ROS1/ROS2 Hybrid Packages

.circleci/config.yml

@@ -56,9 +56,38 @@ jobs:
             catkin_test_results
     working_directory: ~/src
 
+  dashing:
+    docker:
+      - image: autonomoustuff/docker-builds:dashing-ros-base
+    steps:
+      - checkout
+      - run:
+          name: Set Up Container
+          command: |
+            apt-get update -qq
+            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            rosdep update
+            rosdep install --from-paths . --ignore-src -y
+            cd ..
+      - run:
+          name: Build
+          command: |
+            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            cd ..
+            colcon build
+      - run:
+          name: Run Tests
+          command: |
+            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            cd ..
+            colcon build
+            colcon test-result
+    working_directory: ~/src
+
 workflows:
   version: 2
   ros_build:
     jobs:
       - kinetic
       - melodic
+      - dashing

automotive_autonomy_msgs/CMakeLists.txt

@@ -1,4 +1,13 @@
-cmake_minimum_required(VERSION 2.8.3)
 project(automotive_autonomy_msgs)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+
+set(ROS_VERSION $ENV{ROS_VERSION})
+
+if(${ROS_VERSION} EQUAL 1)
+  cmake_minimum_required(VERSION 2.8.3)
+  find_package(catkin REQUIRED)
+  catkin_package()
+elseif(${ROS_VERSION} EQUAL 2)
+  cmake_minimum_required(VERSION 3.5)
+  find_package(ament_cmake REQUIRED)
+  ament_package()
+endif()

automotive_autonomy_msgs/package.xml

@@ -1,24 +1,25 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>automotive_autonomy_msgs</name>
   <version>2.0.3</version>
   <description>Messages for vehicle automation</description>
+  <maintainer email="software@autonomoustuff.com">AutonomouStuff Software Development Team</maintainer>
   <license>MIT</license>
-
   <url type="website">http://github.com/automotive_autonomy_msgs</url>
   <url type="repository">https://github.com/astuff/automotive_autonomy_msgs</url>
   <url type="bugtracker">https://github.com/astuff/automotive_autonomy_msgs/issues</url>
-
-  <maintainer email="software@autonomoustuff.com">AutonomouStuff Software Development Team</maintainer>
   <author email="dstanek@autonomoustuff.com">Daniel Stanek</author>
   <author email="jwhitley@autonomoustuff.com">Joshua Whitley</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
   <exec_depend>automotive_navigation_msgs</exec_depend>
   <exec_depend>automotive_platform_msgs</exec_depend>
 
   <export>
-    <metapackage />
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
   </export>
 </package>

automotive_navigation_msgs/CMakeLists.txt

@@ -1,41 +1,96 @@
-cmake_minimum_required(VERSION 2.8.3)
 project(automotive_navigation_msgs)
 
-find_package(catkin REQUIRED
-  COMPONENTS
-  message_generation
-  std_msgs
-  geometry_msgs
-)
+set(ROS_VERSION $ENV{ROS_VERSION})
 
-## Declare ROS messages and services
-add_message_files(DIRECTORY msg FILES
-  CommandWithHandshake.msg
-  DesiredDestination.msg
-  Direction.msg
-  DistanceToDestination.msg
-  LaneBoundary.msg
-  LaneBoundaryArray.msg
-  ModuleState.msg
-  PointOfInterestArray.msg
-  PointOfInterest.msg
-  PointOfInterestRequest.msg
-  PointOfInterestResponse.msg
-  PointOfInterestStatus.msg
-  RoadNetworkBoundaries.msg
+set(MSG_FILES
+  "CommandWithHandshake.msg"
+  "DesiredDestination.msg"
+  "Direction.msg"
+  "DistanceToDestination.msg"
+  "LaneBoundary.msg"
+  "LaneBoundaryArray.msg"
+  "ModuleState.msg"
+  "PointOfInterestArray.msg"
+  "PointOfInterest.msg"
+  "PointOfInterestRequest.msg"
+  "PointOfInterestResponse.msg"
+  "PointOfInterestStatus.msg"
+  "RoadNetworkBoundaries.msg"
 )
 
-add_service_files(DIRECTORY srv FILES
-  GetImageForMapTile.srv
-)
+if(${ROS_VERSION} EQUAL 1)
 
-## Generate added messages and services
-generate_messages(DEPENDENCIES std_msgs geometry_msgs)
+  cmake_minimum_required(VERSION 2.8.3)
 
-## Declare a catkin package
-catkin_package(CATKIN_DEPENDS
-  message_runtime
-  std_msgs
-  geometry_msgs
-)
+  find_package(catkin REQUIRED
+    COMPONENTS
+    message_generation
+    std_msgs
+    geometry_msgs
+  )
+
+  ## Declare ROS messages and services
+  add_message_files(DIRECTORY msg FILES
+    ${MSG_FILES}
+    DIRECTORY msg
+  )
+
+  add_service_files(DIRECTORY srv FILES
+    GetImageForMapTile.srv
+  )
+
+  ## Generate added messages and services
+  generate_messages(DEPENDENCIES std_msgs geometry_msgs)
+
+  ## Declare a catkin package
+  catkin_package(CATKIN_DEPENDS
+    message_runtime
+    std_msgs
+    geometry_msgs
+  )
+
+elseif(${ROS_VERSION} EQUAL 2)
+
+  cmake_minimum_required(VERSION 3.5)
+
+  if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+    set(CMAKE_CXX_STANDARD 14)
+  endif()
+
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+  endif()
+
+  find_package(ament_cmake REQUIRED)
+  find_package(builtin_interfaces REQUIRED)
+  find_package(geometry_msgs REQUIRED)
+  find_package(std_msgs REQUIRED)
+  find_package(rosidl_default_generators REQUIRED)
+
+  # Apend "msg/" to each file name
+  set(TEMP_LIST "")
+  foreach(MSG_FILE ${MSG_FILES})
+    list(APPEND TEMP_LIST "msg/${MSG_FILE}")
+  endforeach()
+  set(MSG_FILES ${TEMP_LIST})
+
+  rosidl_generate_interfaces(${PROJECT_NAME}
+    ${MSG_FILES}
+    DEPENDENCIES
+      builtin_interfaces
+      geometry_msgs
+      std_msgs
+    ADD_LINTER_TESTS
+  )
+
+  ament_export_dependencies(rosidl_default_runtime)
+
+  if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+  endif()
+
+  ament_package()
 
+endif()

automotive_navigation_msgs/migration/PointOfInterestRequest.bmr

@@ -0,0 +1,103 @@
+class update_automotive_navigation_msgs_PointOfInterestRequest_32ddedb83d8866a4c42724a85ecf2c80(MessageUpdateRule):
+	old_type = "automotive_navigation_msgs/PointOfInterestRequest"
+	old_full_text = """
+# Point of Interest Request Message
+# Contains information needed to request point of interest information
+
+std_msgs/Header header
+
+string name        # Name of the point of interest list
+
+string module_name # module name of the requesting node
+
+uint16 requestId   # Unique id of this request
+                   # Can make another request with the same requestId and
+                   # different update_num, guid, or tolerance.  New one will
+                   # replace the old one.
+
+uint16 cancel      # Set to 1 to cancel the request with this requestId
+
+uint16 update_num  # The update number of the point list to use
+
+uint16 guid_valid  # Request is for a specific point, not all points in list
+uint64 guid        # The unique Id for the desired point
+
+float32 tolerance  # How close to the current vehicle's position a point needs to be
+
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+"""
+
+	new_type = "automotive_navigation_msgs/PointOfInterestRequest"
+	new_full_text = """
+# Point of Interest Request Message
+# Contains information needed to request point of interest information
+
+std_msgs/Header header
+
+string name        # Name of the point of interest list
+
+string module_name # module name of the requesting node
+
+uint16 request_id  # Unique id of this request
+                   # Can make another request with the same requestId and
+                   # different update_num, guid, or tolerance.  New one will
+                   # replace the old one.
+
+uint16 cancel      # Set to 1 to cancel the request with this requestId
+
+uint16 update_num  # The update number of the point list to use
+
+uint16 guid_valid  # Request is for a specific point, not all points in list
+uint64 guid        # The unique Id for the desired point
+
+float32 tolerance  # How close to the current vehicle's position a point needs to be
+
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+"""
+
+	order = 0
+	migrated_types = [
+		("Header","Header"),]
+
+	valid = True
+
+	def update(self, old_msg, new_msg):
+		self.migrate(old_msg.header, new_msg.header)
+		new_msg.name = old_msg.name
+		new_msg.module_name = old_msg.module_name
+		new_msg.request_id = old_msg.requestId
+		new_msg.cancel = old_msg.cancel
+		new_msg.update_num = old_msg.update_num
+		new_msg.guid_valid = old_msg.guid_valid
+		new_msg.guid = old_msg.guid
+		new_msg.tolerance = old_msg.tolerance