Convert executive to ros2

astrobee/launch/robot/MLP.launch.py

@@ -235,16 +235,16 @@ def generate_launch_description():
         package='rclcpp_components',
         executable='component_container',
         composable_node_descriptions=[
-            # ComposableNode(
-            #     package='executive',
-            #     plugin='executive::Executive',
-            #     name='executive',
-            #     extra_arguments=[{'use_intra_process_comms': True}]),
-            # ComposableNode(
-            #     package='access_control',
-            #     plugin='access_control::AccessControl',
-            #     name='access_control',
-            #     extra_arguments=[{'use_intra_process_comms': True}]),
+            ComposableNode(
+                package='executive',
+                plugin='executive::Executive',
+                name='executive',
+                extra_arguments=[{'use_intra_process_comms': False}]),
+            ComposableNode(
+                package='access_control',
+                plugin='access_control::AccessControl',
+                name='access_control',
+                extra_arguments=[{'use_intra_process_comms': False}]),
             ]
         ),
         ComposableNodeContainer(

management/access_control/CMakeLists.txt

@@ -23,7 +23,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
-set( CMAKE_CXX_FLAGS "${CMAKE_CXXX_FLAGS} -Wall -Werror -O3 -fPIC" )
+set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -O3 -fPIC" )
 
 ## Find ament and libraries
 find_package(ament_cmake REQUIRED)

management/executive/CMakeLists.txt

@@ -15,67 +15,53 @@
 # License for the specific language governing permissions and limitations
 # under the License.
 
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 3.5)
 project(executive)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 add_compile_options(-std=c++14)
-add_definitions(-DROS1)
-
-## Find catkin macros and libraries
-find_package(catkin2 REQUIRED COMPONENTS
-  roscpp
-  ff_msgs
-  ff_hw_msgs
-  nodelet
-  config_reader
-  ff_util
-  jsonloader
-)
+set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -O3 -fPIC" )
+
+## Find ament and libraries
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(ff_msgs REQUIRED)
+find_package(ff_hw_msgs REQUIRED)
+find_package(config_reader REQUIRED)
+find_package(ff_util REQUIRED)
+find_package(jsonloader REQUIRED)
 
 # System dependencies are found with CMake's conventions
-find_package(cmake_modules REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system iostreams)
 
 # Find jsoncpp
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
 find_package(JsonCpp REQUIRED)
 
-catkin_package(
-  LIBRARIES
-    executive
-    sequencer
-  CATKIN_DEPENDS
-    roscpp
-    ff_msgs
-    ff_hw_msgs
-    nodelet
-    ff_util
-    jsonloader
-)
-
 ###########
 ## Build ##
 ###########
 
 # Specify additional locations of header files
 include_directories(
   include
-  ${catkin_INCLUDE_DIRS}
   ${JSONCPP_INCLUDE_DIR}
 )
 
 # Declare C++ libraries
-add_library(sequencer
+add_library(sequencer SHARED
   src/utils/sequencer/command_conversion.cc
   src/utils/sequencer/plan_io.cc
   src/utils/sequencer/sequencer.cc
 )
-add_dependencies(sequencer ${catkin_EXPORTED_TARGETS})
-target_link_libraries(sequencer ${Boost_IOSTREAMS_LIBRARY} ${catkin_LIBRARIES})
+ament_target_dependencies(sequencer rclcpp rclcpp_components ff_common ff_msgs ff_hw_msgs config_reader ff_util jsonloader)
 
 # Declare C++ libraries
-add_library(executive
+add_library(executive SHARED
   src/executive.cc
   src/op_state.cc
   src/op_state_auto_return.cc
@@ -85,100 +71,93 @@ add_library(executive
   src/op_state_repo.cc
   src/op_state_teleop.cc
 )
-add_dependencies(executive ${catkin_EXPORTED_TARGETS})
-target_link_libraries(executive sequencer ${Boost_SYSTEM_LIBRARY} ${catkin_LIBRARIES})
-
+target_compile_definitions(executive PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(executive rclcpp rclcpp_components ff_common ff_msgs ff_hw_msgs config_reader ff_util jsonloader)
+rclcpp_components_register_nodes(executive "executive::Executive")
 
 ## Declare a C++ executable: data_to_disk_pub
 add_executable(data_to_disk_pub tools/data_to_disk_pub.cc)
-add_dependencies(data_to_disk_pub ${catkin_EXPORTED_TARGETS})
-target_link_libraries(data_to_disk_pub
-  executive gflags ${catkin_LIBRARIES})
-
-## Declare a C++ executable: ekf_switch_mux
-add_executable(ekf_switch_mux tools/ekf_switch_mux.cc)
-add_dependencies(ekf_switch_mux ${catkin_EXPORTED_TARGETS})
-target_link_libraries(ekf_switch_mux
-  executive gflags ${catkin_LIBRARIES})
+ament_target_dependencies(data_to_disk_pub rclcpp ff_common ff_msgs Boost)
+target_link_libraries(data_to_disk_pub executive gflags)
 
 ## Declare a C++ executable: plan_pub
 add_executable(plan_pub tools/plan_pub.cc)
-add_dependencies(plan_pub ${catkin_EXPORTED_TARGETS})
-target_link_libraries(plan_pub
-  executive gflags ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+ament_target_dependencies(plan_pub rclcpp ff_common ff_msgs Boost)
+target_link_libraries(plan_pub executive gflags)
 
 ## Declare a C++ executable: simple_move
 add_executable(simple_move tools/simple_move.cc)
-add_dependencies(simple_move ${catkin_EXPORTED_TARGETS})
-target_link_libraries(simple_move
-  executive gflags ${catkin_LIBRARIES})
+ament_target_dependencies(simple_move rclcpp ff_common ff_msgs Boost)
+target_link_libraries(simple_move executive gflags)
 
 ## Declare a C++ executable: teleop_tool
 add_executable(teleop_tool tools/teleop_tool.cc)
-add_dependencies(teleop_tool ${catkin_EXPORTED_TARGETS})
-target_link_libraries(teleop_tool
-  executive gflags ${catkin_LIBRARIES})
+ament_target_dependencies(teleop_tool rclcpp ff_common ff_msgs Boost)
+target_link_libraries(teleop_tool executive gflags)
 
 ## Declare a C++ executable: zones_pub
 add_executable(zones_pub tools/zones_pub.cc)
-add_dependencies(zones_pub ${catkin_EXPORTED_TARGETS})
-target_link_libraries(zones_pub
-  executive gflags ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+ament_target_dependencies(zones_pub rclcpp ff_common ff_msgs Boost)
+target_link_libraries(zones_pub executive gflags)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ros_testing REQUIRED)
 
-if(CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
   # Executive initialization fault tester
-  add_rostest_gtest(test_init_executive
-    test/test_init_executive.test
-    test/test_init_executive.cc
-  )
-
-  target_link_libraries(test_init_executive
-    ${catkin_LIBRARIES} glog
-  )
+#  ament_add_gtest_executable(test_init_executive
+#    test/test_init_executive.cc
+#  )
+#  target_link_libraries(test_init_executive execute)
+#  add_ros_test(test/test_init_executive.py TIMEOUT "30" ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
 endif()
 
 #############
 ## Install ##
 #############
 
+ament_export_include_directories(include)
+
 # Mark libraries for installation
 install(TARGETS sequencer
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  EXPORT sequencer
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
 )
 
-# Mark nodelet_plugin for installation
-install(FILES nodelet_plugins.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(TARGETS ${PROJECT_NAME}
+  EXPORT executive
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
 )
 
 # Install C++ executables
 install(TARGETS data_to_disk_pub DESTINATION bin)
-install(TARGETS ekf_switch_mux DESTINATION bin)
 install(TARGETS plan_pub DESTINATION bin)
-install(TARGETS simple_move DESTINATION bin)
-install(TARGETS teleop_tool DESTINATION bin)
-install(TARGETS zones_pub DESTINATION bin)
-install(CODE "execute_process(
-  COMMAND ln -s ../../bin/data_to_disk_pub share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/ekf_switch_mux share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/plan_pub share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/simple_move share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/teleop_tool share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/zones_pub share/${PROJECT_NAME}
-  WORKING_DIRECTORY ${CMAKE_INSTALL_PREFIX}
-  OUTPUT_QUIET
-  ERROR_QUIET
-  )")
+#install(TARGETS simple_move DESTINATION bin)
+#install(TARGETS teleop_tool DESTINATION bin)
+#install(TARGETS zones_pub DESTINATION bin)
+#install(CODE "execute_process(
+#  COMMAND ln -s ../../bin/data_to_disk_pub share/${PROJECT_NAME}
+#  COMMAND ln -s ../../bin/ekf_switch_mux share/${PROJECT_NAME}
+#  COMMAND ln -s ../../bin/plan_pub share/${PROJECT_NAME}
+#  COMMAND ln -s ../../bin/simple_move share/${PROJECT_NAME}
+#  COMMAND ln -s ../../bin/teleop_tool share/${PROJECT_NAME}
+#  COMMAND ln -s ../../bin/zones_pub share/${PROJECT_NAME}
+#  WORKING_DIRECTORY ${CMAKE_INSTALL_PREFIX}
+#  OUTPUT_QUIET
+#  ERROR_QUIET
+#  )")
 
 # Mark launch files for installation
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-  PATTERN ".svn" EXCLUDE)
+install(DIRECTORY include/${PROJECT_NAME}
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+ament_package()