Port to Galactic.

diff --git a/.gitignore b/.gitignore
index 35d74bb..229a5a3 100644 (file)
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,4 @@
-devel/
+install/

 logs/
 build/
 bin/
 logs/
 build/
 bin/


@@ -49,3 +49,6 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
 
 # Catkin custom files
 CATKIN_IGNORE

+
+# Colcom custom files
+COLCON_IGNORE

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7a0b310..cc0df49 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,210 +1,34 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)

 project(nonsmooth_backstep_controller_msgs)
 
 project(nonsmooth_backstep_controller_msgs)
 

-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## 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
-  geometry_msgs
-  message_generation
-  message_runtime
-  std_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-add_message_files(
-   FILES
-#   Message1.msg
-#   Message2.msg
-    NonSmoothBackstepControllerStatus.msg
-    PosePolar.msg
-)
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-   DEPENDENCIES
-   geometry_msgs
-   std_msgs
-)
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES nonsmooth_backstep_controller_msgs
-#  CATKIN_DEPENDS geometry_msgs message_generation message_runtime std_msgs
-#  DEPENDS system_lib
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rosidl_default_runtime REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+       "msg/NonSmoothBackstepControllerStatus.msg"
+       "msg/PosePolar.msg"
+        DEPENDENCIES builtin_interfaces geometry_msgs std_msgs

 )
 
 )
 

-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/nonsmooth_backstep_controller_msgs.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/nonsmooth_backstep_controller_msgs_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############

 
 

-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_nonsmooth_backstep_controller_msgs.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()

 
 

-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()

diff --git a/msg/NonSmoothBackstepControllerStatus.msg b/msg/NonSmoothBackstepControllerStatus.msg
index 3012416..c222675 100644 (file)
--- a/msg/NonSmoothBackstepControllerStatus.msg
+++ b/msg/NonSmoothBackstepControllerStatus.msg
@@ -1,11 +1,11 @@
-Header header
+std_msgs/Header header

 geometry_msgs/Pose2D set_point
 geometry_msgs/Pose2D process_value
 geometry_msgs/Pose2D process_value_dot
 geometry_msgs/Pose2D error
 float64 time_step
 float64[2] command
 geometry_msgs/Pose2D set_point
 geometry_msgs/Pose2D process_value
 geometry_msgs/Pose2D process_value_dot
 geometry_msgs/Pose2D error
 float64 time_step
 float64[2] command

-float64[5] lambda
+float64[5] v_lambda

 float64[4] gamma
 PosePolar polar_error
 float64[2] backstep_set_point
 float64[4] gamma
 PosePolar polar_error
 float64[2] backstep_set_point

diff --git a/package.xml b/package.xml
index e093aef..54f59e0 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -1,68 +1,28 @@
 <?xml version="1.0"?>
 <?xml version="1.0"?>

-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">

   <name>nonsmooth_backstep_controller_msgs</name>
   <name>nonsmooth_backstep_controller_msgs</name>

-  <version>3.2.0</version>
-  <description>The nonsmooth_backstep_controller_msgs package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <version>4.0.0</version>
+  <description>Nonsmooth backstepping controller messages</description>

   <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
   <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>

-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->

   <license>GPLv3</license>
 
   <license>GPLv3</license>
 

+  <buildtool_depend>ament_cmake</buildtool_depend>

 
 

-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/nonsmooth_backstep_controller_msgs</url> -->
-
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  
+  <exec_depend>rosidl_default_runtime</exec_depend>

 
 

-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-  <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>

 
 

+  <member_of_group>rosidl_interface_packages</member_of_group>

 
 

-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->

   <export>
   <export>

-    <!-- Other tools can request additional information be placed here -->
-
+    <build_type>ament_cmake</build_type>

   </export>
 </package>
   </export>
 </package>