Planning request adapter, port to ROS 2 (#62)

* Port planning_request_adapter to ROS 2 * planning_request_adapter, adapt logging to #21
moveit · Apr 9, 2019 · 7b05388 · 7b05388
1 parent 12fd342
commit 7b05388
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Showing 2 changed files with 18 additions and 8 deletions.
diff --git a/moveit_core/planning_request_adapter/CMakeLists.txt b/moveit_core/planning_request_adapter/CMakeLists.txt
@@ -3,11 +3,18 @@ set(MOVEIT_LIB_NAME moveit_planning_request_adapter)
 add_library(${MOVEIT_LIB_NAME} src/planning_request_adapter.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
-target_link_libraries(${MOVEIT_LIB_NAME} moveit_planning_scene ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
+ament_target_dependencies(${MOVEIT_LIB_NAME}
+  "moveit_planning_scene"
+  "rclcpp"
+  "rmw_implementation"
+  "urdf"
+  "urdfdom"
+  "urdfdom_headers"
+  "visualization_msgs"
+)
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib)
 
-install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+install(DIRECTORY include/ DESTINATION include)
diff --git a/moveit_core/planning_request_adapter/src/planning_request_adapter.cpp b/moveit_core/planning_request_adapter/src/planning_request_adapter.cpp
@@ -37,11 +37,14 @@
 #include <moveit/planning_request_adapter/planning_request_adapter.h>
 #include <boost/bind.hpp>
 #include <algorithm>
+#include "rclcpp/rclcpp.hpp"
 
 // we could really use some c++11 lambda functions here :)
 
 namespace planning_request_adapter
 {
+rclcpp::Logger LOGGER = rclcpp::get_logger("moveit").get_child("planning_request_adapter");
+
 namespace
 {
 bool callPlannerInterfaceSolve(const planning_interface::PlannerManager* planner,
@@ -91,7 +94,7 @@ bool callAdapter1(const PlanningRequestAdapter* adapter, const planning_interfac
   }
   catch (std::exception& ex)
   {
-    ROS_ERROR_NAMED("planning_request_adapter", "Exception caught executing *final* adapter '%s': %s",
+    RCLCPP_ERROR(LOGGER, "Exception caught executing *final* adapter '%s': %s",
                     adapter->getDescription().c_str(), ex.what());
     added_path_index.clear();
     return callPlannerInterfaceSolve(planner.get(), planning_scene, req, res);
@@ -109,7 +112,7 @@ bool callAdapter2(const PlanningRequestAdapter* adapter, const PlanningRequestAd
   }
   catch (std::exception& ex)
   {
-    ROS_ERROR_NAMED("planning_request_adapter", "Exception caught executing *next* adapter '%s': %s",
+    RCLCPP_ERROR(LOGGER, "Exception caught executing *next* adapter '%s': %s",
                     adapter->getDescription().c_str(), ex.what());
     added_path_index.clear();
     return planner(planning_scene, req, res);
@@ -166,4 +169,4 @@ bool PlanningRequestAdapterChain::adaptAndPlan(const planning_interface::Planner
   }
 }
 
-}  // end of namespace planning_request_adapter
+}  // end of namespace planning_request_adapter