From 3fe0ab12c3ed1e879cc85c53ff773728dc438fed Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Tue, 10 Jan 2023 15:48:11 +0200 Subject: [PATCH] Switch to ROS2 Humble --- Dockerfile | 8 +++- drawing_robot_ros2.repos | 42 +++++++++---------- package.xml | 3 -- src/axidraw_controller/CMakeLists.txt | 1 + src/axidraw_controller/package.xml | 1 + .../launch/robots/lite6_table.launch.py | 4 +- src/draw_svg/src/py/drawing_surface.py | 3 +- src/drawing_controller/package.xml | 2 +- src/lite6_controller/CMakeLists.txt | 1 + src/lite6_controller/package.xml | 1 + src/robot_controller/CMakeLists.txt | 3 ++ src/robot_interfaces/package.xml | 1 + 12 files changed, 39 insertions(+), 31 deletions(-) diff --git a/Dockerfile b/Dockerfile index 5260aa0..5748bf6 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,4 +1,4 @@ -ARG ROS_DISTRO=galactic +ARG ROS_DISTRO=humble FROM ros:${ROS_DISTRO}-ros-base ### Use bash by default @@ -22,7 +22,11 @@ RUN apt-get update && \ ### Install extra dependencies RUN apt-get update && \ - apt-get install -yq python3-pil.imagetk + apt-get install -yq python3-pil.imagetk && \ + apt-get install -yq ros-${ROS_DISTRO}-pilz-industrial-motion-planner && \ + apt-get install -yq tmux && \ + apt-get install -yq ros-${ROS_DISTRO}-desktop && \ + apt-get install -yq ros-${ROS_DISTRO}-rclcpp-components ### Install AxiDraw RUN apt-get update && \ diff --git a/drawing_robot_ros2.repos b/drawing_robot_ros2.repos index 768b8d9..cf072b1 100644 --- a/drawing_robot_ros2.repos +++ b/drawing_robot_ros2.repos @@ -1,25 +1,25 @@ repositories: - pymoveit2: - type: git - url: https://github.com/AndrejOrsula/pymoveit2.git - version: master - panda_ign_moveit2: - type: git - url: https://github.com/AndrejOrsula/panda_ign_moveit2.git - version: master - ros_ign: - type: git - url: https://github.com/ignitionrobotics/ros_ign.git - version: galactic - ign_ros2_control: - type: git - url: https://github.com/AndrejOrsula/ign_ros2_control.git - version: devel - ros2_controllers: - type: git - url: https://github.com/AndrejOrsula/ros2_controllers.git - version: jtc_effort + #pymoveit2: + # type: git + # url: https://github.com/AndrejOrsula/pymoveit2.git + # version: master + #panda_ign_moveit2: + # type: git + # url: https://github.com/AndrejOrsula/panda_ign_moveit2.git + # version: master + #ros_ign: + # type: git + # url: https://github.com/ignitionrobotics/ros_ign.git + # version: galactic + #ign_ros2_control: + # type: git + # url: https://github.com/AndrejOrsula/ign_ros2_control.git + # version: devel + #ros2_controllers: + # type: git + # url: https://github.com/AndrejOrsula/ros2_controllers.git + # version: jtc_effort xarm_ros2: type: git url: https://github.com/xArm-Developer/xarm_ros2 - version: galactic + version: humble diff --git a/package.xml b/package.xml index 4af70cd..3405af1 100644 --- a/package.xml +++ b/package.xml @@ -21,9 +21,6 @@ ros_ign_gazebo rviz2 - panda_description - panda_moveit_config - ament_lint_auto ament_lint_common diff --git a/src/axidraw_controller/CMakeLists.txt b/src/axidraw_controller/CMakeLists.txt index aed3487..4af5abc 100644 --- a/src/axidraw_controller/CMakeLists.txt +++ b/src/axidraw_controller/CMakeLists.txt @@ -12,6 +12,7 @@ find_package(ament_cmake REQUIRED) # find_package( REQUIRED) # find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) find_package(rclcpp_action REQUIRED) find_package(robot_interfaces REQUIRED) find_package(robot_controller REQUIRED) diff --git a/src/axidraw_controller/package.xml b/src/axidraw_controller/package.xml index 575e365..e38470b 100644 --- a/src/axidraw_controller/package.xml +++ b/src/axidraw_controller/package.xml @@ -13,6 +13,7 @@ ament_lint_common rclcpp + rclcpp_components geometry_msgs diff --git a/src/draw_svg/launch/robots/lite6_table.launch.py b/src/draw_svg/launch/robots/lite6_table.launch.py index 16be54b..0b1699f 100644 --- a/src/draw_svg/launch/robots/lite6_table.launch.py +++ b/src/draw_svg/launch/robots/lite6_table.launch.py @@ -59,8 +59,8 @@ def launch_setup(context, *args, **kwargs): get_xacro_file_content = getattr(mod, 'get_xacro_file_content') robot_description = { 'robot_description': get_xacro_file_content( - #xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']), - xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']), + xacro_file=PathJoinSubstitution([FindPackageShare('xarm_description'), 'urdf', 'xarm_device.urdf.xacro']), + #xacro_file=PathJoinSubstitution([FindPackageShare('draw_svg'), 'urdf', 'xarm_pen.urdf.xacro']), arguments={ 'prefix': prefix, 'dof': dof, diff --git a/src/draw_svg/src/py/drawing_surface.py b/src/draw_svg/src/py/drawing_surface.py index 9bcc988..83871a9 100755 --- a/src/draw_svg/src/py/drawing_surface.py +++ b/src/draw_svg/src/py/drawing_surface.py @@ -1,11 +1,10 @@ #!/usr/bin/env python3 -"""Example that uses MoveIt 2 to follow a target inside Ignition Gazebo""" +"""GUI for virtual drawing surface""" import rclpy from geometry_msgs.msg import Pose, PoseWithCovariance, Point from nav_msgs.msg import Odometry from sensor_msgs.msg import Image as SensorImage -from pymoveit2 import MoveIt2 from robots import lite6 from rclpy.callback_groups import ReentrantCallbackGroup from rclpy.node import Node diff --git a/src/drawing_controller/package.xml b/src/drawing_controller/package.xml index 8ed1373..b35ede2 100644 --- a/src/drawing_controller/package.xml +++ b/src/drawing_controller/package.xml @@ -8,7 +8,7 @@ TODO: License declaration rclpy - robot_interfaces + robot_interfaces ament_copyright ament_flake8 diff --git a/src/lite6_controller/CMakeLists.txt b/src/lite6_controller/CMakeLists.txt index 61c1f73..e792711 100644 --- a/src/lite6_controller/CMakeLists.txt +++ b/src/lite6_controller/CMakeLists.txt @@ -8,6 +8,7 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) +find_package(rclcpp_components REQUIRED) find_package(rclcpp_action REQUIRED) find_package(robot_interfaces REQUIRED) find_package(robot_controller REQUIRED) diff --git a/src/lite6_controller/package.xml b/src/lite6_controller/package.xml index 8c663b9..8b8d793 100644 --- a/src/lite6_controller/package.xml +++ b/src/lite6_controller/package.xml @@ -10,6 +10,7 @@ ament_cmake rclcpp + rclcpp_components moveit diff --git a/src/robot_controller/CMakeLists.txt b/src/robot_controller/CMakeLists.txt index 9092b07..f2ee5c9 100644 --- a/src/robot_controller/CMakeLists.txt +++ b/src/robot_controller/CMakeLists.txt @@ -13,6 +13,7 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_action REQUIRED) +find_package(rclcpp_components REQUIRED) find_package(robot_interfaces REQUIRED) include_directories(include) @@ -20,11 +21,13 @@ include_directories(include) add_library(robot_controller src/cpp/robot_controller.cpp) ament_target_dependencies(robot_controller "rclcpp" + "rclcpp_components" "rclcpp_action" "robot_interfaces") add_executable(dummy_controller src/cpp/dummy_controller.cpp) ament_target_dependencies(dummy_controller "rclcpp" + "rclcpp_components" "rclcpp_action" "robot_interfaces") diff --git a/src/robot_interfaces/package.xml b/src/robot_interfaces/package.xml index 9351354..5f2b4a5 100644 --- a/src/robot_interfaces/package.xml +++ b/src/robot_interfaces/package.xml @@ -12,6 +12,7 @@ ament_lint_auto ament_lint_common + python3-dev geometry_msgs action_msgs std_msgs