[WIP] ROS2 migration of the cob_hardware_config package

cob_hardware_config/CMakeLists.txt

@@ -1,31 +1,18 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(cob_hardware_config)
 
-find_package(catkin REQUIRED)
-catkin_package()
+find_package(ament_cmake REQUIRED)
 
-### TESTING ###
-if(CATKIN_ENABLE_TESTING)
-    find_package(cob_supported_robots REQUIRED)
-    find_package(roslaunch REQUIRED)
-    find_package(rostest REQUIRED)
-    # loop through list of robots for testing
-    foreach(robot ${cob_supported_robots_ROBOTLIST})
-        message("testing for robot: ${robot}")
-        roslaunch_add_file_check(upload_robot.launch robot:=${robot})
-        add_rostest(test/urdf.test ARGS robot:=${robot})
-    endforeach()
-endif()
-
-### INSTALL ###
-install(DIRECTORY robots test
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(
+  DIRECTORY robots launch test
+  DESTINATION share/${PROJECT_NAME}
 )
 
-install(FILES upload_robot.launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-install(FILES display_robot.launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(ur_urdf_xacro test/test_view_cob_launch.py)
+endif()
+
+ament_package()

cob_hardware_config/launch/display_robot.launch.py

@@ -0,0 +1,96 @@
+# Copyright 2024 Fraunhofer IPA
+#
+# 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.
+#
+# Author: Nadia Hammoudeh Garcia
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.parameters_type import ParameterValue
+import os
+import xacro
+import subprocess
+
+def generate_launch_description():
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot",
+            description="Robot name.",
+            choices=["cob4-25"],
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "pkg_hardware_config",
+            default_value="cob_hardware_config",
+            description="Name of the package that contains the robot configuration.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_file",
+            default_value=[LaunchConfiguration("robot"),".urdf.xacro"],
+            description="File containing the robot description.",
+        )
+    )
+
+    # Initialize Arguments
+    robot = LaunchConfiguration("robot")
+    pkg_hardware_config = LaunchConfiguration("pkg_hardware_config")
+    description_file = LaunchConfiguration("description_file")
+
+    xacro_file= os.path.join(get_package_share_directory("cob_hardware_config"),"robots","cob4-25","urdf","cob4-25.urdf.xacro")
+    doc = xacro.parse(open(xacro_file))
+    xacro.process_doc(doc)
+    robot_description = {'robot_description': doc.toxml()}
+
+    # xacro_command =  [
+    #         "xacro",
+    #         PathJoinSubstitution([FindPackageShare(pkg_hardware_config), "robots", robot, "urdf", description_file]),
+    #     ]
+    # robot_description = {"robot_description": Command(xacro_command)}
+
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare(pkg_hardware_config), "robots", robot, "view_robot.rviz"]
+    )
+
+    joint_state_publisher_node = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+    )
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_config_file],
+    )
+
+    nodes_to_start = [
+        joint_state_publisher_node,
+        robot_state_publisher_node,
+        rviz_node,
+    ]
+
+    return LaunchDescription(declared_arguments + nodes_to_start)

cob_hardware_config/package.xml

@@ -10,31 +10,31 @@
 
   <maintainer email="[email protected]">Felix Messmer</maintainer>
   <author email="[email protected]">Felix Messmer</author>
-  <author email="[email protected]">Nadia Hammoudeh Garcia</author>
   <author email="[email protected]">Florian Weisshardt</author>
+  <author email="[email protected]">Nadia Hammoudeh Garcia</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>cob_calibration_data</exec_depend>
   <exec_depend>cob_description</exec_depend>
   <exec_depend>cob_omni_drive_controller</exec_depend>
-  <exec_depend>costmap_2d</exec_depend>
-  <exec_depend>diagnostic_aggregator</exec_depend>
-  <exec_depend>joint_state_controller</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
-  <exec_depend>joint_state_publisher_gui</exec_depend>
-  <exec_depend>joint_trajectory_controller</exec_depend>
-  <exec_depend>laser_filters</exec_depend>
-  <exec_depend>position_controllers</exec_depend>
-  <exec_depend>raw_description</exec_depend>
+
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rviz</exec_depend>
-  <!--exec_depend>ur_description</exec_depend-->
-  <exec_depend>velocity_controllers</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
 
-  <test_depend>cob_supported_robots</test_depend>
-  <test_depend>roslaunch</test_depend>
-  <test_depend>rostest</test_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+  <test_depend>liburdfdom-tools</test_depend>
+  <test_depend>xacro</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 
 </package>