Foxy

rmf_fleet_adapter/CHANGELOG.rst

@@ -10,6 +10,7 @@ Forthcoming
 * Traffic Light API: [#147](https://github.com/osrf/rmf_core/pull/147)
 * Allow fleet adapters to adjust the maximum delay: [#148](https://github.com/osrf/rmf_core/pull/148)
 * Full Control Fleet Adapters respond to emergency alarm topic: [#162](https://github.com/osrf/rmf_core/pull/162)
+* Migrating to ROS2 Foxy: [#133](https://github.com/osrf/rmf_core/pull/133)
 
 1.0.2 (2020-07-27)
 ------------------

rmf_fleet_adapter/CMakeLists.txt

@@ -291,7 +291,7 @@ target_include_directories(task_aggregator
 
 # -----------------------------------------------------------------------------
 
-ament_export_interfaces(rmf_fleet_adapter HAS_LIBRARY_TARGET)
+ament_export_targets(rmf_fleet_adapter HAS_LIBRARY_TARGET)
 ament_export_dependencies(rmf_traffic_ros2)
 
 install(

rmf_fleet_adapter/launch/fleet_adapter.launch.xml

@@ -27,7 +27,6 @@
   <node pkg="rmf_fleet_adapter"
         exec="$(var control_type)"
         name="$(var fleet_name)_fleet_adapter"
-        node-name="$(var fleet_name)_fleet_adapter"
         output="both">
 
     <param name="fleet_name" value="$(var fleet_name)"/>

rmf_fleet_adapter/launch/robot_state_aggregator.launch.xml

@@ -9,7 +9,6 @@
   <node pkg="rmf_fleet_adapter"
         exec="robot_state_aggregator"
         name="$(var fleet_name)_state_aggregator"
-        node-name="$(var fleet_name)_state_aggregator"
         output="both">
 
     <param name="robot_prefix" value="$(var robot_prefix)"/>

rmf_fleet_adapter/rmf_rxcpp/include/rmf_rxcpp/Transport.hpp

@@ -105,10 +105,10 @@ class Transport : public rclcpp::Node
   bool _node_added = false;
   std::condition_variable _spin_cv;
 
-  static rclcpp::executor::ExecutorArgs _make_exec_args(
+  static rclcpp::ExecutorOptions _make_exec_args(
       const rclcpp::NodeOptions& options)
   {
-    rclcpp::executor::ExecutorArgs exec_args;
+    rclcpp::ExecutorOptions exec_args;
     exec_args.context = options.context();
     return exec_args;
   }

rmf_fleet_adapter/src/rmf_fleet_adapter/agv/Adapter.cpp

@@ -147,7 +147,7 @@ class Adapter::Implementation
       const rclcpp::NodeOptions& node_options,
       rmf_utils::optional<rmf_traffic::Duration> discovery_timeout)
   {
-    if (!rclcpp::is_initialized(node_options.context()))
+    if (!rclcpp::ok(node_options.context()))
     {
       throw std::runtime_error(
             "rclcpp must be initialized before creating an Adapter! "
@@ -175,9 +175,9 @@ class Adapter::Implementation
     const auto stop_time =
         std::chrono::steady_clock::now() + *discovery_timeout;
 
-    rclcpp::executor::ExecutorArgs args;
-    args.context = node_options.context();
-    rclcpp::executors::SingleThreadedExecutor executor(args);
+    rclcpp::ExecutorOptions options;
+    options.context = node_options.context();
+    rclcpp::executors::SingleThreadedExecutor executor(options);
     executor.add_node(node);
 
     while (rclcpp::ok(node_options.context())

rmf_fleet_adapter/test/adapters/test_TrafficLight.cpp

@@ -242,12 +242,12 @@ SCENARIO("Test negotiated timing")
     const auto schedule_node =
         rmf_traffic_ros2::schedule::make_node(make_test_node_options());
 
-    rclcpp::executor::ExecutorArgs args;
-    args.context = schedule_node->get_node_options().context();
-    rclcpp::executors::SingleThreadedExecutor executor(args);
+    rclcpp::ExecutorOptions options;
+    options.context = schedule_node->get_node_options().context();
+    rclcpp::executors::SingleThreadedExecutor executor(options);
     executor.add_node(schedule_node);
 
-    while (!finished && rclcpp::ok(args.context))
+    while (!finished && rclcpp::ok(options.context))
       executor.spin_some();
   });
 

rmf_traffic/src/rmf_traffic/schedule/Database.cpp

@@ -400,7 +400,7 @@ rmf_utils::optional<Writer::Input> Database::Debug::get_itinerary(
   for (const RouteId route : state.active_routes)
     itinerary.push_back({route, state.storage.at(route).entry->route});
 
-  return std::move(itinerary);
+  return itinerary;
 }
 
 //==============================================================================
@@ -1034,7 +1034,7 @@ rmf_utils::optional<Itinerary> Database::get_itinerary(
   for (const RouteId route : state.active_routes)
     itinerary.push_back(state.storage.at(route).entry->route);
 
-  return std::move(itinerary);
+  return itinerary;
 }
 
 //==============================================================================

rmf_traffic/src/rmf_traffic/schedule/Mirror.cpp

@@ -258,7 +258,7 @@ rmf_utils::optional<Itinerary> Mirror::get_itinerary(
   for (const auto& s : state.storage)
     itinerary.push_back(s.second.entry->route);
 
-  return std::move(itinerary);
+  return itinerary;
 }
 
 //==============================================================================

rmf_traffic/src/rmf_traffic/schedule/Rectifier.cpp

@@ -133,7 +133,7 @@ DatabaseRectificationRequesterFactory::make(
     _pimpl->_database, std::move(rectifier), participant_id);
 
   _pimpl->_handles.push_back(requester->_handle);
-  return std::move(requester);
+  return requester;
 }
 
 //==============================================================================

rmf_traffic_ros2/CHANGELOG.rst

@@ -11,6 +11,7 @@ Forthcoming
 * Allow the Negotiation class to accept callbacks for Table updates: [#140](https://github.com/osrf/rmf_core/pull/140/)
 * Allow the Negotiation class to provide views for existing Tables: [#140](https://github.com/osrf/rmf_core/pull/140/)
 * Allow the Negotiation class to store up to a certain number of completed negotiations: [#140](https://github.com/osrf/rmf_core/pull/140/)
+* Migrating to ROS2 Foxy: [#133](https://github.com/osrf/rmf_core/pull/133)
 
 1.0.2 (2020-07-27)
 ------------------

rmf_traffic_ros2/CMakeLists.txt

@@ -55,7 +55,7 @@ target_include_directories(rmf_traffic_ros2
     ${rclcpp_INCLUDE_DIRS}
 )
 
-ament_export_interfaces(rmf_traffic_ros2 HAS_LIBRARY_TARGET)
+ament_export_targets(rmf_traffic_ros2 HAS_LIBRARY_TARGET)
 ament_export_dependencies(rmf_traffic rmf_traffic_msgs rclcpp)
 
 # TODO(MXG): Change these executables into shared libraries that can act as

rmf_traffic_ros2/src/rmf_traffic_ros2/schedule/Node.cpp

@@ -17,6 +17,8 @@
 
 #include "internal_Node.hpp"
 
+#include <cstring>
+
 #include <rmf_traffic_ros2/Route.hpp>
 #include <rmf_traffic_ros2/StandardNames.hpp>
 #include <rmf_traffic_ros2/Time.hpp>

rmf_traffic_ros2/src/rmf_traffic_ros2/schedule/Writer.cpp

@@ -90,7 +90,7 @@ class RectifierFactory
     // because the Database should never double-assign a ParticipantId
     stub_map[participant_id] = requester->stub;
 
-    return std::move(requester);
+    return requester;
   }
 
   void check_inconsistencies(const InconsistencyMsg& msg)

rmf_utils/CMakeLists.txt

@@ -69,6 +69,6 @@ export(
   NAMESPACE rmf_utils::
 )
 
-export(PACKAGE rmf_utils)
+export(PACKAGE rmf_utils-targets)
 
 add_subdirectory(test/unit)