-
Notifications
You must be signed in to change notification settings - Fork 150
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Port MTC to ROS2 #170
Merged
Merged
Port MTC to ROS2 #170
Changes from all commits
Commits
Show all changes
8 commits
Select commit
Hold shift + click to select a range
5bb6596
Port github actions
JafarAbdi e095e50
Port msgs to ROS2
JafarAbdi c62e793
Port rviz_marker_tools to ROS2
JafarAbdi f21c8cc
Port core to ROS2
JafarAbdi d7ceaa0
Port capabilities to ROS2
JafarAbdi 29703d0
Port visualization to ROS2
JafarAbdi a90eac5
Port demo to ROS2
JafarAbdi 71a604c
Add ROS1 to ROS2 migration guide
JafarAbdi File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,5 @@ | ||
repositories: | ||
rosparam_shortcuts: | ||
type: git | ||
url: https://github.com/PickNikRobotics/rosparam_shortcuts | ||
version: ros2 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,40 +1,38 @@ | ||
cmake_minimum_required(VERSION 3.1.3) | ||
cmake_minimum_required(VERSION 3.5) | ||
project(moveit_task_constructor_capabilities) | ||
|
||
add_compile_options(-std=c++14) | ||
add_compile_options(-std=c++17) | ||
|
||
find_package(catkin REQUIRED COMPONENTS | ||
actionlib | ||
moveit_core | ||
moveit_ros_move_group | ||
moveit_task_constructor_core | ||
moveit_task_constructor_msgs | ||
pluginlib | ||
std_msgs | ||
) | ||
|
||
catkin_package( | ||
LIBRARIES $PROJECT_NAME} | ||
CATKIN_DEPENDS | ||
actionlib | ||
moveit_task_constructor_msgs | ||
std_msgs | ||
) | ||
find_package(ament_cmake REQUIRED) | ||
|
||
include_directories( | ||
${catkin_INCLUDE_DIRS} | ||
) | ||
find_package(Boost REQUIRED) | ||
find_package(rclcpp_action REQUIRED) | ||
find_package(moveit_core REQUIRED) | ||
find_package(moveit_ros_move_group REQUIRED) | ||
find_package(moveit_task_constructor_msgs REQUIRED) | ||
find_package(pluginlib REQUIRED) | ||
find_package(std_msgs REQUIRED) | ||
|
||
add_library(${PROJECT_NAME} | ||
add_library(${PROJECT_NAME} SHARED | ||
src/execute_task_solution_capability.cpp | ||
) | ||
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) | ||
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) | ||
ament_target_dependencies(${PROJECT_NAME} | ||
Boost | ||
rclcpp_action | ||
moveit_core | ||
moveit_ros_move_group | ||
moveit_task_constructor_msgs | ||
) | ||
|
||
install(TARGETS ${PROJECT_NAME} | ||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
LIBRARY DESTINATION lib | ||
) | ||
|
||
install(FILES capabilities_plugin_description.xml | ||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
) | ||
pluginlib_export_plugin_description_file(moveit_ros_move_group capabilities_plugin_description.xml) | ||
ament_export_dependencies(rclcpp_action) | ||
ament_export_dependencies(moveit_core) | ||
ament_export_dependencies(moveit_ros_move_group) | ||
ament_export_dependencies(moveit_task_constructor_msgs) | ||
ament_export_dependencies(pluginlib) | ||
ament_export_dependencies(std_msgs) | ||
ament_package() |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Should we? What happens if there is already an active goal?