[WIP] Update the robot state helper for ROS2

.dir-locals.el

@@ -0,0 +1,12 @@
+(
+ (nil . ())
+ ;; Silence `ament_lint_cmake` errors
+ (cmake-mode . (
+                ;; Tab found; please use spaces [whitespace/tabs]
+                (indent-tabs-mode . nil)
+                ;; Lines should be <= 80 characters long [linelength]
+                (fill-column . 80)
+                ;; Line ends in whitespace [whitespace/eol]
+                (show-trailing-whitespace . t)
+                ))
+ )

.gitignore

@@ -6,4 +6,5 @@ install_manifest.txt
 *~
 .idea
 .directory
-.vscode
+.vscode
+.moveit_ci/

.repos.yaml

@@ -0,0 +1,34 @@
+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: foxy-devel
+  geometric_shapes:
+    type: git
+    url: https://github.com/ros-planning/geometric_shapes.git
+    version: ros2
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: foxy-devel
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master
+  srdfdom:
+    type: git
+    url: https://github.com/ros-planning/srdfdom.git
+    version: ros2
+  ur_client_library:
+    type: git
+    url: https://github.com/PickNikRobotics/Universal_Robots_Client_Library.git
+    version: foxy-devel
+  warehouse_ros:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros.git
+    version: ros2
+

.travis.yml

@@ -0,0 +1,49 @@
+# This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci/ package.
+sudo: required
+dist: trusty
+services:
+  - docker
+language: cpp
+compiler: gcc
+cache: ccache
+
+notifications:
+  email:
+    recipients:
+      - zelenak@picknik.ai
+
+env:
+  global: # default values that are common to all configurations (can be overriden below)
+    - ROS_DISTRO=foxy      # ROS distro to test for
+    - ROS_REPO=ros         # ROS binary repository [ros | ros-shadow-fixed]
+    - TEST_BLACKLIST=ur5_moveit_config      # list packages, for which to skip the unittests
+    - UPSTREAM_WORKSPACE=.repos.yaml # pull in packages from a local
+    - WARNINGS_OK=false    # Don't accept warnings [true | false]
+    # TODO(andyz): -Werror disabled because of compiler warnings
+    # in geometric_shapes ("redundant redeclaration of ‘void
+    # qh_[...]’")
+    # TODO(andyz): -Wredundant-decls disabled because of compiler warnings
+    # See https://github.com/ros2/rosidl_typesupport_fastrtps/issues/28
+    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wno-unused-parameter -Wno-unused-but-set-parameter -Wno-unused-function"
+
+jobs:
+  fast_finish: true
+  include:
+    - name: "[Foxy] - clang-format, ament_lint"
+      env: TEST="clang-format ament_lint"
+    # - name: "[Foxy] - code-coverage"
+    #   env: TEST=code-coverage
+    - name: "[Foxy] - gcc (build,test)"
+      env: ROS_DISTRO=foxy
+    - name: "[Foxy] - clang (build,test,clang-tidy-fix)"
+      compiler: clang
+      env: TEST=clang-tidy-fix
+           CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-overloaded-virtual"
+
+before_script:
+  # Clone the moveit_ci repository into Travis' workspace
+  - git clone --depth 1 -q https://github.com/ros-planning/moveit_ci.git -b ros2 .moveit_ci
+
+script:
+  # Run the test script
+  - .moveit_ci/travis.sh

README.md

@@ -1,2 +1,20 @@
+# Universal Robots ROS2 Driver
+
 Alpha version of the ROS2 Universal Robots driver. Should be transferred to the Universal Robots org when ready.
 
+## Build Instructions
+
+To build this package in a ROS Foxy workspace, clone this repo
+into the `src/` directory, then:
+
+```
+# Clone source-based dependencies into src/ directory
+vcs import --skip-existing --input src/Universal_Robots_ROS2_Driver/.repos.yaml src
+
+# Install package-based dependencies
+rosdep install -y --rosdistro $ROS_DISTRO --ignore-src --from-paths src
+
+# Build sources
+source /opt/ros/$ROS_DISTRO/setup.bash
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+```