kev-the-dev · kev-the-dev · Jul 17, 2018 · Jul 17, 2018 · Jul 17, 2018
diff --git a/.ros1_unported/gazebo_plugins/CMakeLists.txt b/.ros1_unported/gazebo_plugins/CMakeLists.txt
diff --git a/.ros1_unported/gazebo_plugins/package.xml b/.ros1_unported/gazebo_plugins/package.xml
diff --git a/.ros1_unported/gazebo_plugins/CHANGELOG.rst → gazebo_plugins/CHANGELOG.rst b/.ros1_unported/gazebo_plugins/CHANGELOG.rst → gazebo_plugins/CHANGELOG.rst
diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.5)
+project(gazebo_plugins)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # we dont use add_compile_options with pedantic in message packages
+  # because the Python C extensions dont comply with it
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(gazebo_ros REQUIRED)
+find_package(std_msgs REQUIRED)
+
+include_directories(include)
+
+add_library(gazebo_ros_node_example SHARED src/node_example.cpp)
+ament_target_dependencies(gazebo_ros_node_example gazebo_ros std_msgs)
+
+ament_package()
+
+install(DIRECTORY include/
+        DESTINATION include)
+
+install(TARGETS gazebo_ros_node_example
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin)
diff --git a/gazebo_plugins/include/gazebo_plugins/node_example.hpp b/gazebo_plugins/include/gazebo_plugins/node_example.hpp
@@ -0,0 +1,40 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef GAZEBO_PLUGINS_NODE_EXAMPLE_HPP
+#define GAZEBO_PLUGINS_NODE_EXAMPLE_HPP
+
+#include <gazebo/common/common.hh>
+#include <std_msgs/msg/string.hpp>
+#include <gazebo_ros/node.hpp>
+
+
+/// Simple example of a gazebo plugin which uses a ROS2 node with gazebo_ros::Node
+class GazeboRosNodeExample : public gazebo::SystemPlugin
+{
+public:
+  GazeboRosNodeExample();
+  virtual ~GazeboRosNodeExample();
+  /// Called by gazebo to load plugin. Creates #node_, #timer_, and #pub_
+  void Load(int argc, char** argv);
+private:
+  /// ROS node used for publisher and timer
+  gazebo_ros::Node::SharedPtr node_;
+  /// Timer called to publish a message every second
+  std::shared_ptr<rclcpp::TimerBase> timer_;
+  /// Example publisher
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String> > pub_;
+};
+
+#endif
diff --git a/gazebo_plugins/package.xml b/gazebo_plugins/package.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>gazebo_plugins</name>
+  <version>2.8.4</version>
+  <description>
+    Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components.
+  </description>
+
+  <maintainer email="jrivero@osrfoundation.org">Jose Luis Rivero</maintainer>
+
+  <license>BSD, Apache 2.0</license>
+
+  <url type="website">http://gazebosim.org/tutorials?cat=connect_ros</url>
+  <url type="bugtracker">https://github.com/ros-simulation/gazebo_ros_pkgs/issues</url>
+  <url type="repository">https://github.com/ros-simulation/gazebo_ros_pkgs</url>
+
+  <author>John Hsu</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/gazebo_plugins/src/node_example.cpp b/gazebo_plugins/src/node_example.cpp
@@ -0,0 +1,51 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gazebo_plugins/node_example.hpp>
+
+GazeboRosNodeExample::GazeboRosNodeExample()
+{
+}
+
+GazeboRosNodeExample::~GazeboRosNodeExample()
+{
+}
+
+void GazeboRosNodeExample::Load(int argc, char** argv)
+{
+  // Initialize ROS with arguments
+  gazebo_ros::Node::InitROS(argc, argv);
+
+  // Create the ROS node
+  node_ = gazebo_ros::Node::Create("gazebo_ros_node_example");
+
+  // Create a publisher
+  pub_ = node_->create_publisher<std_msgs::msg::String>("test");
+
+  // Run lambda every 1 second
+  using namespace std::chrono_literals;
+  timer_ = node_->create_wall_timer(1s, [this] () {
+    // Create string message
+    auto msg = std_msgs::msg::String();
+    msg.data = "Hello world";
+
+    // Warn with this node's name (to test logging)
+    RCLCPP_WARN(node_->get_logger(), "Publishing");
+
+    // Publish message
+    this->pub_->publish(msg);
+  });
+}
+
+GZ_REGISTER_SYSTEM_PLUGIN(GazeboRosNodeExample)
diff --git a/gazebo_ros/CMakeLists.txt b/gazebo_ros/CMakeLists.txt
@@ -1,132 +1,37 @@
-cmake_minimum_required(VERSION 3.6.3)
+cmake_minimum_required(VERSION 3.5)
 project(gazebo_ros)
 
-find_package(catkin REQUIRED COMPONENTS
-  gazebo_dev
-  cmake_modules
-  roslib
-  roscpp
-  geometry_msgs
-  std_srvs
-  tf
-  rosgraph_msgs
-  dynamic_reconfigure
-  std_msgs
-  gazebo_msgs
-)
 
-# Through transitive dependencies in the packages above, gazebo_ros depends
-# on Simbody.  There is a bug in the Ubuntu Artful (17.10) version of the
-# Simbody package where it includes /usr/lib/libblas.so and
-# /usr/lib/liblapack.so in the CMake list of libraries even though neither of
-# those two paths exist (they both really live in /usr/lib/<arch>-linux-gnu).
-# We remove these two during build-time on artful below; this works because
-# they both will get resolved to the proper paths during runtime linking.
-find_program(LSB_RELEASE_EXEC lsb_release)
-if(NOT LSB_RELEASE_EXEC STREQUAL "LSB_RELEASE_EXEC-NOTFOUND")
-  execute_process(COMMAND ${LSB_RELEASE_EXEC} -cs
-    OUTPUT_VARIABLE OS_CODENAME
-    OUTPUT_STRIP_TRAILING_WHITESPACE
-  )
-  if(OS_CODENAME STREQUAL "artful")
-    list(FILTER catkin_LIBRARIES EXCLUDE REGEX "/usr/lib/libblas.so")
-    list(FILTER catkin_LIBRARIES EXCLUDE REGEX "/usr/lib/liblapack.so")
-  endif()
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
 endif()
-
-include (FindPkgConfig)
-if (PKG_CONFIG_FOUND)
-  pkg_check_modules(XML libxml-2.0)
-else()
-  message(FATAL_ERROR "pkg-config is required; please install it")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # we dont use add_compile_options with pedantic in message packages
+  # because the Python C extensions dont comply with it
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
 endif()
 
-find_package(Boost REQUIRED COMPONENTS thread)
-
-find_package(TinyXML REQUIRED)
-
-catkin_python_setup()
-
-generate_dynamic_reconfigure_options(cfg/Physics.cfg)
-
-catkin_package(
-  LIBRARIES
-    gazebo_ros_api_plugin
-    gazebo_ros_paths_plugin
-
-  CATKIN_DEPENDS
-    roslib
-    roscpp
-    geometry_msgs
-    std_srvs
-    tf
-    rosgraph_msgs
-    dynamic_reconfigure
-    std_msgs
-    gazebo_msgs
-
-  DEPENDS
-    TinyXML
-)
-
-include_directories(
-  include
-  ${Boost_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
-  ${TinyXML_INCLUDE_DIRS})
-
-link_directories(${catkin_LIBRARY_DIRS})
-
-set(cxx_flags)
-foreach (item ${GAZEBO_CFLAGS})
-  set(cxx_flags "${cxx_flags} ${item}")
-endforeach ()
-
-set(ld_flags)
-foreach (item ${GAZEBO_LDFLAGS})
-  set(ld_flags "${ld_flags} ${item}")
-endforeach ()
-
-## Plugins
-add_library(gazebo_ros_api_plugin src/gazebo_ros_api_plugin.cpp)
-add_dependencies(gazebo_ros_api_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-set_target_properties(gazebo_ros_api_plugin PROPERTIES LINK_FLAGS "${ld_flags}")
-set_target_properties(gazebo_ros_api_plugin PROPERTIES COMPILE_FLAGS "${cxx_flags}")
-target_link_libraries(gazebo_ros_api_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${TinyXML_LIBRARIES})
-
-add_library(gazebo_ros_paths_plugin src/gazebo_ros_paths_plugin.cpp)
-add_dependencies(gazebo_ros_paths_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-set_target_properties(gazebo_ros_paths_plugin PROPERTIES COMPILE_FLAGS "${cxx_flags}")
-set_target_properties(gazebo_ros_paths_plugin PROPERTIES LINK_FLAGS "${ld_flags}")
-target_link_libraries(gazebo_ros_paths_plugin ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(gazebo_dev REQUIRED)
 
-## Tests
+include_directories(include)
 
-add_subdirectory(test)
+add_library(gazebo_ros_node SHARED src/node.cpp src/executor.cpp)
+ament_target_dependencies(gazebo_ros_node rclcpp gazebo_dev)
 
-# Install Gazebo System Plugins
-install(TARGETS gazebo_ros_api_plugin gazebo_ros_paths_plugin
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  )
+ament_export_include_directories(include)
+ament_export_libraries(gazebo_ros_node)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(gazebo_dev)
 
-# Install Gazebo Scripts
-install(PROGRAMS scripts/gazebo
-                 scripts/debug
-		 scripts/gzclient
-		 scripts/gzserver
-		 scripts/gdbrun
-		 scripts/perf
-		 scripts/libcommon.sh
-        DESTINATION
-                 ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+ament_package()
 
-# This one is a Python program, not a shell script, so install it separately
-catkin_install_python(PROGRAMS scripts/spawn_model
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+install(DIRECTORY include/
+        DESTINATION include)
 
-# Install Gazebo launch files
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-)
+install(TARGETS gazebo_ros_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)