crtk/measured_cp.py

@@ -12,34 +12,21 @@
 # --- end cisst license ---
 
 import crtk
-import rospy
-import PyKDL
 
 class measured_cp(object):
     """Simple class to get measured_cp over ROS
     """
 
     # initialize the arm
-    def __init__(self, ros_namespace, expected_interval = 0.01):
-        # base class constructor in separate method so it can be called in derived classes
-        self.__init_arm(ros_namespace, expected_interval)
-
-
-    def __init_arm(self,ros_namespace, expected_interval):
+    def __init__(self, ral, expected_interval = 0.01):
         """Constructor.  This initializes a few data members. It
         requires a ros namespace, this will be used to find the ROS
         topic `measured_cp`."""
         # data members, event based
-        self.__ros_namespace = ros_namespace
+        self.__ral = ral
 
         # crtk features
-        self.__crtk_utils = crtk.utils(self, self.__ros_namespace, expected_interval)
+        self.__crtk_utils = crtk.utils(self, self.__ral, expected_interval)
 
         # add crtk features that we need
         self.__crtk_utils.add_measured_cp()
-
-        # create node
-        if not rospy.get_node_uri():
-            rospy.init_node('measured_cp_client', anonymous = True, log_level = rospy.WARN)
-        else:
-            rospy.logdebug(rospy.get_caller_id() + ' -> ROS already initialized')