Port cartographer_ros_msgs to ROS2.

cartographer_ros_msgs/CMakeLists.txt

@@ -12,54 +12,61 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 
 project(cartographer_ros_msgs)
 
-set(PACKAGE_DEPENDENCIES
-  geometry_msgs
-  std_msgs
-)
+# Default to C++14.
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-find_package(catkin REQUIRED COMPONENTS message_generation ${PACKAGE_DEPENDENCIES})
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # We don't use add_compile_options with pedantic in message packages
+  # because the Python C extensions don't comply with it.
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
 
-add_message_files(
-  DIRECTORY msg
-  FILES
-    BagfileProgress.msg
-    HistogramBucket.msg
-    LandmarkEntry.msg
-    LandmarkList.msg
-    MetricFamily.msg
-    MetricLabel.msg
-    Metric.msg
-    StatusCode.msg
-    StatusResponse.msg
-    SubmapEntry.msg
-    SubmapList.msg
-    SubmapTexture.msg
-    TrajectoryStates.msg
-)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 
-add_service_files(
-  DIRECTORY srv
-  FILES
-    FinishTrajectory.srv
-    GetTrajectoryStates.srv
-    ReadMetrics.srv
-    StartTrajectory.srv
-    SubmapQuery.srv
-    TrajectoryQuery.srv
-    WriteState.srv
+set(msg_files
+  "msg/BagfileProgress.msg"
+  "msg/HistogramBucket.msg"
+  "msg/LandmarkEntry.msg"
+  "msg/LandmarkList.msg"
+  "msg/MetricFamily.msg"
+  "msg/MetricLabel.msg"
+  "msg/Metric.msg"
+  "msg/StatusCode.msg"
+  "msg/StatusResponse.msg"
+  "msg/SubmapEntry.msg"
+  "msg/SubmapList.msg"
+  "msg/SubmapTexture.msg"
+  "msg/TrajectoryStates.msg"
 )
 
-generate_messages(
-  DEPENDENCIES
-    ${PACKAGE_DEPENDENCIES}
+set(srv_files
+  "srv/FinishTrajectory.srv"
+  "srv/GetTrajectoryStates.srv"
+  "srv/ReadMetrics.srv"
+  "srv/StartTrajectory.srv"
+  "srv/SubmapQuery.srv"
+  "srv/TrajectoryQuery.srv"
+  "srv/WriteState.srv"
 )
 
-catkin_package(
-  CATKIN_DEPENDS
-    ${PACKAGE_DEPENDENCIES}
-    message_runtime
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES geometry_msgs std_msgs
+  ADD_LINTER_TESTS
 )
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

cartographer_ros_msgs/package.xml

@@ -15,7 +15,7 @@
   limitations under the License.
 -->
 
-<package format="2">
+<package format="3">
   <name>cartographer_ros_msgs</name>
   <version>1.0.0</version>
   <description>
@@ -32,12 +32,20 @@
     The Cartographer Authors
   </author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
 
-  <build_depend>message_generation</build_depend>
-
-  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>

cartographer_ros_msgs/srv/ReadMetrics.srv

@@ -15,4 +15,4 @@
 ---
 cartographer_ros_msgs/StatusResponse status
 cartographer_ros_msgs/MetricFamily[] metric_families
-time timestamp
+builtin_interfaces/Time timestamp