modifying pacmod3 ros2 driver to work with pacmod2 (#22)

* modifying pacmod3 ros2 driver to work with pacmod2

* delete unused code, increment version number, change pub_thread_ to unique_ptr

* remove accidentally added namespace

* foxy update

* fix cpplint stuff

* fix uncrustify stuff

* add CONTRIBUTING.md

.circleci/config.yml

@@ -1,35 +1,43 @@
-version: 2
-jobs:
-  noetic:
-    docker:
-      - image: autonomoustuff/docker-builds:noetic-ros-base
+version: 2.1
+
+commands:
+  ros_build:
     steps:
       - checkout
       - run:
           name: Set Up Container
           command: |
-            apt-get update -qq
+            mkdir $CIRCLE_PROJECT_REPONAME
+            mv `find -maxdepth 1 -not -name . -not -name $CIRCLE_PROJECT_REPONAME` $CIRCLE_PROJECT_REPONAME/
+      - run:
+          name: Install Dependencies
+          command: |
             source /opt/ros/*/setup.bash
-            rosdep update && rosdep install --from-paths . --ignore-src -y
-            cd ..
-            catkin init
-            catkin config --extend /opt/ros/$ROS_DISTRO
+            apt update
+            rosdep update
+            rosdep install --from-paths . --ignore-src -y
       - run:
           name: Build
           command: |
+            source /opt/ros/*/setup.bash
             cd ..
-            catkin build
+            colcon build
       - run:
           name: Run Tests
           command: |
             source /opt/ros/*/setup.bash
             cd ..
-            catkin run_tests
-            catkin_test_results
+            colcon test --packages-select $CIRCLE_PROJECT_REPONAME
+            colcon test-result --verbose
+jobs:
+  foxy:
+    docker:
+      - image: autonomoustuff/docker-builds:foxy-ros-base
+    steps:
+      - ros_build
     working_directory: ~/src
 
 workflows:
-  version: 2
   ros_build:
     jobs:
-      - noetic
+      - foxy

CMakeLists.txt

@@ -1,59 +1,93 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pacmod2)
 
-## Add support for C++11, supported in ROS Kinetic and newer
-# For PACMod, this must be enabled to use mutexes.
-add_definitions(-std=c++11)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-  pacmod_msgs
-  can_msgs
-  roslint
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-catkin_package()
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(can_msgs REQUIRED)
+find_package(pacmod2_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
 include_directories(
   include/
-  ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ executable
-add_executable(${PROJECT_NAME}
-  src/pacmod_ros_msg_handler.cpp
-  src/pacmod_node.cpp
-  src/pacmod_core.cpp
+add_library(
+  ${PROJECT_NAME}_node SHARED
+  src/pacmod2_ros_msg_handler.cpp
+  src/pacmod2_core.cpp
+  src/pacmod2_node.cpp
 )
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-add_dependencies(${PROJECT_NAME}
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
+target_compile_definitions(
+  ${PROJECT_NAME}_node
+  PRIVATE "COMPOSITION_BUILDING_DLL"
+)
+ament_target_dependencies(
+  ${PROJECT_NAME}_node
+  "rclcpp"
+  "rclcpp_components"
+  "rclcpp_lifecycle"
+  "can_msgs"
+  "pacmod2_msgs"
+  "std_msgs"
+)
+rclcpp_components_register_nodes(
+  ${PROJECT_NAME}_node
+  "pacmod2::PACMod2Node"
 )
 
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}
-  ${catkin_LIBRARIES}
+add_executable(
+  ${PROJECT_NAME}_driver
+  src/pacmod2_driver.cpp
+)
+ament_target_dependencies(
+  ${PROJECT_NAME}_driver
+  "rclcpp"
+  "lifecycle_msgs"
+)
+target_link_libraries(
+  ${PROJECT_NAME}_driver
+  ${PROJECT_NAME}_node
 )
 
-set(ROSLINT_CPP_OPTS "--filter=-build/namespaces,-build/c++11")
-roslint_cpp()
+ament_export_include_directories(include)
+ament_export_targets(export_${PROJECT_NAME}_node HAS_LIBRARY_TARGET)
+ament_export_libraries(${PROJECT_NAME}_node)
 
-if(CATKIN_ENABLE_TESTING)
-  roslint_add_test()
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
 endif()
 
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(
+  TARGETS ${PROJECT_NAME}_node
+  EXPORT export_${PROJECT_NAME}_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  TARGETS ${PROJECT_NAME}_driver
+  DESTINATION lib/${PROJECT_NAME}
 )
 
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+install(
+  DIRECTORY include/
+  DESTINATION include
 )
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

CONTRIBUTING.md

@@ -0,0 +1,3 @@
+Any contribution that you make to this repository will
+be under the MIT license, as dictated by that
+[license](https://opensource.org/licenses/MIT).