inmoov_msgs converted

.gitignore

@@ -147,3 +147,53 @@ cython_debug/
 
 # VS Code settings
 .vscode/
+
+# ROS2 build artifacts
+/build/
+/install/
+/log/
+
+# ROS2 colcon files
+.colcon/
+
+# ROS2 specific files
+.ros/
+
+# Python bytecode
+__pycache__/
+*.py[cod]
+
+# MacOS specific files
+.DS_Store
+
+# Vim swap files
+*.swp
+
+# Temporary files
+*.tmp
+*.bak
+*.backup
+*.orig
+*.rej
+*.~*
+
+# Editor directories and files
+.idea/
+.vscode/
+*.sublime-project
+*.sublime-workspace
+
+# Backup files
+*~
+*.bak
+*.sav
+
+# Environment specific files
+.env
+.venv
+
+# IDE specific files
+.project
+.cproject
+.settings/
+.classpath

README.md

@@ -205,3 +205,13 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 https://github.com/paul-shuvo/iai_kinect2_opencv4
 
 ```
+
+
+```
+sudo apt install ros-humble-moveit
+```
+
+rosserial is gone ...
+
+New fancy
+https://micro.ros.org/

build_and_source.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+# build_and_source.sh
+
+cd ~/mrl/inmoov_ros
+colcon build --packages-select inmoov_description
+source install/setup.bash
+# ros2 launch inmoov_bringup bringup.launch.py
+ros2 launch inmoov_description display.launch.py

display_launch.py

@@ -0,0 +1,59 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, ExecuteProcess
+from launch.substitutions import LaunchConfiguration, Command, FindExecutable, PathJoinSubstitution
+from launch.conditions import IfCondition
+
+def generate_launch_description():
+    # Get the path to the package
+    pkg_inmoov_description = FindExecutable.find('inmoov_description')
+
+    # Declare the launch arguments
+    declare_model_arg = DeclareLaunchArgument('model', default_value='')
+    declare_gui_arg = DeclareLaunchArgument('gui', default_value='False')
+
+    # Set up the robot description
+    robot_description = {
+        'robot_description': Command([
+            PathJoinSubstitution([FindExecutable.find('xacro'), 'xacro ']),
+            PathJoinSubstitution([pkg_inmoov_description, 'robots', 'inmoov.urdf.xacro'])
+        ])
+    }
+
+    # Nodes
+    joint_state_publisher_node = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters=[{'source_list': ['rviz_command'], 'rate': 20}],
+        condition=IfCondition(LaunchConfiguration('gui'))
+    )
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher'
+    )
+    joint_state_publisher_gui_node = Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui'
+    )
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', PathJoinSubstitution([pkg_inmoov_description, 'urdf.rviz'])],
+        required=True
+    )
+
+    # Return the launch description
+    return LaunchDescription([
+        declare_model_arg,
+        declare_gui_arg,
+        robot_description,
+        joint_state_publisher_node,
+        robot_state_publisher_node,
+        joint_state_publisher_gui_node,
+        rviz_node
+    ])

inmoov_bringup/CMakeLists.txt

@@ -1,192 +1,48 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(inmoov_bringup)
 
-## Add support for C++11, supported in ROS Kinetic and newer
-# add_definitions(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES inmoov_bringup
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(inmoov_msgs REQUIRED)
+find_package(inmoov_description REQUIRED)
+find_package(robot_state_publisher REQUIRED)
+find_package(rviz2 REQUIRED)
+
+# Install launch files
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/launch
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/inmoov_bringup.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/inmoov_bringup_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+# Install configuration files
+install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+# Install Python nodes
+install(PROGRAMS
+  nodes/joint_command_dispatcher.py
+  nodes/joint_status_dispatcher.py
+  nodes/motor_status_dispatcher.py
+  nodes/constants.py
+  nodes/servos.py
+  nodes/load_config_from_param.py
+  nodes/export_yaml.py
+  DESTINATION lib/${PROJECT_NAME}
+)
 
-#############
-## Testing ##
-#############
+# Install Python tools and their .ui files
+install(PROGRAMS
+  tools/enable_manager/enable_manager.py
+  tools/rviz_manager/rviz_manager.py
+  DESTINATION lib/${PROJECT_NAME}
+)
 
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_inmoov_bringup.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+install(FILES
+  tools/enable_manager/enable_manager.ui
+  tools/rviz_manager/rviz_manager.ui
+  DESTINATION lib/${PROJECT_NAME}
+)
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()