Port to ROS 2 (foxy) (#8)

* CMake required version bumped to 3.5. * Fix README prerequisites. * Remove unneeded CMAKE_CXX_STANDARD. * Remove CreateDriver's priv_nh_ member.
AutonomyLab · Oct 13, 2020 · 1983450 · 1983450
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diff --git a/README.md b/README.md
@@ -63,21 +63,20 @@ _* Not verified. Anyone who is able to verify that this driver works or not is e
 #### Prerequisites
 
 * Internet connection
-* [ROS](http://wiki.ros.org/ROS/Installation) _Indigo_ or _Jade_
-* Ubuntu packages: `python-rosdep`, `python-catkin-tools`
+* [ROS](https://index.ros.org/doc/ros2/Installation) _Foxy_
+* Ubuntu packages: `python3-rosdep`, `python3-colcon-common-extensions`
 
 ``` bash
-$ sudo apt-get install python-rosdep python-catkin-tools
+$ sudo apt install python3-rosdep python3-colcon-common-extensions
 ```
 
 #### Compiling
 
-1. Create a catkin workspace  
+1. Create a colcon workspace
     ``` bash
     $ cd ~
     $ mkdir -p create_ws/src  
-    $ cd create_ws  
-    $ catkin init  
+    $ cd create_ws
     ```
 
 2. Clone this repo  
@@ -96,7 +95,7 @@ $ sudo apt-get install python-rosdep python-catkin-tools
 4. Build  
     ``` bash
     $ cd ~/create_ws
-    $ catkin build
+    $ colcon build
     ```
 #### USB Permissions
 5. In order to connect to Create over USB, ensure your user is in the dialout group
@@ -112,7 +111,7 @@ $ sudo apt-get install python-rosdep python-catkin-tools
 
 1. After compiling from source, don't forget to source your workspace:  
     ``` bash
-    $ source ~/create_ws/devel/setup.bash
+    $ source ~/create_ws/install/setup.bash
     ```
 
 2. Connect computer to Create's 7-pin serial port
@@ -124,17 +123,17 @@ $ sudo apt-get install python-rosdep python-catkin-tools
 
 For Create 2 (Roomba 600/700 series):
 ``` bash
-$ roslaunch create_bringup create_2.launch
+$ ros2 launch create_bringup create_2.launch
 ```
 
 For Create 1 (Roomba 500 series):
 ``` bash
-$ roslaunch create_bringup create_1.launch
+$ ros2 launch create_bringup create_1.launch
 ```
 
 For Roomba 400 series:
 ``` bash
-$ roslaunch create_bringup roomba_400.launch
+$ ros2 launch create_bringup roomba_400.launch
 ```
 
 #### Launch file arguments
@@ -145,7 +144,7 @@ $ roslaunch create_bringup roomba_400.launch
 For example, if you would like to disable the robot description and provide a custom configuration file:
 
 ```bash
-$ roslaunch create_bringup create_2.launch config:=/abs/path/to/config.yaml desc:=false
+$ ros2 launch create_bringup create_2.launch config:=/abs/path/to/config.yaml desc:=false
 ```
 
 ### Parameters
@@ -222,7 +221,7 @@ angular.z (+)     Rotate counter-clockwise (rad/s)
 `create_bringup` comes with a launch file for teleoperating Create with a joystick.
 
 ``` bash
-$ roslaunch create_bringup joy_teleop.launch [joy_config:=xbox360]
+$ ros2 launch create_bringup joy_teleop.launch [joy_config:=xbox360]
 ```
 
 There exists configuration files for the [Xbox 360 wired controller](https://www.amazon.ca/Microsoft-Xbox-360-Wired-Controller/dp/B003ZSN600) and the [Logitech F710 controller](http://gaming.logitech.com/en-ca/product/f710-wireless-gamepad). You can adapt these files for your preferred joystick configuration.

diff --git a/create_bringup/CMakeLists.txt b/create_bringup/CMakeLists.txt
@@ -1,11 +1,11 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(create_bringup)
 
-find_package(catkin REQUIRED)
-
-catkin_package()
+find_package(ament_cmake REQUIRED)
 
 install(DIRECTORY config launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION share/${PROJECT_NAME}
   PATTERN ".svn" EXCLUDE
 )
+
+ament_package()
diff --git a/create_bringup/config/default.yaml b/create_bringup/config/default.yaml
@@ -1,20 +1,22 @@
-# The device path for the robot
-dev: "/dev/ttyUSB0"
+create_node:
+  ros__parameters:
+    # The device path for the robot
+    dev: "/dev/ttyUSB0"
 
-# Baud rate. Passing this parameter overwrites the inferred value based on the robot_model
-# baud: 115200
+    # Baud rate. Passing this parameter overwrites the inferred value based on the robot_model
+    # baud: 115200
 
-# Base frame ID
-base_frame: "base_footprint"
+    # Base frame ID
+    base_frame: "base_footprint"
 
-# Odometry frame ID
-odom_frame: "odom"
+    # Odometry frame ID
+    odom_frame: "odom"
 
-# Time (s) without receiving a velocity command before stopping the robot
-latch_cmd_duration: 0.2
+    # Time (s) without receiving a velocity command before stopping the robot
+    latch_cmd_duration: 0.2
 
-# Internal loop update rate (Hz)
-loop_hz: 10.0
+    # Internal loop update rate (Hz)
+    loop_hz: 10.0
 
-# Whether to publish the transform between odom_frame and base_frame
-publish_tf: true
+    # Whether to publish the transform between odom_frame and base_frame
+    publish_tf: true
diff --git a/create_bringup/config/log710.yaml b/create_bringup/config/log710.yaml
@@ -1,32 +1,33 @@
 # Logitech F710 wireless controller
 # Deadman (enable) button: Right Trigger
 # D<>X button (located on the back panel) must be set to D
-teleop:
-  piloting:
-    type: topic
-    message_type: "geometry_msgs/Twist"
-    topic_name: cmd_vel
-    deadman_buttons: [7]
-    axis_mappings:
-      -
-        axis: 3  # Right thumb stick (up/down)
-        target: linear.x
-        scale: 0.4
-        offset: 0.0
-      -
-        axis: 2  # Right thumb stick (left/right)
-        target: angular.z
-        scale: 2.5
-        offset: 0.0
-  dock:
-    type: topic
-    message_type: "std_msgs/Empty"
-    topic_name: dock
-    deadman_buttons: [3, 7]  # RT + Y
-    axis_mappings: []
-  undock:
-    type: topic
-    message_type: "std_msgs/Empty"
-    topic_name: undock
-    deadman_buttons: [1, 7]  # RT + A
-    axis_mappings: []
+joy_teleop:
+  ros__parameters:
+    piloting:
+      type: topic
+      message_type: "geometry_msgs/msg/Twist"
+      topic_name: cmd_vel
+      deadman_buttons: [7]
+      axis_mappings:
+        -
+          axis: 3  # Right thumb stick (up/down)
+          target: linear.x
+          scale: 0.4
+          offset: 0.0
+        -
+          axis: 2  # Right thumb stick (left/right)
+          target: angular.z
+          scale: 2.5
+          offset: 0.0
+    dock:
+      type: topic
+      message_type: "std_msgs/msg/Empty"
+      topic_name: dock
+      deadman_buttons: [3, 7]  # RT + Y
+      axis_mappings: []
+    undock:
+      type: topic
+      message_type: "std_msgs/msg/Empty"
+      topic_name: undock
+      deadman_buttons: [1, 7]  # RT + A
+      axis_mappings: []
diff --git a/create_bringup/config/xbox360.yaml b/create_bringup/config/xbox360.yaml
@@ -1,18 +1,19 @@
 # XBox 360 wired controller
-teleop:
-  piloting:
-    type: topic
-    message_type: "geometry_msgs/Twist"
-    topic_name: cmd_vel
-    deadman_buttons: []  # No deadman buttons
-    axis_mappings:
-      -
-        axis: 4  # Right thumb (up/down)
-        target: linear.x
-        scale: 0.4
-        offset: 0.0
-      -
-        axis: 3  # Right thumb stick (left/right)
-        target: angular.z
-        scale: 2.5
-        offset: 0.0
+joy_teleop:
+  ros__parameters:
+    piloting:
+      type: topic
+      message_type: "geometry_msgs/msg/Twist"
+      topic_name: cmd_vel
+      deadman_buttons: []  # No deadman buttons
+      axis_mappings:
+        -
+          axis: 4  # Right thumb (up/down)
+          target: linear.x
+          scale: 0.4
+          offset: 0.0
+        -
+          axis: 3  # Right thumb stick (left/right)
+          target: angular.z
+          scale: 2.5
+          offset: 0.0
diff --git a/create_bringup/launch/create_1.launch b/create_bringup/launch/create_1.launch
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="config" default="$(find create_bringup)/config/default.yaml" />
+  <arg name="config" default="$(find-pkg-share create_bringup)/config/default.yaml" />
   <arg name="desc" default="true" />
 
-  <node name="create_driver" pkg="create_driver" type="create_driver" output="screen">
-    <rosparam command="load" file="$(arg config)" />
+  <node name="create_driver" pkg="create_driver" exec="create_driver" output="screen">
+    <param from="$(var config)" />
     <param name="robot_model" value="CREATE_1" />
   </node>
 
   <!-- Robot description -->
-  <include if="$(arg desc)" file="$(find create_description)/launch/create_1.launch" />
+  <include if="$(var desc)" file="$(find-pkg-share create_description)/launch/create_1.xml" />
 </launch>
diff --git a/create_bringup/launch/create_2.launch b/create_bringup/launch/create_2.launch
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="config" default="$(find create_bringup)/config/default.yaml" />
+  <arg name="config" default="$(find-pkg-share create_bringup)/config/default.yaml" />
   <arg name="desc" default="true" />
 
-  <node name="create_driver" pkg="create_driver" type="create_driver" output="screen">
-    <rosparam command="load" file="$(arg config)" />
+  <node name="create_driver" pkg="create_driver" exec="create_driver" output="screen">
+    <param from="$(var config)" />
     <param name="robot_model" value="CREATE_2" />
   </node>
 
   <!-- Robot description -->
-  <include if="$(arg desc)" file="$(find create_description)/launch/create_2.launch" />
+  <include if="$(var desc)" file="$(find-pkg-share create_description)/launch/create_2.xml" />
 </launch>
diff --git a/create_bringup/launch/joy_teleop.launch b/create_bringup/launch/joy_teleop.launch
@@ -2,16 +2,15 @@
 <launch>
   <arg name="joy_dev" default="/dev/input/js0" />
   <arg name="joy_config" default="xbox360" />
-  <arg name="teleop_config" default="$(find create_bringup)/config/$(arg joy_config).yaml" />
+  <arg name="teleop_config" default="$(find-pkg-share create_bringup)/config/$(var joy_config).yaml" />
 
-  <rosparam file="$(arg teleop_config)" command="load" />
-
-  <node pkg="joy" type="joy_node" name="joy_node">
-    <param name="dev" value="$(arg joy_dev)" />
+  <node pkg="joy" exec="joy_node" name="joy_node">
+    <param name="dev" value="$(var joy_dev)" />
     <param name="deadzone" value="0.2" />
-    <param name="autorepeat_rate" value="20" />
+    <param name="autorepeat_rate" value="20.0" />
   </node>
 
-  <node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
+  <node pkg="joy_teleop" exec="joy_teleop" name="joy_teleop">
+    <param from="$(var teleop_config)" />
   </node>
 </launch>
diff --git a/create_bringup/launch/roomba_400.launch b/create_bringup/launch/roomba_400.launch
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="config" default="$(find create_bringup)/config/default.yaml" />
+  <arg name="config" default="$(find-pkg-share create_bringup)/config/default.yaml" />
   <arg name="desc" default="true" />
 
-  <node name="create_driver" pkg="create_driver" type="create_driver" output="screen">
-    <rosparam command="load" file="$(arg config)" />
+  <node name="create_driver" pkg="create_driver" exec="create_driver" output="screen">
+    <param from="$(var config)" />
     <param name="robot_model" value="ROOMBA_400" />
   </node>
 
   <!-- Robot description -->
-  <include if="$(arg desc)" file="$(find create_description)/launch/roomba_400.launch" />
+  <include if="$(var desc)" file="$(find-pkg-share create_description)/launch/roomba_400.xml" />
 </launch>
diff --git a/create_bringup/package.xml b/create_bringup/package.xml
@@ -12,13 +12,14 @@
 
   <author email="[email protected]">Jacob Perron</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>create_description</exec_depend>
   <exec_depend>create_driver</exec_depend>
   <exec_depend>joy</exec_depend>
   <exec_depend>joy_teleop</exec_depend>
 
   <export>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/create_description/CMakeLists.txt b/create_description/CMakeLists.txt
@@ -1,25 +1,21 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(create_description)
 
-find_package(catkin REQUIRED COMPONENTS
-  roslaunch
-)
-
-catkin_package()
-
-roslaunch_add_file_check(launch)
+find_package(ament_cmake REQUIRED)
 
 install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  DESTINATION share/${PROJECT_NAME}/launch
   PATTERN ".svn" EXCLUDE
 )
 
 install(DIRECTORY meshes/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
+  DESTINATION share/${PROJECT_NAME}/meshes
   PATTERN ".svn" EXCLUDE
 )
 
 install(DIRECTORY urdf/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
+  DESTINATION share/${PROJECT_NAME}/urdf
   PATTERN ".svn" EXCLUDE
 )
+
+ament_package()
diff --git a/create_description/launch/create_1.launch b/create_description/launch/create_1.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro '$(find create_description)/urdf/create_1.urdf.xacro'" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher" output="screen">
+    <param name="robot_description" type="str" value="$(command '$(find-pkg-prefix xacro)/bin/xacro $(find-pkg-share create_description)/urdf/create_1.urdf.xacro')" />
+  </node>
 </launch>
diff --git a/create_description/launch/create_2.launch b/create_description/launch/create_2.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro '$(find create_description)/urdf/create_2.urdf.xacro'" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher" output="screen">
+    <param name="robot_description" type="str" value="$(command '$(find-pkg-prefix xacro)/bin/xacro $(find-pkg-share create_description)/urdf/create_2.urdf.xacro')" />
+  </node>
 </launch>
diff --git a/create_description/launch/roomba_400.launch b/create_description/launch/roomba_400.launch
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- TODO(jacobperron): Add Roomba URDF and mesh to use here instead of Create 1 model -->
-  <param name="robot_description" command="$(find xacro)/xacro '$(find create_description)/urdf/create_1.urdf.xacro'" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher" output="screen">
+    <!-- TODO(jacobperron): Add Roomba URDF and mesh to use here instead of Create 1 model -->
+    <param name="robot_description" type="str" value="$(command '$(find-pkg-prefix xacro)/bin/xacro $(find-pkg-share create_description)/urdf/create_1.urdf.xacro')" />
+  </node>
 </launch>