changes for ros2 - rebased

.rdmanifest

@@ -5,7 +5,6 @@ check-presence-script: '#!/bin/bash
   test -d $BITBOTS_CATKIN_WORKSPACE/src/humanoid_base_footprint'
 depends:
 - bitbots_docs
-- bitbots_msgs
 - geometry_msgs
 - message_generation
 - rosconsole

CMakeLists.txt

@@ -1,44 +1,69 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(humanoid_base_footprint)
-add_compile_options(-Wall -Werror -Wno-unused)
-
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rosconsole
-  std_msgs
-  sensor_msgs
-  tf2
-  tf2_eigen
-  tf2_geometry_msgs
-  tf_conversions
-  message_generation
-  geometry_msgs
-  rospy
-  bitbots_docs
-  bitbots_msgs
-  rotconv
-  bitbots_msgs
-)
 
+# Add support for C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(biped_interfaces REQUIRED)
 find_package(Eigen3 REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rotconv REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  biped_interfaces
+  Eigen3
+  rclcpp
+  rclcpp_components
+  rotconv
+  tf2_geometry_msgs
+  tf2_ros)
+
+# Build
+add_library(base_footprint_node SHARED
+  src/base_footprint.cpp)
+
+target_include_directories(base_footprint_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+rclcpp_components_register_node(base_footprint_node
+  PLUGIN "humanoid_base_footprint::BaseFootprintBroadcaster"
+  EXECUTABLE base_footprint)
 
-enable_bitbots_docs()
+ament_target_dependencies(base_footprint_node ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-catkin_package(
-   CATKIN_DEPENDS tf2 rotconv
-)
+ament_export_targets(export_base_footprint HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${Eigen3_INCLUDE_DIRS}
-)
+# Install
+install(
+  DIRECTORY include/
+  DESTINATION include)
+install(
+  TARGETS base_footprint_node
+  EXPORT export_base_footprint
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include)
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME})
 
-## Declare a C++ executable
-add_executable(base_footprint src/base_footprint.cpp)
+## Run tests
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
-## Specify libraries to link a library or executable target against
-target_link_libraries(base_footprint
-    ${catkin_LIBRARIES}
-    ${Eigen3_LIBRARIES}
-)
+# Package
+ament_package()

CONTRIBUTING.md

@@ -0,0 +1,13 @@
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~

README.md

@@ -1,2 +1,28 @@
 # humanoid_base_footprint
-This ROS package includes a node which provides the base footprint frame for any humanoid robot following REP - 120.
+This ROS2 package includes a node which provides the base footprint frame for any humanoid robot following [REP - 120](https://www.ros.org/reps/rep-0120.html).
+
+## Installation
+
+Only source installation is available currently. Run the following in your ROS workspace:
+
+```
+git clone https://github.com/ros-sports/humanoid_base_footprint.git src/humanoid_base_footprint
+vcs import src < src/humanoid_base_footprint/dependencies.repos --recursive
+colcon build
+```
+
+## Description
+
+Definition of the base footprint frame (from [here](https://www.ros.org/reps/rep-0120.html)):
+
+>The base_footprint is the representation of the robot position on the floor. The floor is usually the level where the supporting leg rests, i.e. z = min(l_sole_z, r_sole_z) where l_sole_z and r_sole_z are the left and right sole height respecitvely. The translation component of the frame should be the barycenter of the feet projections on the floor. With respect to the odom frame, the roll and pitch angles should be zero and the yaw angle should correspond to the base_link yaw angle.
+>
+>Rationale: base_footprint provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with the base_link.
+
+The node listens to [Phase]() msgs that define the current stance of the robot. By default, it will listen on the `walk_support_state` topic, but you can define a list of topics on the `support_state_topics` parameter.  
+
+If the links of your robot have non-standard names you can set the following parameters:
+`base_link_frame`, `r_sole_frame`, `l_sole_frame`, `l_sole_frame`, `odom_frame`
+
+
+The resulting frame will be published as `base_footprint` but the name can be changed by setting the `base_footprint_frame` parameter.

dependencies.repos

@@ -3,3 +3,7 @@ repositories:
     type: git
     url: https://github.com/ros-sports/biped_interfaces.git
     version: rolling
+  rot_conv_lib:
+    type: git
+    url: https://github.com/bit-bots/rot_conv_lib.git
+    version: ros2