Humble migration

Signed-off-by: Francisco Martín Rico <[email protected]>

br2_basics/src/param_reader.cpp

@@ -22,9 +22,9 @@ class LocalizationNode : public rclcpp::Node
 public:
   LocalizationNode() : Node("localization_node")
   {
-    declare_parameter<int>("number_particles", 200);
-    declare_parameter<std::vector<std::string>>("topics", {});
-    declare_parameter<std::vector<std::string>>("topic_types", {});
+    declare_parameter("number_particles", 200);
+    declare_parameter("topics", std::vector<std::string>());
+    declare_parameter("topic_types", std::vector<std::string>());
 
     get_parameter("number_particles", num_particles_);
     RCLCPP_INFO_STREAM(get_logger(), "Number of particles: " << num_particles_);

br2_bt_bumpgo/tests/bt_action_test.cpp

@@ -28,7 +28,6 @@
 #include "sensor_msgs/msg/laser_scan.hpp"
 
 #include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
 
 #include "gtest/gtest.h"
 

br2_bt_patrolling/include/br2_bt_patrolling/ctrl_support/BTLifecycleCtrlNode.hpp

@@ -136,7 +136,7 @@ class BtLifecycleCtrlNode : public BT::ActionNodeBase
       } else {
         if (state != ctrl_node_state_) {
           RCLCPP_ERROR(
-            node_->get_logger(), "Transition not possible %zu -> %zu", ctrl_node_state_, state);
+            node_->get_logger(), "Transition not possible %u -> %u", ctrl_node_state_, state);
           return false;
         } else {
           return true;
@@ -155,10 +155,10 @@ class BtLifecycleCtrlNode : public BT::ActionNodeBase
 
     if (!result.get()->success) {
       RCLCPP_ERROR(
-        node_->get_logger(), "Failed to set node state %zu -> %zu", ctrl_node_state_, state);
+        node_->get_logger(), "Failed to set node state %u -> %u", ctrl_node_state_, state);
       return false;
     } else {
-      RCLCPP_INFO(node_->get_logger(), "Transition success  %zu -> %zu", ctrl_node_state_, state);
+      RCLCPP_INFO(node_->get_logger(), "Transition success  %u -> %u", ctrl_node_state_, state);
     }
 
     ctrl_node_state_ = state;

br2_tf2_detector/CMakeLists.txt

@@ -8,13 +8,15 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
 set(dependencies
     rclcpp
     tf2_ros
     geometry_msgs
+    tf2_geometry_msgs
     sensor_msgs
     visualization_msgs
 )

br2_tf2_detector/src/br2_tf2_detector/ObstacleDetectorImprovedNode.cpp

@@ -14,7 +14,6 @@
 
 #include <tf2/transform_datatypes.h>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
 #include <memory>
 
@@ -23,6 +22,8 @@
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
 
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
 #include "rclcpp/rclcpp.hpp"
 
 namespace br2_tf2_detector

br2_tf2_detector/src/br2_tf2_detector/ObstacleMonitorNode.cpp

@@ -14,14 +14,15 @@
 
 #include <tf2/transform_datatypes.h>
 #include <tf2/LinearMath/Quaternion.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
 #include <memory>
 
 #include "br2_tf2_detector/ObstacleMonitorNode.hpp"
 
 #include "geometry_msgs/msg/transform_stamped.hpp"
 
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+
 #include "rclcpp/rclcpp.hpp"
 
 namespace br2_tf2_detector

br2_tracking/src/br2_tracking/ObjectDetector.cpp

@@ -83,9 +83,8 @@ ObjectDetector::image_callback(const sensor_msgs::msg::Image::ConstSharedPtr & m
   detection_msg.header = msg->header;
   detection_msg.bbox.size_x = bbx.width;
   detection_msg.bbox.size_y = bbx.height;
-  detection_msg.bbox.center.x = cx;
-  detection_msg.bbox.center.y = cy;
-  detection_msg.source_img = *cv_ptr->toImageMsg();
+  detection_msg.bbox.center.position.x = cx;
+  detection_msg.bbox.center.position.y = cy;
   detection_pub_->publish(detection_msg);
 
   if (debug_) {

br2_tracking/src/object_tracker_main.cpp

@@ -30,14 +30,17 @@ int main(int argc, char * argv[])
   auto node_head_controller = std::make_shared<br2_tracking::HeadController>();
   auto node_tracker = rclcpp::Node::make_shared("tracker");
 
+  const int IMG_WIDTH = 640;
+  const int IMG_HEIGHT = 480;
+
   auto command_pub = node_tracker->create_publisher<br2_tracking_msgs::msg::PanTiltCommand>(
     "/command", 100);
   auto detection_sub = node_tracker->create_subscription<vision_msgs::msg::Detection2D>(
     "/detection", rclcpp::SensorDataQoS(),
     [command_pub](vision_msgs::msg::Detection2D::SharedPtr msg) {
       br2_tracking_msgs::msg::PanTiltCommand command;
-      command.pan = (msg->bbox.center.x / msg->source_img.width) * 2.0 - 1.0;
-      command.tilt = (msg->bbox.center.y / msg->source_img.height) * 2.0 - 1.0;
+      command.pan = (msg->bbox.center.position.x / IMG_WIDTH) * 2.0 - 1.0;
+      command.tilt = (msg->bbox.center.position.y / IMG_HEIGHT) * 2.0 - 1.0;
       command_pub->publish(command);
     });
 

third_parties.repos

@@ -1,16 +1,4 @@
 repositories:
-  ThirdParty/gazebo_ros2_control:
-    type: git
-    url: https://github.com/pal-robotics-forks/gazebo_ros2_control.git
-    version: add-imu-sensor-parse
-  ThirdParty/ros2_control:
-    type: git
-    url: https://github.com/ros-controls/ros2_control.git
-    version: 0.7.1
-  ThirdParty/ros2_controllers:
-    type: git
-    url: https://github.com/ros-controls/ros2_controllers.git
-    version: 0.4.0
   ThirdParty/urdf_test:
     type: git
     url: https://github.com/pal-robotics/urdf_test
@@ -34,7 +22,7 @@ repositories:
   ThirdParty/twist_mux:
     type: git
     url: https://github.com/ros-teleop/twist_mux.git
-    version: foxy-devel
+    version: rolling
   ThirdParty/tiago_robot:
     type: git
     url: https://github.com/fmrico/tiago_robot.git