Support ROS 2

.github/workflows/industrial_ci.yml

@@ -7,23 +7,14 @@ on:
   pull_request:
     paths-ignore:
     - '**.md'
-  schedule:
-    - cron: "0 2 * * 0" # Weekly on Sundays at 02:00
+  workflow_dispatch:
 
 jobs:
   industrial_ci:
-    continue-on-error: ${{ matrix.experimental }}
     strategy:
       matrix:
         env:
-          - { ROS_DISTRO: melodic, ROS_REPO: main }
-          - { ROS_DISTRO: noetic, ROS_REPO: main }
-        experimental: [false]
-        include:
-          - env: { ROS_DISTRO: melodic, ROS_REPO: testing }
-            experimental: true
-          - env: { ROS_DISTRO: noetic, ROS_REPO: testing }
-            experimental: true
+          - { ROS_DISTRO: humble, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4

CMakeLists.txt

@@ -1,33 +1,27 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(sciurus17_description)
 
-# add_definitions(-std=c++11)
+find_package(ament_cmake REQUIRED)
 
-find_package(catkin REQUIRED COMPONENTS
-  rospy
-  std_msgs
+install(DIRECTORY
+  launch
+  meshes
+  urdf
+  DESTINATION share/${PROJECT_NAME}/
 )
 
-# catkin_python_setup()
+ament_python_install_package(${PROJECT_NAME})
+install(PROGRAMS
+    ${PROJECT_NAME}/robot_description_loader.py
+    DESTINATION lib/${PROJECT_NAME})
 
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)  # Skip copyright checks
+  ament_lint_auto_find_test_dependencies()
 
-###########
-## Build ##
-###########
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
+  find_package(ament_cmake_pytest REQUIRED)
+  # ament_add_pytest_test(test_robot_description_loader test/test_robot_description_loader.py)
+endif()
 
-#############
-## Install ##
-#############
-foreach(dir config launch meshes urdf)
-  install(DIRECTORY ${dir}/ 
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}
-  )
-endforeach(dir)
+ament_package()

launch/display.launch.py

@@ -0,0 +1,34 @@
+# Copyright 2023 RT Corporation
+
+from ament_index_python.packages import get_package_share_directory
+from sciurus17_description.robot_description_loader import RobotDescriptionLoader
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    description_loader = RobotDescriptionLoader()
+
+    rsp = Node(package='robot_state_publisher',
+               executable='robot_state_publisher',
+               output='both',
+               parameters=[{'robot_description': description_loader.load()}])
+    jsp = Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        output='screen')
+
+    rviz_config_file = get_package_share_directory(
+        'sciurus17_description') + '/launch/display.rviz'
+    rviz = Node(package='rviz2',
+                executable='rviz2',
+                name='rviz2',
+                output='log',
+                arguments=['-d', rviz_config_file])
+
+    ld = LaunchDescription()
+    ld.add_action(rsp)
+    ld.add_action(jsp)
+    ld.add_action(rviz)
+
+    return ld