Ros2 migration behavior/arm

astrobee/launch/robot/MLP.launch.py

@@ -53,6 +53,7 @@ def generate_launch_description():
         namespace='',
         package='rclcpp_components',
         executable='component_container',
+        condition=IfCondition(LaunchConfiguration("gtloc")),
         composable_node_descriptions=[
             # ComposableNode(
             #     package='localization_manager',
@@ -61,9 +62,8 @@ def generate_launch_description():
             #     extra_arguments=[{'use_intra_process_comms': True}]),
             ComposableNode(
                 package='ground_truth_localizer',
-                plugin='ground_truth_localizer::GroundTruthLocalizerNodelet',
+                plugin='ground_truth_localizer::GroundTruthLocalizerComponent',
                 name='ground_truth_localizer',
-                # condition=IfCondition(LaunchConfiguration("gtloc"))
                 ),
             # ComposableNode(
             #     package='image_sampler',
@@ -75,10 +75,32 @@ def generate_launch_description():
             ]
         ),
         ComposableNodeContainer(
+        name='mlp_localization',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        condition=UnlessCondition(LaunchConfiguration("gtloc")),
+        composable_node_descriptions=[
+            # ComposableNode(
+            #     package='localization_manager',
+            #     plugin='localization_manager::LocalizationManagerNodelet',
+            #     name='localization_manager',
+            #     extra_arguments=[{'use_intra_process_comms': True}]),
+            # ComposableNode(
+            #     package='image_sampler',
+            #     plugin='image_sampler::ImageSampler',
+            #     name='image_sampler',
+            #     remappings=[('/image', '/burgerimage')],
+            #     parameters=[{'history': 'keep_last'}],
+            #     extra_arguments=[{'use_intra_process_comms': True}])
+            ]
+        ),
+        ComposableNodeContainer(
         name='mlp_graph_localization',
         namespace='',
         package='rclcpp_components',
         executable='component_container',
+        condition=UnlessCondition(LaunchConfiguration("gtloc")),
         composable_node_descriptions=[
             # ComposableNode(
             #     package='graph_loc',
@@ -92,6 +114,7 @@ def generate_launch_description():
         namespace='',
         package='rclcpp_components',
         executable='component_container',
+        condition=IfCondition(LaunchConfiguration("drivers")),
         composable_node_descriptions=[
             # ComposableNode(
             #     package='depth_odometry_nodelet',
@@ -149,7 +172,27 @@ def generate_launch_description():
         name='mlp_depth_cam',
         namespace='',
         package='rclcpp_components',
+        condition=UnlessCondition(LaunchConfiguration("drivers")),
         executable='component_container',
+        composable_node_descriptions=[
+            # ComposableNode(
+            #     package='handrail_detect',
+            #     plugin='handrail_detect::HandrailDetect',
+            #     name='handrail_detect',
+            #     extra_arguments=[{'use_intra_process_comms': True}]),
+            # ComposableNode(
+            #     package='planner_qp',
+            #     plugin='planner_qp::Planner',
+            #     name='planner_qp',
+            #     extra_arguments=[{'use_intra_process_comms': True}]),
+            ]
+        ),
+        ComposableNodeContainer(
+        name='mlp_depth_cam',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        condition=IfCondition(LaunchConfiguration("drivers")),
         composable_node_descriptions=[
             # ComposableNode(
             #     package='handrail_detect',
@@ -222,6 +265,7 @@ def generate_launch_description():
         namespace='',
         package='rclcpp_components',
         executable='component_container',
+        condition=IfCondition(LaunchConfiguration("drivers")),
         composable_node_descriptions=[
             # ComposableNode(
             #     package='sys_monitor',
@@ -241,6 +285,20 @@ def generate_launch_description():
             ]
         ),
         ComposableNodeContainer(
+        name='mlp_monitors',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        condition=UnlessCondition(LaunchConfiguration("drivers")),
+        composable_node_descriptions=[
+            # ComposableNode(
+            #     package='sys_monitor',
+            #     plugin='sys_monitor::SysMonitor',
+            #     name='sys_monitor',
+            #     extra_arguments=[{'use_intra_process_comms': True}]),
+            ]
+        ),
+        ComposableNodeContainer(
         name='mlp_communications',
         namespace='',
         package='rclcpp_components',
@@ -271,6 +329,7 @@ def generate_launch_description():
         namespace='',
         package='rclcpp_components',
         executable='component_container',
+        condition=IfCondition(LaunchConfiguration("drivers")),
         composable_node_descriptions=[
             # ComposableNode(
             #     package='perching_arm',
@@ -283,7 +342,7 @@ def generate_launch_description():
         name='mlp_mobility',
         namespace='',
         package='rclcpp_components',
-        executable='component_container',
+        executable='component_container_mt',
         composable_node_descriptions=[
             ComposableNode(
                 package='choreographer',
@@ -307,13 +366,12 @@ def generate_launch_description():
         name='mlp_arm',
         namespace='',
         package='rclcpp_components',
-        executable='component_container',
+        executable='component_container_mt',
         composable_node_descriptions=[
-            # ComposableNode(
-            #     package='arm',
-            #     plugin='arm::ArmNodelet',
-            #     name='arm',
-            #     extra_arguments=[{'use_intra_process_comms': True}]),
+            ComposableNode(
+                package='arm',
+                plugin='arm::ArmComponent',
+                name='arm'),
             ]
         ),
         ComposableNodeContainer(
@@ -347,6 +405,7 @@ def generate_launch_description():
         namespace='',
         package='rclcpp_components',
         executable='component_container',
+        condition=IfCondition(LaunchConfiguration("drivers")),
         composable_node_descriptions=[
             # ComposableNode(
             #     package='vive',
@@ -361,11 +420,11 @@ def generate_launch_description():
         package='rclcpp_components',
         executable='component_container',
         composable_node_descriptions=[
-            # ComposableNode(
-            #     package='states',
-            #     plugin='states::StatesNodelet',
-            #     name='states',
-            #     extra_arguments=[{'use_intra_process_comms': True}]),
+            ComposableNode(
+                package='states',
+                plugin='states::StatesComponent',
+                name='states',
+                extra_arguments=[{'use_intra_process_comms': True}]),
             ]
         ),
     ])

behaviors/arm/CMakeLists.txt

@@ -15,78 +15,68 @@
 # License for the specific language governing permissions and limitations
 # under the License.
 
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.5)
 project(arm)
 
-## Compile as C++14, supported in ROS Kinetic and newer
-add_compile_options(-std=c++14)
-add_definitions(-DROS1)
-
-## Find catkin macros and libraries
-find_package(catkin2 REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-  nodelet
-  ff_msgs
-  ff_hw_msgs
-  ff_util
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+set( CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wall -Werror -O3 -fPIC" )
 
-catkin_package(
-  LIBRARIES
-    arm
-  CATKIN_DEPENDS
-    roscpp
-    nodelet
-    pluginlib
-    actionlib
-    sensor_msgs
-    ff_msgs
-    ff_hw_msgs
-    ff_util
+set(dependencies
+rclcpp
+rclcpp_components
+ff_hw_msgs
+ff_msgs
+sensor_msgs
+ff_util
+ff_common
 )
 
+## Find ament and libraries
+find_package(ament_cmake REQUIRED)
+
+foreach(dep ${dependencies})
+  find_package(${dep} REQUIRED)
+endforeach()
+
+
+
 ###########
 ## Build ##
 ###########
 
 # Specify additional locations of header files
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
 )
 
 # Declare C++ libraries
-add_library(arm
-  src/arm_nodelet.cc
+add_library(arm SHARED
+  src/arm_component.cc
 )
-add_dependencies(arm ${catkin_EXPORTED_TARGETS})
-target_link_libraries(arm ${catkin_LIBRARIES})
+target_compile_definitions(arm PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(arm ${dependencies})
+rclcpp_components_register_nodes(arm "arm::ArmComponent")
 
 ## Declare a C++ executable: arm_tool
 add_executable(arm_tool tools/arm_tool.cc)
-add_dependencies(arm_tool ${catkin_EXPORTED_TARGETS})
+ament_target_dependencies(arm_tool ${dependencies})
 target_link_libraries(arm_tool
-  arm gflags ${catkin_LIBRARIES})
+  arm gflags)
 
 #############
 ## Install ##
 #############
 
-# Mark libraries for installation
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
-
-# Mark nodelet_plugin for installation
-install(FILES nodelet_plugins.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# Mark libraries and tools for installation
+install(TARGETS ${PROJECT_NAME} arm_tool
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-# Install C++ executables
-install(TARGETS arm_tool DESTINATION bin)
 install(CODE "execute_process(
   COMMAND ln -s ../../bin/arm_tool share/${PROJECT_NAME}
   WORKING_DIRECTORY ${CMAKE_INSTALL_PREFIX}
@@ -95,6 +85,8 @@ install(CODE "execute_process(
   )")
 
 # Mark launch files for installation
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
   PATTERN ".svn" EXCLUDE)
+
+ament_package()

behaviors/arm/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>arm</name>
   <version>0.0.0</version>
   <description>
@@ -14,23 +14,21 @@
   <maintainer email="[email protected]">
     Astrobee Flight Software
   </maintainer>
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>nodelet</build_depend>
-  <build_depend>pluginlib</build_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rclcpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>ff_msgs</build_depend>
   <build_depend>ff_hw_msgs</build_depend>
   <build_depend>ff_util</build_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>pluginlib</run_depend>
-  <run_depend>actionlib</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>ff_msgs</run_depend>
-  <run_depend>ff_hw_msgs</run_depend>
-  <run_depend>ff_util</run_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>ff_msgs</exec_depend>
+  <exec_depend>ff_hw_msgs</exec_depend>
+  <exec_depend>ff_util</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+
   <export>
-    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+    <build_type>ament_cmake</build_type>
   </export>
 </package>