Initial ROS2 port build changes.

dirk-thomas · Juan Ignacio Ubeira · commit 7b4a8d9f2273 · 2019-08-22T16:15:01.000-03:00
- Switch from catkin to ament_cmake
- Use package name for builtin types and header
- Rename fields which collide with keywords
- Add ros1_bridge mapping rule
- Use ament_cmake_ros
- Set CMAKE_CXX_STANDARD
diff --git a/rosapi/CMakeLists.txt b/rosapi/CMakeLists.txt
@@ -1,50 +1,55 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(rosapi)
 
-find_package(catkin REQUIRED COMPONENTS message_generation)
-catkin_python_setup()
+find_package(ament_cmake_ros REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
-add_message_files(
-  FILES
-  TypeDef.msg
-)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-add_service_files(
-  FILES
-  DeleteParam.srv
-  GetActionServers.srv
-  GetParam.srv
-  GetParamNames.srv
-  GetTime.srv
-  HasParam.srv
-  MessageDetails.srv
-  Nodes.srv
-  NodeDetails.srv
-  Publishers.srv
-  SearchParam.srv
-  ServiceHost.srv
-  ServiceNode.srv
-  ServiceProviders.srv
-  ServiceRequestDetails.srv
-  ServiceResponseDetails.srv
-  Services.srv
-  ServicesForType.srv
-  ServiceType.srv
-  SetParam.srv
-  Subscribers.srv
-  Topics.srv
-  TopicsForType.srv
-  TopicType.srv
-)
+ament_python_install_package(
+  ${PROJECT_NAME} PACKAGE_DIR "src/${PROJECT_NAME}")
 
-generate_messages(
-  DEPENDENCIES
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/TypeDef.msg
+  srv/DeleteParam.srv
+  srv/GetActionServers.srv
+  srv/GetParam.srv
+  srv/GetParamNames.srv
+  srv/GetTime.srv
+  srv/HasParam.srv
+  srv/MessageDetails.srv
+  srv/Nodes.srv
+  srv/NodeDetails.srv
+  srv/Publishers.srv
+  srv/SearchParam.srv
+  srv/ServiceHost.srv
+  srv/ServiceNode.srv
+  srv/ServiceProviders.srv
+  srv/ServiceRequestDetails.srv
+  srv/ServiceResponseDetails.srv
+  srv/Services.srv
+  srv/ServicesForType.srv
+  srv/ServiceType.srv
+  srv/SetParam.srv
+  srv/Subscribers.srv
+  srv/Topics.srv
+  srv/TopicsForType.srv
+  srv/TopicType.srv
+  DEPENDENCIES builtin_interfaces
 )
 
-catkin_package(
-  CATKIN_DEPENDS message_runtime
-)
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
 
 install(PROGRAMS scripts/rosapi_node
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  FILES mapping_rules.yaml
+  DESTINATION share/${PROJECT_NAME}
 )
diff --git a/rosapi/mapping_rules.yaml b/rosapi/mapping_rules.yaml
@@ -0,0 +1,8 @@
+-
+  ros1_package_name: 'rosapi'
+  ros1_service_name: 'GetParam'
+  ros2_package_name: 'rosapi'
+  ros2_service_name: 'GetParam'
+  request_fields_1_to_2:
+    name: 'name'
+    default: 'default_value'
diff --git a/rosapi/package.xml b/rosapi/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>rosapi</name>
   <version>0.11.3</version>
   <description>
@@ -17,13 +17,22 @@
   <maintainer email="rctoris@wpi.edu">Russell Toris</maintainer>
   <maintainer email="jihoonlee.in@gmail.com">Jihoon Lee</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <build_depend>message_generation</build_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <exec_depend>rclpy</exec_depend>
   <exec_depend>rosbridge_library</exec_depend>
-  <exec_depend>rospy</exec_depend>
+  <!--
   <exec_depend>rosnode</exec_depend>
   <exec_depend>rosgraph</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
+  -->
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <ros1_bridge mapping_rules="mapping_rules.yaml"/>
+  </export>
 </package>
diff --git a/rosapi/setup.py b/rosapi/setup.py
diff --git a/rosapi/srv/GetParam.srv b/rosapi/srv/GetParam.srv
@@ -1,4 +1,4 @@
 string name
-string default
+string default_value
 ---
 string value
diff --git a/rosapi/srv/GetTime.srv b/rosapi/srv/GetTime.srv
@@ -1,2 +1,2 @@
 ---
-time time
+builtin_interfaces/Time time
diff --git a/rosbridge_library/CMakeLists.txt b/rosbridge_library/CMakeLists.txt
@@ -1,55 +1,47 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(rosbridge_library)
 
-find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs)
+find_package(ament_cmake_core REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
 
-# Generate messages for testing (NOINSTALL)
-add_message_files(
-  FILES
-  Num.msg
-  TestChar.msg
-  TestDurationArray.msg
-  TestHeaderArray.msg
-  TestHeader.msg
-  TestHeaderTwo.msg
-  TestTimeArray.msg
-  TestUInt8.msg
-  TestUInt8FixedSizeArray16.msg
-  NOINSTALL
-)
+ament_python_install_package(
+  ${PROJECT_NAME} PACKAGE_DIR "src/${PROJECT_NAME}")
 
-# Generate services for testing (NOINSTALL)
-add_service_files(
-  FILES
-  AddTwoInts.srv
-  SendBytes.srv
-  TestArrayRequest.srv
-  TestEmpty.srv
-  TestMultipleRequestFields.srv
-  TestMultipleResponseFields.srv
-  TestNestedService.srv
-  TestRequestAndResponse.srv
-  TestRequestOnly.srv
-  TestResponseOnly.srv
-  NOINSTALL
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Num.msg
+  msg/TestChar.msg
+  msg/TestDurationArray.msg
+  msg/TestHeaderArray.msg
+  msg/TestHeader.msg
+  msg/TestHeaderTwo.msg
+  msg/TestTimeArray.msg
+  msg/TestUInt8.msg
+  msg/TestUInt8FixedSizeArray16.msg
+  srv/AddTwoInts.srv
+  srv/SendBytes.srv
+  srv/TestArrayRequest.srv
+  srv/TestEmpty.srv
+  srv/TestMultipleRequestFields.srv
+  srv/TestMultipleResponseFields.srv
+  srv/TestNestedService.srv
+  srv/TestRequestAndResponse.srv
+  srv/TestRequestOnly.srv
+  srv/TestResponseOnly.srv
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
+  SKIP_INSTALL
 )
 
-catkin_python_setup()
-
-# Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  geometry_msgs
-)
+ament_export_dependencies(rosidl_default_runtime)
 
-catkin_package(
-  CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
-)
+ament_package()
 
-# Test launch files
-if (CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
-  add_rostest(test/capabilities/test_capabilities.test)
-  add_rostest(test/internal/test_internal.test)
+if (BUILD_TESTING)
+  # TODO reenable rostests
+  # find_package(rostest REQUIRED)
+  # add_rostest(test/capabilities/test_capabilities.test)
+  # add_rostest(test/internal/test_internal.test)
 endif()
diff --git a/rosbridge_library/msg/TestDurationArray.msg b/rosbridge_library/msg/TestDurationArray.msg
@@ -1 +1 @@
-duration[] durations
+builtin_interfaces/Duration[] durations
diff --git a/rosbridge_library/msg/TestHeaderTwo.msg b/rosbridge_library/msg/TestHeaderTwo.msg
@@ -1 +1 @@
-Header header
+std_msgs/Header header
diff --git a/rosbridge_library/msg/TestTimeArray.msg b/rosbridge_library/msg/TestTimeArray.msg
@@ -1 +1 @@
-time[] times
+builtin_interfaces/Time[] times
diff --git a/rosbridge_library/package.xml b/rosbridge_library/package.xml
@@ -48,4 +48,8 @@
   <test_depend>tf2_msgs</test_depend>
   <test_depend>trajectory_msgs</test_depend>
   <test_depend>visualization_msgs</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
diff --git a/rosbridge_library/setup.py b/rosbridge_library/setup.py
diff --git a/rosbridge_library/srv/TestArrayRequest.srv b/rosbridge_library/srv/TestArrayRequest.srv
@@ -1,2 +1,2 @@
-int32[] int
+int32[] int_values
 ---
diff --git a/rosbridge_library/srv/TestMultipleRequestFields.srv b/rosbridge_library/srv/TestMultipleRequestFields.srv
@@ -1,5 +1,5 @@
-int32 int
-float32 float
+int32 int_value
+float32 float_value
 string string
-bool bool
+bool bool_value
 ---
diff --git a/rosbridge_library/srv/TestMultipleResponseFields.srv b/rosbridge_library/srv/TestMultipleResponseFields.srv
@@ -1,5 +1,5 @@
 ---
-int32 int
-float32 float
+int32 int_value
+float32 float_value
 string string
-bool bool
+bool bool_value
diff --git a/rosbridge_server/CMakeLists.txt b/rosbridge_server/CMakeLists.txt
@@ -1,11 +1,13 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(rosbridge_server)
+cmake_minimum_required(VERSION 3.5)
+project(rosbridge_server NONE)
 
-find_package(catkin REQUIRED)
+find_package(ament_cmake_core REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
-catkin_python_setup()
+ament_python_install_package(
+  ${PROJECT_NAME} PACKAGE_DIR "src/${PROJECT_NAME}")
 
-catkin_package()
+ament_package()
 
 install(PROGRAMS
   scripts/rosbridge_websocket.py
@@ -14,13 +16,13 @@ install(PROGRAMS
   scripts/rosbridge_tcp
   scripts/rosbridge_udp
   scripts/rosbridge_udp.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 install(FILES
   launch/rosbridge_websocket.launch
   launch/rosbridge_tcp.launch
   launch/rosbridge_udp.launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  DESTINATION share/${PROJECT_NAME}/launch
 )
 
diff --git a/rosbridge_server/package.xml b/rosbridge_server/package.xml
@@ -23,4 +23,8 @@
   <exec_depend>rosapi</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>rosauth</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
diff --git a/rosbridge_suite/CMakeLists.txt b/rosbridge_suite/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(rosbridge_suite)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+cmake_minimum_required(VERSION 3.5)
+project(rosbridge_suite NONE)
+find_package(ament_cmake_core REQUIRED)
+ament_package()
diff --git a/rosbridge_suite/package.xml b/rosbridge_suite/package.xml

Original file line number	Diff line number	Diff line change
`@@ -1,2 +1,2 @@`
`1`	`1`	`---`
`2`		`-time time`
	`2`	`+builtin_interfaces/Time time`
Original file line number	Diff line number	Diff line change
`@@ -1 +1 @@`
`1`		`-duration[] durations`
	`1`	`+builtin_interfaces/Duration[] durations`
Original file line number	Diff line number	Diff line change
`@@ -1 +1 @@`
`1`		`-Header header`
	`1`	`+std_msgs/Header header`
Original file line number	Diff line number	Diff line change
`@@ -1 +1 @@`
`1`		`-time[] times`
	`1`	`+builtin_interfaces/Time[] times`
Original file line number	Diff line number	Diff line change
`@@ -1,2 +1,2 @@`
`1`		`-int32[] int`
	`1`	`+int32[] int_values`
`2`	`2`	`---`