A few changes to CMake, motor_node.cc and motor_hardware.h

CMakeLists.txt

@@ -1,49 +1,85 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.5)
 project(ubiquity_motor_ros2)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
+# Find dependencies
 find_package(ament_cmake REQUIRED)
-#find_package(message_generation REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rclpy REQUIRED)
-find_package(geometry_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(hardware_interface REQUIRED)
-find_package(controller_manager REQUIRED)
+find_package(ros2_control REQUIRED)
 find_package(diagnostic_updater REQUIRED)
-#find_package(dynamic_reconfigure REQUIRED) - does not exist in ROS2
 
-#find_package(Boost REQUIRED)
-#find_package(thread REQUIRED)
-#find_package(atomic REQUIRED)
 
-add_library(ubiquity_motor
-  src/motor_message.cc src/motor_serial.cc src/motor_hardware.cc
+
+# ROS 2 message generation
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/MotorState.msg"
+  DEPENDENCIES std_msgs
 )
 
-install(PROGRAMS
-  scripts/upgrade_firmware.py
-  scripts/test_motor_board.py
-  scripts/test_pi_gpio.py
-  DESTINATION lib/${PROJECT_NAME}
+# Include directories
+include_directories(
+  include
 )
 
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
 
-ament_package()
+# Build the library containing reusable code
+# add_library(ubiquity_motor
+#   src/motor_message.cc
+#   src/motor_serial.cc
+#   src/motor_hardware.cc
+# )
+
+# Link the generated messages to the library
+# ament_target_dependencies(ubiquity_motor
+#   "rclcpp"
+#   "std_msgs"
+#   "sensor_msgs"
+#   "hardware_interface"
+#   "ros2_control"
+#   "diagnostic_updater"
+# )
+
+# Add executable
+add_executable(motor_node src/motor_node.cc)
+
+# add_dependencies(motor_node ${PROJECT_NAME}_interfaces)
+
+# Link the generated messages and the library to the executable
+# target_link_libraries(motor_node ubiquity_motor)
+
+ament_target_dependencies(motor_node
+  "rclcpp"
+  "std_msgs"
+  "sensor_msgs"
+  "hardware_interface"
+  "ros2_control"
+  "diagnostic_updater"
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+# # Install the library and executable
+install(TARGETS
+  motor_node
+  #ubiquity_motor
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# # Install any Python scripts (if any)
+# install(PROGRAMS
+#   scripts/upgrade_firmware.py
+#   scripts/test_motor_board.py
+#   scripts/test_pi_gpio.py
+#   DESTINATION lib/${PROJECT_NAME}
+# )
+
+# Finish up the package
+ament_package()

CMakeLists_old.txt

@@ -0,0 +1,90 @@
+cmake_minimum_required(VERSION 3.5)
+project(ubiquity_motor_ros2)
+
+set(CMAKE_CXX_STANDARD 14) # use C++14
+
+# Compiler flags for warnings
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(ros2_control REQUIRED)
+find_package(diagnostic_updater REQUIRED)
+
+# ROS 2 message generation
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/MotorState.msg"
+)
+
+# Add library
+add_library(ubiquity_motor
+  #src/motor_message.cc src/motor_serial.cc src/motor_hardware.cc
+  src/motor_node.cc
+)
+
+# Include directories for library
+target_include_directories(ubiquity_motor
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
+
+ament_target_dependencies(ubiquity_motor
+  "rclcpp"
+  "std_msgs"
+  "sensor_msgs"
+  "hardware_interface"
+  "ros2_control"
+  "diagnostic_updater"
+)
+
+# Add executable
+add_executable(motor_node src/motor_node.cc)
+
+# Include directories for executable
+target_include_directories(motor_node
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
+
+ament_target_dependencies(motor_node
+  "rclcpp"
+  "std_msgs"
+  "sensor_msgs"
+  "hardware_interface"
+  "ros2_control"
+  "diagnostic_updater"
+)
+
+# Install targets
+install(TARGETS
+  motor_node
+  ubiquity_motor
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install scripts
+install(PROGRAMS
+  scripts/upgrade_firmware.py
+  scripts/test_motor_board.py
+  scripts/test_pi_gpio.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Test dependencies
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

include/ubiquity_motor/motor_hardware.h

@@ -31,22 +31,23 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef MOTORHARDWARE_H
 #define MOTORHARDWARE_H
 
-#include "hardware_interface/joint_command_interface.h"
-#include "hardware_interface/joint_state_interface.h"
-#include "hardware_interface/robot_hw.h"
-#include "ros/ros.h"
-#include "sensor_msgs/JointState.h"
-
-#include "std_msgs/Int32.h"
-#include "std_msgs/UInt32.h"
-#include "std_msgs/Float32.h"
-#include "std_msgs/Bool.h"
-#include "std_msgs/String.h"
-#include "sensor_msgs/BatteryState.h"
-#include "ubiquity_motor/MotorState.h"
-
-#include <diagnostic_updater/update_functions.h>
-#include <diagnostic_updater/diagnostic_updater.h>
+#include "rclcpp/rclcpp.hpp"
+// #include "hardware_interface/joint_command_interface.h"
+// #include "hardware_interface/joint_state_interface.hpp"
+// #include "hardware_interface/robot_hw.hpp"
+#include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "sensor_msgs/msg/joint_state.hpp"
+
+#include "std_msgs/msg/int32.hpp"
+#include "std_msgs/msg/u_int32.hpp"
+#include "std_msgs/msg/float32.hpp"
+#include "std_msgs/msg/bool.hpp"
+#include "std_msgs/msg/string.hpp"
+#include "sensor_msgs/msg/battery_state.hpp"
+#include "ubiquity_motor_ros2/msg/motor_state.hpp"
+
+#include <diagnostic_updater/update_functions.hpp>
+#include <diagnostic_updater/diagnostic_updater.hpp>
 
 #include <ubiquity_motor/motor_parameters.h>
 #include <ubiquity_motor/motor_serial.h>

include/ubiquity_motor/motor_parameters.h

@@ -31,7 +31,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef UBIQUITY_MOTOR_MOTOR_PARMETERS_H
 #define UBIQUITY_MOTOR_MOTOR_PARMETERS_H
 
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
 
 // These defines are for a high level topic for control of the motor node at a system level
 #define ROS_TOPIC_SYSTEM_CONTROL  "system_control"    // A topic for system level control commands

include/ubiquity_motor/motor_serial.h

@@ -31,8 +31,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef MOTORSERIAL_H
 #define MOTORSERIAL_H
 
-#include <ros/ros.h>
-#include <serial/serial.h>
+#include <rclcpp/rclcpp.hpp>
+#include <serial/serial.hpp>
 #include <ubiquity_motor/motor_message.h>
 #include <ubiquity_motor/shared_queue.h>
 #include <boost/thread.hpp>

msg/Leds.msg

@@ -0,0 +1,2 @@
+bool led1
+bool led2

msg/MotorState.msg

@@ -0,0 +1,9 @@
+std_msgs/Header header
+float64 left_position
+float64 right_position
+float64 left_rotate_rate
+float64 right_rotate_rate
+float32 left_current
+float32 right_current
+int32 left_pwm_drive
+int32 right_pwm_drive

package.xml

@@ -12,6 +12,13 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <depend>hardware_interface</depend>
+
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>