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Support ROS2 #749

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Support ROS2 #749

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d8b291d
[rcleus] initial commit
mqcmd196 Feb 3, 2024
96fef9b
wip: merge current rcleus impl to roseus
mqcmd196 Dec 31, 2024
556d9e6
remove old rcleus
mqcmd196 Dec 31, 2024
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Empty file added jsk_roseus/AMENT_IGNORE
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Empty file.
29 changes: 28 additions & 1 deletion roseus/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,33 @@
# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.8)
project(roseus)

if($ENV{ROS_VERSION} STREQUAL "2")
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()
add_compile_definitions(ROS2)
set(ENV_EUSDIR $ENV{EUSDIR})
if(ENV_EUSDIR)
set(EUSDIR $ENV_EUSDIR)
else()
set(EUSDIR /usr/share/euslisp) # for debian/ubuntu
endif()
if(EXISTS ${EUSDIR})
message(STATUS "Found EusLisp: ${EUSDIR}")
else()
message(FATAL_ERROR "EusLisp not found")
endif()
set(euslisp_INCLUDE_DIRS ${EUSDIR}/include)

ament_auto_add_library(roseus SHARED
roseus.cpp)
target_compile_options(roseus
PRIVATE -O2 -DNDEBUG -DLinux -D_REENTRANT -DTHREADED -DPTHREAD -DX11R6_1 -Dx86_64 -Wno-comment)
target_include_directories(roseus
PUBLIC ${euslisp_INCLUDE_DIRS})

ament_auto_package()
else()
# Load catkin and all dependencies required for this package
# TODO: remove all from COMPONENTS that are not catkin packages.
find_package(catkin REQUIRED COMPONENTS message_generation roslang roscpp rospack topic_tools actionlib actionlib_msgs visualization_msgs tf geometry_msgs std_msgs std_srvs sensor_msgs visualization_msgs tf2_ros dynamic_reconfigure actionlib_tutorials geneus)
Expand Down Expand Up @@ -207,3 +233,4 @@ if(CATKIN_ENABLE_TESTING)
add_rostest(test/test-compile-message.test)
add_rostest(test/test-print-ros-msg.test)
endif()
endif()
114 changes: 61 additions & 53 deletions roseus/package.xml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
<package>
<package format="3">
<name>roseus</name>
<version>1.7.5</version>
<description>EusLisp client for ROS Robot Operating System.</description>
Expand All @@ -11,61 +11,69 @@

<author email="[email protected]">Kei Okada</author>

<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>

<build_depend>geneus</build_depend>
<build_depend>rosbash</build_depend>
<build_depend>roslang</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rosnode</build_depend>
<build_depend>rospack</build_depend>
<build_depend>rostest</build_depend>
<build_depend>rosmsg</build_depend>
<build_depend>rostopic</build_depend>
<build_depend>euslisp</build_depend>
<build_depend>jskeus</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_depend>angles</build_depend>
<build_depend>visualization_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>tf2_ros</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>mk</build_depend>
<build_depend>rosbuild</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>std_srvs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>shape_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>dynamic_reconfigure</build_depend>
<build_depend>actionlib_tutorials</build_depend>
<build_depend>coreutils</build_depend>
<build_depend condition="$ROS_VERSION == 1">geneus</build_depend>
<build_depend condition="$ROS_VERSION == 1">rosbash</build_depend>
<build_depend condition="$ROS_VERSION == 1">roslang</build_depend>
<build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
<build_depend condition="$ROS_VERSION == 1">rosnode</build_depend>
<build_depend condition="$ROS_VERSION == 1">rospack</build_depend>
<build_depend condition="$ROS_VERSION == 1">rostest</build_depend>
<build_depend condition="$ROS_VERSION == 1">rosmsg</build_depend>
<build_depend condition="$ROS_VERSION == 1">rostopic</build_depend>
<build_depend condition="$ROS_VERSION == 1">euslisp</build_depend>
<build_depend condition="$ROS_VERSION == 1">jskeus</build_depend>
<build_depend condition="$ROS_VERSION == 1">actionlib</build_depend>
<build_depend condition="$ROS_VERSION == 1">actionlib_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">angles</build_depend>
<build_depend condition="$ROS_VERSION == 1">visualization_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">tf</build_depend>
<build_depend condition="$ROS_VERSION == 1">tf2_ros</build_depend>
<build_depend condition="$ROS_VERSION == 1">geometry_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">mk</build_depend>
<build_depend condition="$ROS_VERSION == 1">rosbuild</build_depend>
<build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">std_srvs</build_depend>
<build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">shape_msgs</build_depend>
<build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
<build_depend condition="$ROS_VERSION == 1">dynamic_reconfigure</build_depend>
<build_depend condition="$ROS_VERSION == 1">actionlib_tutorials</build_depend>
<build_depend condition="$ROS_VERSION == 1">coreutils</build_depend>

<run_depend>geneus</run_depend>
<run_depend>rosbash</run_depend>
<run_depend>roslang</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rosnode</run_depend>
<run_depend>rospack</run_depend>
<run_depend>rostest</run_depend>
<run_depend>rosmsg</run_depend>
<run_depend>euslisp</run_depend>
<run_depend>jskeus</run_depend>
<run_depend>actionlib</run_depend>
<run_depend>actionlib_msgs</run_depend>
<run_depend>visualization_msgs</run_depend>
<run_depend>tf</run_depend>
<run_depend>tf2_ros</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>std_srvs</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>shape_msgs</run_depend>
<run_depend>message_runtime</run_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>actionlib_tutorials</run_depend>
<exec_depend condition="$ROS_VERSION == 1">geneus</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">rosbash</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">roslang</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">rosnode</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">rospack</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">rostest</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">rosmsg</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">euslisp</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">jskeus</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">actionlib</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">actionlib_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">visualization_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">tf</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">tf2_ros</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">geometry_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">std_srvs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">sensor_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">shape_msgs</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">dynamic_reconfigure</exec_depend>
<exec_depend condition="$ROS_VERSION == 1">actionlib_tutorials</exec_depend>

<depend condition="$ROS_VERSION == 2">ament_cmake_auto</depend>
<depend condition="$ROS_VERSION == 2">rclcpp</depend>

<test_depend>xvfb</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>

</package>
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