Update for foxy (#29)

* Change rosidl_generator_cpp to rosidl_runtime_cpp to fix build error

* Use ament_export_targets instead of ament_export_interfaces

* update industrial_ci for foxy

* refactoring to pass the uncrustify test

.github/workflows/industrial_ci.yml

@@ -17,7 +17,7 @@ jobs:
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: dashing, ROS_REPO: ros }
+          - { ROS_DISTRO: foxy, ROS_REPO: ros }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2

raspimouse/CMakeLists.txt

@@ -53,7 +53,7 @@ ament_target_dependencies(raspimouse
   tf2_ros
   raspimouse_msgs)
 
-ament_export_interfaces(export_raspimouse_component HAS_LIBRARY_TARGET)
+ament_export_targets(export_raspimouse_component HAS_LIBRARY_TARGET)
 
 ament_export_dependencies(rosidl_default_runtime)
 ament_export_dependencies(rclcpp)

raspimouse/src/raspimouse_component.cpp

@@ -22,7 +22,7 @@
 #include <limits>
 #include <memory>
 #include "rclcpp/rclcpp.hpp"
-#include "rosidl_generator_cpp/message_initialization.hpp"
+#include "rosidl_runtime_cpp/message_initialization.hpp"
 #include "lifecycle_msgs/msg/transition.hpp"
 
 using namespace std::chrono_literals;
@@ -46,8 +46,8 @@ namespace raspimouse
 Raspimouse::Raspimouse(const rclcpp::NodeOptions & options)
 : rclcpp_lifecycle::LifecycleNode("raspimouse", options),
   ros_clock_(RCL_ROS_TIME),
-  odom_(rosidl_generator_cpp::MessageInitialization::ZERO),
-  odom_transform_(rosidl_generator_cpp::MessageInitialization::ZERO),
+  odom_(rosidl_runtime_cpp::MessageInitialization::ZERO),
+  odom_transform_(rosidl_runtime_cpp::MessageInitialization::ZERO),
   last_odom_time_(0),
   linear_velocity_(0),
   angular_velocity_(0),
@@ -118,12 +118,14 @@ CallbackReturn Raspimouse::on_configure(const rclcpp_lifecycle::State &)
   light_sensors_pub_ = this->create_publisher<raspimouse_msgs::msg::LightSensors>(
     "light_sensors", 10);
   // Timer for publishing switch information
-  switches_timer_ = create_wall_timer(100ms, std::bind(
-        &Raspimouse::publish_switches, this));
+  switches_timer_ = create_wall_timer(
+    100ms, std::bind(
+      &Raspimouse::publish_switches, this));
   switches_timer_->cancel();
   // Timer for publishing light sensor information
-  light_sensors_timer_ = create_wall_timer(100ms, std::bind(
-        &Raspimouse::publish_light_sensors, this));
+  light_sensors_timer_ = create_wall_timer(
+    100ms, std::bind(
+      &Raspimouse::publish_light_sensors, this));
   light_sensors_timer_->cancel();
   // Subscriber for LED commands
   leds_sub_ = create_subscription<raspimouse_msgs::msg::Leds>(
@@ -493,7 +495,8 @@ void Raspimouse::calculate_odometry_from_pulse_counts(double & x, double & y, do
   int pulse_count_left, pulse_count_right;
   left_counter >> pulse_count_left;
   right_counter >> pulse_count_right;
-  RCLCPP_DEBUG(get_logger(), "Old: %d, %d\tNew: %d, %d", last_pulse_count_left_,
+  RCLCPP_DEBUG(
+    get_logger(), "Old: %d, %d\tNew: %d, %d", last_pulse_count_left_,
     last_pulse_count_right_, pulse_count_left, pulse_count_right);
 
   int pulse_count_difference_left = pulse_count_left - last_pulse_count_left_;
@@ -511,7 +514,8 @@ void Raspimouse::calculate_odometry_from_pulse_counts(double & x, double & y, do
     return;
   }
 
-  RCLCPP_DEBUG(get_logger(), "Pulse differences: %d, %d", pulse_count_difference_left,
+  RCLCPP_DEBUG(
+    get_logger(), "Pulse differences: %d, %d", pulse_count_difference_left,
     pulse_count_difference_right);
 
   // Calculate number of revolutions since last time
@@ -522,7 +526,8 @@ void Raspimouse::calculate_odometry_from_pulse_counts(double & x, double & y, do
   auto left_distance = left_revolutions * one_revolution_distance_left;
   auto right_distance = right_revolutions * one_revolution_distance_right;
   auto average_distance = (right_distance + left_distance) / 2;
-  RCLCPP_DEBUG(get_logger(), "Left dist: %f\tRight dist: %f\tAverage: %f",
+  RCLCPP_DEBUG(
+    get_logger(), "Left dist: %f\tRight dist: %f\tAverage: %f",
     left_distance, right_distance, average_distance);
 
   theta += atan2(right_distance - left_distance, wheel_base);