Merge pull request #24 from jhu-cisst/rc-3.0.0

rc 3.0.0

CHANGELOG.md

@@ -1,6 +1,20 @@
 Change log
 ==========
 
+3.0.0 (2024-08-30)
+==================
+
+* API changes:
+  * All code is now shared for ROS1 and ROS2, older ROS2 specific repositories will be archived
+* Deprecated features:
+  * None
+* New features:
+  * New namespace and class `cisst_ral` to encapsulate most ROS1 and ROS2 differences
+  * CRTK bridge checks that payload types are correct for a given command
+  * More cisst types supported
+* Bug fixes:
+  * None
+
 2.2.0 (2023-12-29)
 ==================
 

cisst_msgs/CMakeLists.txt

@@ -1,54 +1,54 @@
 cmake_minimum_required(VERSION 3.10)
-project(cisst_msgs VERSION 2.2.0)
-
-## 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 COMPONENTS
-  std_msgs
-  geometry_msgs
-  sensor_msgs
-  message_generation
-  )
-
-
-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  DoubleVec.msg
-  CartesianImpedanceGains.msg
-  IntervalStatistics.msg
-  BoolStamped.msg
-  StringStamped.msg
-  )
-
-## Generate services in the 'srv' folder
-add_service_files(
-  FILES
-  ConvertFloat64Array.srv
-)
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  std_msgs  # Or other packages containing msgs
-  geometry_msgs
-  sensor_msgs
-  )
-
-
-catkin_package(
-  # INCLUDE_DIRS include
-  # LIBRARIES cisst_ros_bridge
-  CATKIN_DEPENDS message_runtime
-  #  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-# include_directories(include)
-# include_directories(
-#   ${catkin_INCLUDE_DIRS}
-# )
+project(cisst_msgs VERSION 3.0.0)
+
+# first test for ROS1
+set (ROS1_depends std_msgs geometry_msgs)
+
+find_package (catkin QUIET
+  COMPONENTS message_generation ${ROS1_depends})
+
+# ROS 1
+if (catkin_FOUND)
+
+  ## Generate messages in the 'msg' folder
+  add_message_files (FILES
+    DoubleVec.msg
+    IntervalStatistics.msg
+    BoolStamped.msg
+    )
+
+  ## Generate services in the 'srv' folder
+  add_service_files (FILES
+    ConvertFloat64Array.srv
+    )
+
+  ## Generate added messages and services with any dependencies listed here
+  generate_messages (DEPENDENCIES ${ROS1_depends})
+
+  catkin_package (
+    CATKIN_DEPENDS message_runtime ${ROS1_depends}
+    )
+
+else (catkin_FOUND)
+
+  # look for ROS2
+  find_package (ament_cmake QUIET)
+  if (ament_cmake_FOUND)
+    set (ROS2_depends ament_cmake rclcpp std_msgs geometry_msgs builtin_interfaces rosidl_default_generators)
+    foreach (_dep ${ROS2_depends})
+      find_package (${_dep} REQUIRED)
+    endforeach ()
+
+    rosidl_generate_interfaces (cisst_msgs
+      msg/DoubleVec.msg
+      msg/IntervalStatistics.msg
+      msg/BoolStamped.msg
+      srv/ConvertFloat64Array.srv
+      DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
+      )
+
+    ament_package ()
+
+  endif (ament_cmake_FOUND)
+
+endif (catkin_FOUND)

cisst_msgs/msg/BoolStamped.msg

@@ -1,3 +1,3 @@
 # A Pose with reference coordinate frame and timestamp
-Header header
+std_msgs/Header header
 bool data

cisst_msgs/msg/DoubleVec.msg

@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 float64[] data

cisst_msgs/msg/IntervalStatistics.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 
 # average period
 float64 period_avg

cisst_msgs/package.xml

@@ -1,25 +1,36 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>cisst_msgs</name>
-  <version>2.2.0</version>
+  <version>3.0.0</version>
   <description>The cisst_msgs package</description>
-
-  <maintainer email="[email protected]">Zihan Chen</maintainer>
   <license>CISST</license>
-
   <author email="[email protected]">Zihan Chen</author>
+  <author email="[email protected]">Anton Deguet</author>
+  <maintainer email="[email protected]">Anton Deguet</maintainer>
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">geometry_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">geometry_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">sensor_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+  <build_depend condition="$ROS_VERSION == 2">builtin_interfaces</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rosidl_default_generators</build_depend>
+  <exec_depend condition="$ROS_VERSION == 2">builtin_interfaces</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>
+  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
+  <depend condition="$ROS_VERSION == 2">std_msgs</depend>
+  <depend condition="$ROS_VERSION == 2">geometry_msgs</depend>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
   </export>
 </package>