Merge pull request #7 from cmastalli/topic/ros2-migration

ROS2 support
RobotMotorIntelligence · Jul 7, 2023 · 26818d3 · 26818d3
2 parents f5cb651 + 9a66776
commit 26818d3
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diff --git a/.github/workflows/industrial_ci_action.yml → .github/workflows/ros_ci.yml b/.github/workflows/industrial_ci_action.yml → .github/workflows/ros_ci.yml
@@ -6,9 +6,10 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: noetic}
+          - {ROS_DISTRO: noetic, PRERELEASE: true}
+          - {ROS_DISTRO: humble}
+          - {ROS_DISTRO: rolling}
     env:
-      PRERELEASE: true
       UPSTREAM_WORKSPACE: dependencies.rosinstall
     runs-on: ubuntu-latest
     steps:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,6 +1,10 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.3)
 project(crocoddyl_msgs)
 
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wno-sign-conversion)
+endif()
+
 # Set up project properties
 set(PROJECT_NAME crocoddyl_msgs)
 set(PROJECT_DESCRIPTION "Crocoddyl ROS messages")
@@ -15,61 +19,114 @@ message(STATUS "Released under the BSD 3-Clause License.")
 # Find required packages
 find_package(Eigen3 REQUIRED)
 find_package(pinocchio REQUIRED)
-find_package(
-  catkin REQUIRED COMPONENTS roscpp std_msgs whole_body_state_msgs
-                             message_generation realtime_tools pybind11_catkin)
-
-# Define messages to be generated
-add_message_files(
-  DIRECTORY
-  msg
-  FILES
-  TimeInterval.msg
-  State.msg
-  Control.msg
-  FeedbackGain.msg
-  SolverStatistics.msg
-  SolverTrajectory.msg)
-generate_messages(DEPENDENCIES std_msgs)
-
-# Define catkin dependencies
-catkin_package(
-  INCLUDE_DIRS
-  include
-  CATKIN_DEPENDS
-  message_runtime
-  std_msgs
-  whole_body_state_msgs
-  DEPENDS)
 
 # Define the Python modules
 set(${PROJECT_NAME}_PYBIND11_MODULE crocoddyl_ros)
 
-if(APPLE AND ${pybind11_catkin_VERSION} VERSION_LESS "2.10.3")
-  add_definitions(-DCROCODDYL_MSG_DISABLE_PYBIND11_WARNINGS)
+if($ENV{ROS_VERSION} EQUAL 2) # ROS 2
+  add_definitions(-DROS2)
+  # Default to C++14
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+  # Find ROS2 required packages
+  set(PACKAGE_DEPENDENCIES rclcpp std_msgs whole_body_state_msgs realtime_tools
+                           pybind11)
+  find_package(ament_cmake REQUIRED)
+  find_package(rosidl_default_generators REQUIRED)
+  foreach(DEPENDENCY IN ITEMS ${PACKAGE_DEPENDENCIES})
+    find_package(${DEPENDENCY} REQUIRED)
+  endforeach()
+  # Define messages to be generated
+  rosidl_generate_interfaces(
+    ${PROJECT_NAME}
+    "msg/TimeInterval.msg"
+    "msg/State.msg"
+    "msg/Control.msg"
+    "msg/FeedbackGain.msg"
+    "msg/SolverStatistics.msg"
+    "msg/SolverTrajectory.msg"
+    DEPENDENCIES
+    std_msgs
+    whole_body_state_msgs)
+  # Add warning definitions
+  if(APPLE AND ${pybind11_VERSION} VERSION_LESS "2.10.3")
+    add_definitions(-DCROCODDYL_MSG_DISABLE_PYBIND11_WARNINGS)
+  endif()
+  # Build the Python interface for the ROS publisher and subscriber
+  foreach(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
+    pybind11_add_module(${PYBIND11_MODULE} MODULE src/${PYBIND11_MODULE}.cpp)
+    target_include_directories(
+      ${PYBIND11_MODULE}
+      PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+             ${EIGEN3_INCLUDE_DIR} $<INSTALL_INTERFACE:include>)
+    ament_target_dependencies(${PYBIND11_MODULE} PUBLIC ${PACKAGE_DEPENDENCIES})
+    rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME}
+                                  rosidl_typesupport_cpp)
+    target_link_libraries(
+      ${PYBIND11_MODULE} PUBLIC ${cpp_typesupport_target} ${Boost_LIBRARIES}
+                                ${Boost_PYTHON_LIBRARY} pinocchio::pinocchio)
+    set_target_properties(${PYBIND11_MODULE} PROPERTIES LIBRARY_OUTPUT_DIRECTORY
+                                                        lib/${PROJECT_NAME})
+    install(TARGETS ${PYBIND11_MODULE}
+            LIBRARY DESTINATION ${PYTHON_INSTALL_DIR})
+  endforeach(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
+  # Install the include files
+  install(DIRECTORY include/${PROJECT_NAME}/
+          DESTINATION include/${PROJECT_NAME})
+  ament_export_dependencies(rosidl_default_runtime)
+  ament_package()
+else() # ROS 1
+  # Find ROS1 required packages
+  find_package(
+    catkin REQUIRED
+    COMPONENTS roscpp std_msgs whole_body_state_msgs message_generation
+               realtime_tools pybind11_catkin)
+  # Define messages to be generated
+  add_message_files(
+    DIRECTORY
+    msg
+    FILES
+    TimeInterval.msg
+    State.msg
+    Control.msg
+    FeedbackGain.msg
+    SolverStatistics.msg
+    SolverTrajectory.msg)
+  generate_messages(DEPENDENCIES std_msgs whole_body_state_msgs)
+  # Define catkin dependencies
+  catkin_package(
+    INCLUDE_DIRS
+    include
+    CATKIN_DEPENDS
+    message_runtime
+    std_msgs
+    whole_body_state_msgs
+    DEPENDS)
+  # Add warnings definition
+  if(APPLE AND ${pybind11_catkin_VERSION} VERSION_LESS "2.10.3")
+    add_definitions(-DCROCODDYL_MSG_DISABLE_PYBIND11_WARNINGS)
+  endif()
+  # Build the Python interface for the ROS publisher and subscriber
+  foreach(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
+    pybind11_add_module(${PYBIND11_MODULE} MODULE src/${PYBIND11_MODULE}.cpp)
+    target_include_directories(
+      ${PYBIND11_MODULE} PUBLIC include ${catkin_INCLUDE_DIRS}
+                                ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
+    target_link_libraries(
+      ${PYBIND11_MODULE} PUBLIC ${catkin_LIBRARIES} ${Boost_LIBRARIES}
+                                ${Boost_PYTHON_LIBRARY} pinocchio::pinocchio)
+    add_dependencies(${PYBIND11_MODULE} ${crocoddyl_msgs_EXPORTED_TARGETS})
+    set_target_properties(
+      ${PYBIND11_MODULE}
+      PROPERTIES LIBRARY_OUTPUT_DIRECTORY
+                 ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION})
+    install(TARGETS ${PYBIND11_MODULE}
+            LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION})
+  endforeach(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
+  # Install the include files
+  install(DIRECTORY include/${PROJECT_NAME}/
+          DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 endif()
 
-# Build the Python interface for the ROS publisher and subscriber
-add_compile_options(-Wall -Wpedantic -Wextra -Wno-sign-conversion)
-foreach(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
-  pybind11_add_module(${PYBIND11_MODULE} MODULE src/${PYBIND11_MODULE}.cpp)
-  target_include_directories(
-    ${PYBIND11_MODULE} PRIVATE include ${catkin_INCLUDE_DIRS}
-                               ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
-  target_link_libraries(
-    ${PYBIND11_MODULE} PRIVATE ${catkin_LIBRARIES} ${Boost_LIBRARIES}
-                               ${Boost_PYTHON_LIBRARY} pinocchio::pinocchio)
-  add_dependencies(${PYBIND11_MODULE} ${crocoddyl_msgs_EXPORTED_TARGETS})
-  set_target_properties(
-    ${PYBIND11_MODULE}
-    PROPERTIES LIBRARY_OUTPUT_DIRECTORY
-               ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_PYTHON_DESTINATION})
-  install(TARGETS ${PYBIND11_MODULE}
-          LIBRARY DESTINATION ${CATKIN_GLOBAL_PYTHON_DESTINATION})
-endforeach(PYBIND11_MODULE ${${PROJECT_NAME}_PYBIND11_MODULE})
-
-# Install the include files
-install(DIRECTORY include/${PROJECT_NAME}/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
-
 add_subdirectory(unittest)
diff --git a/README.md b/README.md
@@ -13,16 +13,19 @@ Furthermore, the Python bindings of publishers and subscribers using roscpp help
 - [std_msgs](http://wiki.ros.org/std_msgs)
 - [whole_body_state_msgs](https://github.com/loco-3d/whole_body_state_msgs)
 - [realtime_tools](http://wiki.ros.org/realtime_tools)
-- [pybind11_catkin](https://github.com/wxmerkt/pybind11_catkin), wrapping [pybind11](https://pybind11.readthedocs.io/en/stable/basics.html) for use in ROS1
+- [pybind11](https://pybind11.readthedocs.io/en/stable/basics.html) (we wrap it in ROS1 via [pybind11_catkin](https://github.com/wxmerkt/pybind11_catkin))
 - [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page)
 - [pinocchio](https://github.com/stack-of-tasks/pinocchio)
 
-To compile this catkin project you need to do:
+To compile this catkin/colcon project you need to do:
 
+```bash
+    cd your_ros_ws/
+    catkin build # ROS1
+    colcon build # ROS2
 ```
-cd your_ros_ws/
-catkin build #catkin_make
-```
+
+Note that this package supports ROS1 and ROS2.
 
 ## :copyright: Credits