From: Walter Fetter Lages Date: Thu, 6 Jul 2023 07:24:08 +0000 (-0300) Subject: Port to Galactic. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;p=nonsmooth_backstep_controller_msgs.git Port to Galactic. --- diff --git a/.gitignore b/.gitignore index 35d74bb..229a5a3 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,4 @@ -devel/ +install/ logs/ build/ bin/ @@ -49,3 +49,6 @@ qtcreator-* # Catkin custom files CATKIN_IGNORE + +# Colcom custom files +COLCON_IGNORE diff --git a/CMakeLists.txt b/CMakeLists.txt index 7a0b310..cc0df49 100644 --- 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) -## 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 --- 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 -float64[5] lambda +float64[5] v_lambda float64[4] gamma PosePolar polar_error float64[2] backstep_set_point diff --git a/package.xml b/package.xml index e093aef..54f59e0 100644 --- a/package.xml +++ b/package.xml @@ -1,68 +1,28 @@ - + + nonsmooth_backstep_controller_msgs - 3.2.0 - The nonsmooth_backstep_controller_msgs package - - - - + 4.0.0 + Nonsmooth backstepping controller messages Walter Fetter Lages - - - - - GPLv3 + ament_cmake - - - - - + rosidl_default_generators + + builtin_interfaces + geometry_msgs + std_msgs + + rosidl_default_runtime - - - - - Walter Fetter Lages + ament_lint_auto + ament_lint_common + rosidl_interface_packages - - - - - - - - - - - - - - - - - - - - - catkin - geometry_msgs - message_generation - std_msgs - geometry_msgs - std_msgs - geometry_msgs - message_runtime - std_msgs - - - - - + ament_cmake