Switch to ROS2 Humble

src/axidraw_controller/CMakeLists.txt

@@ -12,6 +12,7 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> 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)

src/axidraw_controller/package.xml

@@ -13,6 +13,7 @@
   <test_depend>ament_lint_common</test_depend>
 
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <!-- <depend>robot_interfaces</depend> -->
   <!-- <depend>robot_controller</depend> -->
   <depend>geometry_msgs</depend>

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,

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

src/drawing_controller/package.xml

@@ -8,7 +8,7 @@
   <license>TODO: License declaration</license>
 
   <depend>rclpy</depend>
-  <depend>robot_interfaces</depend>
+  <exec_depend>robot_interfaces</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

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)

src/lite6_controller/package.xml

@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <!-- <depend>robot_interfaces</depend> -->
   <!-- <depend>robot_controller</depend> -->
   <depend>moveit</depend>

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")
 

src/robot_interfaces/package.xml

@@ -12,6 +12,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <depend>python3-dev</depend>
   <depend>geometry_msgs</depend>
   <depend>action_msgs</depend>
   <depend>std_msgs</depend>