Ros2 humble

README.md

@@ -1,52 +1,57 @@
 # Maxon EPOS Package
 
-This is a ROS package for Maxon motor & EPOS driver.
+This is a ROS/ROS2 package for Maxon motor & EPOS driver.
 
 ## Support Status
 This package is **WIP** now.<br/>
 v1.0.0 supports multiple EPOS device.<br/>
 
 ## How to use
+> **WARNING** --- The package maxon_epos_example **has NOT** been migrated to ROS2.</br>
+
+In the package maxon_epos_driver you can find an example of launch file and configuration file for runing one motor. </br>
+
+> **VERY IMPORTANT** - Do not set the name of the node when using a launch file to execute the maxon_bringup node. This will rename all rclcpp::Node variables that it node generates and it will be unable to get the motor connection parameters correctly.
 
 ### Install Maxon Linux driver
-Firstly you must install maxon official linux driver.<br/>
-For detail, please look at [this official pdf](http://academy.maxonjapan.co.jp/wp-content/uploads/manual/epos/EPOS_Command_Library.pdf)
+Firstly you must install maxon official linux driver. [Download EPOS Linux Library here](https://www.maxongroup.com/medias/sys_master/root/8994700394526/EPOS-Linux-Library-En.zip)<br/>
+For detail, please look at [this official pdf](https://www.maxongroup.com/medias/sys_master/8823917281310.pdf)
 
 ### How to build
 Then you have to download this package into your ROS workspace.
 ```bash
-$ cd ~/catkin_ws/src
-$ git clone https://github.com/iwata-lab/maxon_epos_ros.git
-$ cd ~/catkin_ws
-$ catkin_make
-$ source ~/catkin_ws/devel/setup.bash
+$ cd ~/yourworkspace_ws/src
+$ git clone https://github.com/cristinaluna/maxon_epos_ros.git
+$ cd ~/yourworkspace_ws
+$ colcon build 
+$ source ~/yourworkspace_ws/install/setup.bash
 ```
 ### How to use nodes
 
 #### Run node
 You can run nodes by console.<br/>
 `maxon_bringup` node reads params from ROS parameter server.
 ```bash
-$ rosrun maxon_epos_driver maxon_bringup
+$ ros2 run maxon_epos_driver maxon_bringup
 ```
 
 Otherwise, you can refer `maxon_epos_example` package's launch file.
 
 #### Topics
 
-- `~/<motor_name>/get_state` (msg: [maxon_epos_msgs/MotorState](maxon_epos_msgs/msg/MotorState.msg))
+- `~/<motor_name>/get_state` (msg: [maxon_epos_msgs/msg/MotorState](maxon_epos_msgs/msg/MotorState.msg))
 
     This topic keep publishing motor current state.
 
-- `~/<motor_name>/set_state` (msg: [maxon_epos_msgs/MotorState](maxon_epos_msgs/msg/MotorState.msg))
+- `~/<motor_name>/set_state` (msg: [maxon_epos_msgs/msg/MotorState](maxon_epos_msgs/msg/MotorState.msg))
 
     When you send the goal to epos, use this topic.
 
-- `~/get_all_state` (msg: [maxon_epos_msgs/MotorStates](maxon_epos_msgs/msg/MotorStates.msg))
+- `~/get_all_state` (msg: [maxon_epos_msgs/msg/MotorStates](maxon_epos_msgs/msg/MotorStates.msg))
 
     This topic keep publishing all motors current states.
 
-- `~/set_all_state` (msg: [maxon_epos_msgs/MotorStates](maxon_epos_msgs/msg/MotorStates.msg))
+- `~/set_all_state` (msg: [maxon_epos_msgs/msg/MotorStates](maxon_epos_msgs/msg/MotorStates.msg))
 
     When you send the goals to all epos motors, use this topic.
 

maxon_epos_driver/CMakeLists.txt

@@ -1,127 +1,37 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(maxon_epos_driver)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  std_msgs
-  maxon_epos_msgs
-)
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
- INCLUDE_DIRS include
- LIBRARIES maxon_epos_driver
- CATKIN_DEPENDS message_runtime roscpp std_msgs
- # DEPENDS system_lib
+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(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(maxon_epos_msgs REQUIRED)
+
+set(DEPENDENCIES
+  "geometry_msgs"
+  "rclcpp"
+  "std_msgs"
+  "maxon_epos_msgs"
 )
 
-###########
-## Build ##
-###########
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
 include_directories(
     include
-  ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
-add_library(${PROJECT_NAME}
+add_library(${PROJECT_NAME} SHARED
     src/lib/EposMotor.cpp
     src/lib/EposManager.cpp
     src/lib/Device.cpp
@@ -131,81 +41,42 @@ add_library(${PROJECT_NAME}
     src/lib/control/EposProfileVelocityMode.cpp
     src/lib/control/EposCurrentMode.cpp
 )
+ament_target_dependencies(maxon_epos_driver
+ rclcpp_components
+ rclcpp
+ geometry_msgs
+ std_msgs
+ maxon_epos_msgs
+)
+target_link_libraries(maxon_epos_driver -lEposCmd)
+ament_export_libraries(maxon_epos_driver)
 
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
 add_executable(maxon_bringup src/node/maxon_bringup.cpp)
+ament_target_dependencies(maxon_bringup
+ rclcpp_components
+ rclcpp
+ geometry_msgs
+ std_msgs
+ maxon_epos_msgs
+)
+target_link_libraries(maxon_bringup maxon_epos_driver -lEposCmd)
 
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
 
-## Add cmake target dependencies of the executable
-## same as for the library above
-add_dependencies(maxon_bringup ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+install(DIRECTORY include/
+  DESTINATION include)
+ament_export_include_directories(include)
 
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}
-    ${catkin_LIBRARIES}
-    EposCmd
-)
-target_link_libraries(maxon_bringup
-    ${PROJECT_NAME}
-  ${catkin_LIBRARIES}
-)
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION lib)
+
+install(TARGETS maxon_bringup
+  DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/)
+
+install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}/)
+
+ament_package()
 
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_maxon_epos_sample.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)