sciurus17、sciurus17_toolsのROS 2対応 (#145)

* sciurus17パッケージROS 2対応 * sciurus17_bringup削除 * sciurus17_msgs削除 * sciurus17_tools ROS 2対応 * realsense_hwreset削除 * package.xml修正 * シェルスクリプトのインストール
rt-net · Nov 9, 2023 · 36ab12a · 36ab12a
1 parent 572eefd
commit 36ab12a
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Showing 15 changed files with 42 additions and 214 deletions.
diff --git a/sciurus17/CMakeLists.txt b/sciurus17/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(sciurus17)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+find_package(ament_cmake REQUIRED)
+ament_package()
diff --git a/sciurus17/COLCON_IGNORE b/sciurus17/COLCON_IGNORE
diff --git a/sciurus17/package.xml b/sciurus17/package.xml
@@ -1,31 +1,34 @@
-<package>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>sciurus17</name>
   <version>2.0.0</version>
-  <description>
-    ROS package suite of Sciurus17
-  </description>
+  <description>ROS 2 package suite of Sciurus17</description>
   <maintainer email="[email protected]">RT Corporation</maintainer>
-  <author email="[email protected]">Hiroyuki Nomura</author>
-  <author email="[email protected]">Shota Hirama</author>
 
   <license>Apache License 2.0</license>
 
+  <author email="[email protected]">Hiroyuki Nomura</author>
+  <author email="[email protected]">Shota Hirama</author>
+  <author email="[email protected]">Atsushi Kuwagata</author>
+
   <url type="website">http://wiki.ros.org/sciurus17_ros</url>
   <url type="bugtracker">https://github.com/rt-net/sciurus17_ros/issues</url>
   <url type="repository">https://github.com/rt-net/sciurus17_ros</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <run_depend>sciurus17_control</run_depend>
-  <run_depend>sciurus17_description</run_depend>
-  <run_depend>sciurus17_moveit_config</run_depend>
-  <run_depend>sciurus17_msgs</run_depend>
-  <run_depend>sciurus17_vision</run_depend>
-  <run_depend>sciurus17_bringup</run_depend>
-  <run_depend>sciurus17_examples</run_depend>
-  <run_depend>sciurus17_tools</run_depend>
-  <run_depend>sciurus17_gazebo</run_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>sciurus17_control</exec_depend>
+  <exec_depend>sciurus17_description</exec_depend>
+  <exec_depend>sciurus17_examples</exec_depend>
+  <exec_depend>sciurus17_gazebo</exec_depend>
+  <exec_depend>sciurus17_moveit_config</exec_depend>
+  <exec_depend>sciurus17_tools</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
   <export>
-    <metapackage/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/sciurus17_bringup/CMakeLists.txt b/sciurus17_bringup/CMakeLists.txt
diff --git a/sciurus17_bringup/COLCON_IGNORE b/sciurus17_bringup/COLCON_IGNORE
diff --git a/sciurus17_bringup/launch/sciurus17_bringup.launch b/sciurus17_bringup/launch/sciurus17_bringup.launch
diff --git a/sciurus17_bringup/package.xml b/sciurus17_bringup/package.xml
diff --git a/sciurus17_msgs/CMakeLists.txt b/sciurus17_msgs/CMakeLists.txt
diff --git a/sciurus17_msgs/COLCON_IGNORE b/sciurus17_msgs/COLCON_IGNORE
diff --git a/sciurus17_msgs/cfg/ServoParameter.cfg b/sciurus17_msgs/cfg/ServoParameter.cfg
diff --git a/sciurus17_msgs/package.xml b/sciurus17_msgs/package.xml
diff --git a/sciurus17_tools/CMakeLists.txt b/sciurus17_tools/CMakeLists.txt
@@ -1,37 +1,12 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(sciurus17_tools)
 
-add_compile_options(-std=c++11)
+find_package(ament_cmake REQUIRED)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
+install(DIRECTORY
+  scripts
+  rules
+  DESTINATION lib/${PROJECT_NAME}/
 )
 
-find_package(realsense2)
-if(NOT realsense2_FOUND)
-    message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n")
-endif()
-
-catkin_package(
-  CATKIN_DEPENDS
-    roscpp
-)
-
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  ${realsense_INCLUDE_DIR}
-)
-
-add_executable(realsense_hwreset src/realsense_hwreset.cpp)
-target_link_libraries(realsense_hwreset
-    ${realsense2_LIBRARY}
-    ${catkin_LIBRARIES}
-    ${CMAKE_THREAD_LIBS_INIT}
-    )
-
-install(TARGETS realsense_hwreset
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(DIRECTORY scripts rules DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
+ament_package()
diff --git a/sciurus17_tools/COLCON_IGNORE b/sciurus17_tools/COLCON_IGNORE
diff --git a/sciurus17_tools/package.xml b/sciurus17_tools/package.xml
@@ -1,18 +1,23 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>sciurus17_tools</name>
   <version>2.0.0</version>
   <description>The sciurus17_tools package</description>
-
   <maintainer email="[email protected]">RT Corporation</maintainer>
+
+  <license>Apache License 2.0</license>
+
   <author email="[email protected]">Hiroyuki Nomura</author>
   <author email="[email protected]">Shota Hirama</author>
-  <license>Apache License 2.0</license>
+  <author email="[email protected]">Atsushi Kuwagata</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>realsense2_camera</build_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <run_depend>roscpp</run_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
diff --git a/sciurus17_tools/src/realsense_hwreset.cpp b/sciurus17_tools/src/realsense_hwreset.cpp