Port to ROS2

CMakeLists.txt

@@ -1,22 +1,53 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(object_recognition_msgs)
 
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+ set(CMAKE_CXX_STANDARD 14)
+endif()
+
+# Disable Wredundant-decls warnings since rosidl generates redundant function declarations
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Wno-redundant-decls")
+endif()
+
 # generate the messages and the actionlib server for ROS
-find_package(catkin REQUIRED actionlib_msgs genmsg geometry_msgs sensor_msgs shape_msgs std_msgs)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(shape_msgs REQUIRED)
 
-add_action_files(DIRECTORY action FILES ObjectRecognition.action)
-add_service_files(DIRECTORY srv FILES GetObjectInformation.srv)
+set(msg_files
+ "msg/ObjectInformation.msg"
+ "msg/ObjectType.msg"
+ "msg/RecognizedObject.msg"
+ "msg/RecognizedObjectArray.msg"
+ "msg/Table.msg"
+ "msg/TableArray.msg"
+)
+set(srv_files
+ "srv/GetObjectInformation.srv"
+)
+set(action_files
+ "action/ObjectRecognition.action"
+)
 
-add_message_files(DIRECTORY msg
- FILES ObjectType.msg
- ObjectInformation.msg
- RecognizedObject.msg
- RecognizedObjectArray.msg
- Table.msg
- TableArray.msg
+rosidl_generate_interfaces(${PROJECT_NAME}
+ ${msg_files}
+ ${srv_files}
+ ${action_files}
+ DEPENDENCIES
+ action_msgs
+ std_msgs
+ geometry_msgs
+ sensor_msgs
+ shape_msgs
 )
 
-generate_messages(DEPENDENCIES actionlib_msgs geometry_msgs sensor_msgs shape_msgs std_msgs)
+ament_export_dependencies(rosidl_default_runtime)
 
 # define the project
-catkin_package(CATKIN_DEPENDS actionlib_msgs geometry_msgs sensor_msgs shape_msgs std_msgs)
+ament_package()

msg/RecognizedObject.msg

@@ -1,7 +1,7 @@
 ##################################################### HEADER ###########################################################
 
 # The header frame corresponds to the pose frame, NOT the point_cloud frame.
-Header header
+std_msgs/Header header
 
 ################################################## OBJECT INFO #########################################################
 

msg/RecognizedObjectArray.msg

@@ -1,5 +1,5 @@
 ##################################################### HEADER ###########################################################
-Header header
+std_msgs/Header header
 
 # This message type describes a potential scene configuration: a set of objects that can explain the scene
 object_recognition_msgs/RecognizedObject[] objects

msg/Table.msg

@@ -1,6 +1,6 @@
 # Informs that a planar table has been detected at a given location
 
-Header header
+std_msgs/Header header
 
 # The pose gives you the transform that take you to the coordinate system
 # of the table, with the origin somewhere in the table plane and the 

msg/TableArray.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 
 # Just an array of tables
 object_recognition_msgs/Table[] tables

package.xml

@@ -1,4 +1,4 @@
-<package>
+<package format="3">
  <name>object_recognition_msgs</name>
  <version>0.4.2</version>
  <description>Object_recognition_msgs contains the ROS message and the actionlib definition used in object_recognition_core</description>
@@ -8,23 +8,29 @@
 
  <url>http:https://www.ros.org/wiki/object_recognition</url>
 
- <build_depend>actionlib_msgs</build_depend>
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+ <build_depend>rosidl_default_generators</build_depend>
+
+ <build_depend>action_msgs</build_depend>
+ <build_depend>std_msgs</build_depend>
  <build_depend>geometry_msgs</build_depend>
- <build_depend>message_generation</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>shape_msgs</build_depend>
- <build_depend>std_msgs</build_depend>
 
- <run_depend>actionlib_msgs</run_depend>
- <run_depend>geometry_msgs</run_depend>
- <run_depend>message_runtime</run_depend>
- <run_depend>sensor_msgs</run_depend>
- <run_depend>shape_msgs</run_depend>
- <run_depend>std_msgs</run_depend>
+ <exec_depend>rosidl_default_runtime</exec_depend>
+
+ <exec_depend>action_msgs</exec_depend>
+ <exec_depend>geometry_msgs</exec_depend>
+ <exec_depend>sensor_msgs</exec_depend>
+ <exec_depend>shape_msgs</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
 
- <buildtool_depend>catkin</buildtool_depend>
+ <member_of_group>rosidl_interface_packages</member_of_group>
 
  <export>
- <architecture_independent/>
+ <build_type>ament_cmake</build_type>
  </export>
 </package>