Merge pull request #396 from reidchristopher/humble

Humble Port
ros-industrial · Jul 13, 2023 · 44deb8d · 44deb8d
2 parents aef3d3e + 3d647e7
commit 44deb8d
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diff --git a/.check_training_config.bash b/.check_training_config.bash
@@ -1,8 +1,7 @@
 #!/bin/bash
 
-TARGET_BRANCH=foxy  # industrial_training git branch
-ROS_RELEASE=noetic     # ROS1 release version
-ROS2_RELEASE=foxy      # ROS2 release version
+TARGET_BRANCH=humble  # industrial_training git branch
+ROS2_RELEASE=humble      # ROS2 release version
 
 #=======================================================================
 # verify that PC configuration matches requirements for training class
@@ -84,29 +83,19 @@ function check_debs() {
   check_deb pcl-tools
   check_deb python3-argcomplete
   check_deb python3-vcstool
-   echo "Checking ROS1 packages:"
-  check_deb python3-catkin-tools
-  check_deb ros-$ROS_RELEASE-desktop
-  check_deb ros-$ROS_RELEASE-perception
-  check_deb ros-$ROS_RELEASE-urdf-tutorial
-  check_deb ros-$ROS_RELEASE-moveit
-  check_deb ros-$ROS_RELEASE-industrial-core
-  disable_deb ros-$ROS_RELEASE-openni-launch
-  disable_deb ros-$ROS_RELEASE-openni-camera
-  disable_deb ros-$ROS_RELEASE-openni2-launch
-  disable_deb ros-$ROS_RELEASE-openni2-launch
+  check_deb python3-rosdep
+
   echo "Checking ROS2 packages:"
   check_deb python3-colcon-bash
   check_deb python3-colcon-core
   check_deb python3-colcon-ros
   check_deb python3-colcon-common-extensions
   check_deb ros-$ROS2_RELEASE-desktop
-  check_deb ros-$ROS2_RELEASE-moveit
-  check_deb ros-$ROS2_RELEASE-ros1-bridge
   check_deb ros-$ROS2_RELEASE-ros2-control
   check_deb ros-$ROS2_RELEASE-ros2-controllers
   check_deb ros-$ROS2_RELEASE-xacro
   check_deb ros-$ROS2_RELEASE-joint-state-publisher-gui
+  check-deb ros-$ROS2_RELEASE-pcl-ros
 }
 
 function check_bashrc() {

diff --git a/.readthedocs.yaml b/.readthedocs.yaml
@@ -0,0 +1,22 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Set the version of Python and other tools you might need
+build:
+  os: ubuntu-20.04
+  tools:
+    python: "3.8"
+
+# Build documentation in the docs/ directory with Sphinx
+sphinx:
+  configuration: gh_pages/conf.py
+
+# We recommend specifying your dependencies to enable reproducible builds:
+# https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
+python:
+  install:
+  - requirements: gh_pages/requirements.txt
diff --git a/exercises/1.3/ros2/src/myworkcell_core/CMakeLists.txt b/exercises/1.3/ros2/src/myworkcell_core/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_core)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()

diff --git a/exercises/1.4/ros2/src/myworkcell_core/CMakeLists.txt b/exercises/1.4/ros2/src/myworkcell_core/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_core)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()

diff --git a/exercises/2.0/ros2/src/myworkcell_core/CMakeLists.txt b/exercises/2.0/ros2/src/myworkcell_core/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_core)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()
@@ -28,16 +18,17 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/LocalizePart.srv"
   DEPENDENCIES geometry_msgs
 )
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 # The vision_node executable
 add_executable(vision_node src/vision_node.cpp)
 ament_target_dependencies(vision_node rclcpp fake_ar_publisher)
-rosidl_target_interfaces(vision_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(vision_node "${cpp_typesupport_target}")
 
 # The myworkcell_node executable
 add_executable(myworkcell_node src/myworkcell_node.cpp)
 ament_target_dependencies(myworkcell_node rclcpp)
-rosidl_target_interfaces(myworkcell_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(myworkcell_node "${cpp_typesupport_target}")
 
 # Mark executables for installation
 install(TARGETS vision_node myworkcell_node

diff --git a/exercises/2.0/ros2/src/myworkcell_core/src/myworkcell_node.cpp b/exercises/2.0/ros2/src/myworkcell_core/src/myworkcell_node.cpp
@@ -24,7 +24,7 @@ class ScanNPlan : public rclcpp::Node
 
     auto future = vision_client_->async_send_request(request);
 
-    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::executor::FutureReturnCode::SUCCESS)
+    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::FutureReturnCode::SUCCESS)
     {
       RCLCPP_ERROR(this->get_logger(), "Failed to receive LocalizePart service response");
       return;

diff --git a/exercises/2.2/ros2/src/myworkcell_core/CMakeLists.txt b/exercises/2.2/ros2/src/myworkcell_core/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_core)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()
@@ -28,16 +18,17 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/LocalizePart.srv"
   DEPENDENCIES geometry_msgs
 )
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 # The vision_node executable
 add_executable(vision_node src/vision_node.cpp)
 ament_target_dependencies(vision_node rclcpp fake_ar_publisher)
-rosidl_target_interfaces(vision_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(vision_node "${cpp_typesupport_target}")
 
 # The myworkcell_node executable
 add_executable(myworkcell_node src/myworkcell_node.cpp)
 ament_target_dependencies(myworkcell_node rclcpp)
-rosidl_target_interfaces(myworkcell_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(myworkcell_node "${cpp_typesupport_target}")
 
 # Mark executables for installation
 install(TARGETS vision_node myworkcell_node

diff --git a/exercises/2.2/ros2/src/myworkcell_core/src/myworkcell_node.cpp b/exercises/2.2/ros2/src/myworkcell_core/src/myworkcell_node.cpp
@@ -24,7 +24,7 @@ class ScanNPlan : public rclcpp::Node
 
     auto future = vision_client_->async_send_request(request);
 
-    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::executor::FutureReturnCode::SUCCESS)
+    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::FutureReturnCode::SUCCESS)
     {
       RCLCPP_ERROR(this->get_logger(), "Failed to receive LocalizePart service response");
       return;

diff --git a/exercises/2.2/ros2/src/myworkcell_support/CMakeLists.txt b/exercises/2.2/ros2/src/myworkcell_support/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_support)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()

diff --git a/exercises/2.3/ros2/src/myworkcell_core/CMakeLists.txt b/exercises/2.3/ros2/src/myworkcell_core/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_core)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()
@@ -28,16 +18,17 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/LocalizePart.srv"
   DEPENDENCIES geometry_msgs
 )
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 # The vision_node executable
 add_executable(vision_node src/vision_node.cpp)
 ament_target_dependencies(vision_node rclcpp fake_ar_publisher)
-rosidl_target_interfaces(vision_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(vision_node "${cpp_typesupport_target}")
 
 # The myworkcell_node executable
 add_executable(myworkcell_node src/myworkcell_node.cpp)
 ament_target_dependencies(myworkcell_node rclcpp)
-rosidl_target_interfaces(myworkcell_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(myworkcell_node "${cpp_typesupport_target}")
 
 # Mark executables for installation
 install(TARGETS vision_node myworkcell_node

diff --git a/exercises/2.3/ros2/src/myworkcell_core/src/myworkcell_node.cpp b/exercises/2.3/ros2/src/myworkcell_core/src/myworkcell_node.cpp
@@ -28,7 +28,7 @@ class ScanNPlan : public rclcpp::Node
 
     auto future = vision_client_->async_send_request(request);
 
-    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::executor::FutureReturnCode::SUCCESS)
+    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::FutureReturnCode::SUCCESS)
     {
       RCLCPP_ERROR(this->get_logger(), "Failed to receive LocalizePart service response");
       return;

diff --git a/exercises/2.3/ros2/src/myworkcell_support/CMakeLists.txt b/exercises/2.3/ros2/src/myworkcell_support/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_support)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()

diff --git a/exercises/3.0/ros2/src/myworkcell_core/CMakeLists.txt b/exercises/3.0/ros2/src/myworkcell_core/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_core)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()
@@ -28,16 +18,17 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/LocalizePart.srv"
   DEPENDENCIES geometry_msgs
 )
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 # The vision_node executable
 add_executable(vision_node src/vision_node.cpp)
 ament_target_dependencies(vision_node rclcpp fake_ar_publisher)
-rosidl_target_interfaces(vision_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(vision_node "${cpp_typesupport_target}")
 
 # The myworkcell_node executable
 add_executable(myworkcell_node src/myworkcell_node.cpp)
 ament_target_dependencies(myworkcell_node rclcpp)
-rosidl_target_interfaces(myworkcell_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(myworkcell_node "${cpp_typesupport_target}")
 
 # Mark executables for installation
 install(TARGETS vision_node myworkcell_node

diff --git a/exercises/3.0/ros2/src/myworkcell_core/src/myworkcell_node.cpp b/exercises/3.0/ros2/src/myworkcell_core/src/myworkcell_node.cpp
@@ -21,7 +21,7 @@ class ScanNPlan : public rclcpp::Node
 
     auto future = vision_client_->async_send_request(request);
 
-    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::executor::FutureReturnCode::SUCCESS)
+    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::FutureReturnCode::SUCCESS)
     {
       RCLCPP_ERROR(this->get_logger(), "Failed to receive LocalizePart service response");
       return;

diff --git a/exercises/3.0/ros2/src/myworkcell_support/CMakeLists.txt b/exercises/3.0/ros2/src/myworkcell_support/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_support)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()

diff --git a/exercises/3.1/ros2/src/myworkcell_core/CMakeLists.txt b/exercises/3.1/ros2/src/myworkcell_core/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_core)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()
@@ -28,16 +18,17 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/LocalizePart.srv"
   DEPENDENCIES geometry_msgs
 )
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 # The vision_node executable
 add_executable(vision_node src/vision_node.cpp)
 ament_target_dependencies(vision_node rclcpp fake_ar_publisher)
-rosidl_target_interfaces(vision_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(vision_node "${cpp_typesupport_target}")
 
 # The myworkcell_node executable
 add_executable(myworkcell_node src/myworkcell_node.cpp)
 ament_target_dependencies(myworkcell_node rclcpp)
-rosidl_target_interfaces(myworkcell_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(myworkcell_node "${cpp_typesupport_target}")
 
 # Mark executables for installation
 install(TARGETS vision_node myworkcell_node

diff --git a/exercises/3.1/ros2/src/myworkcell_core/src/myworkcell_node.cpp b/exercises/3.1/ros2/src/myworkcell_core/src/myworkcell_node.cpp
@@ -28,7 +28,7 @@ class ScanNPlan : public rclcpp::Node
 
     auto future = vision_client_->async_send_request(request);
 
-    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::executor::FutureReturnCode::SUCCESS)
+    if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), future) != rclcpp::FutureReturnCode::SUCCESS)
     {
       RCLCPP_ERROR(this->get_logger(), "Failed to receive LocalizePart service response");
       return;

diff --git a/exercises/3.1/ros2/src/myworkcell_support/CMakeLists.txt b/exercises/3.1/ros2/src/myworkcell_support/CMakeLists.txt
@@ -1,16 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(myworkcell_support)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  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()