WIP: Foxy devel

LICENSE

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pmb2_bringup/CHANGELOG.rst

@@ -2,6 +2,31 @@
 Changelog for package pmb2_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.4 (2021-10-19)
+------------------
+
+4.0.3 (2021-10-19)
+------------------
+
+4.0.2 (2021-07-15)
+------------------
+
+4.0.1 (2021-07-15)
+------------------
+* Fix missing dependencies
+* Contributors: Victor Lopez
+
+4.0.0 (2021-07-12)
+------------------
+* Cleanup unused files
+* Add linters and fix errors
+* Cleanup pmb2_bringup
+* Remove old joystick_teleop.launch
+* Use unstamped topic in mobile_base_controller
+* Migrate pmb2_bringup to ROS2
+* First working version
+* Contributors: Victor Lopez
+
 3.0.14 (2021-01-18)
 -------------------
 

pmb2_bringup/CMakeLists.txt

@@ -1,11 +1,16 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pmb2_bringup)
 
-find_package(catkin REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
 
-catkin_package()
+# PAL Robotics stricter build flags, other developers should not worry about this
+find_package(ament_cmake_pal QUIET)
 
-foreach(dir config launch)
-    install(DIRECTORY ${dir}/
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach()
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE config launch)

pmb2_bringup/config/joy_teleop.yaml

@@ -1,52 +1,60 @@
-teleop:
-  move:
-    type: topic
-    message_type: geometry_msgs/Twist
-    topic_name: cmd_vel
-    axis_mappings:
-      -
-        axis: 1
-        target: linear.x
-        scale: 1.0
-      -
-        axis: 2
-        target: angular.z
-        scale: 1.0
+/**:
+  ros__parameters:
+    move:
+      type: topic
+      interface_type: geometry_msgs/msg/Twist
+      topic_name: cmd_vel
+      deadman_buttons: []
+      axis_mappings:
+        linear-x:
+          axis: 1
+          scale: 1.0
+          offset: 0.0
+        angular-z:
+          axis: 2
+          scale: 1.0
+          offset: 0.0
 
-  joy_priority:
-    type: action
-    action_name: joy_priority_action
-    buttons: [0]
+    joy_priority:
+      type: action
+      interface_type: teleop_tools_msgs/action/Increment
+      action_name: joy_priority_action
+      buttons: [0]
 
-  joy_turbo_decrease:
-    type: action
-    action_name: joy_turbo_decrease
-    buttons: [1, 4, 5]
+    joy_turbo_decrease:
+      type: action
+      interface_type: teleop_tools_msgs/action/Increment
+      action_name: joy_turbo_decrease
+      buttons: [1, 4, 5]
 
-  joy_turbo_increase:
-    type: action
-    action_name: joy_turbo_increase
-    buttons: [3, 4, 5]
+    joy_turbo_increase:
+      type: action
+      interface_type: teleop_tools_msgs/action/Increment
+      action_name: joy_turbo_increase
+      buttons: [3, 4, 5]
 
-  joy_turbo_angular_decrease:
-    type: action
-    action_name: joy_turbo_angular_decrease
-    buttons: [0, 4, 5]
+    joy_turbo_angular_decrease:
+      type: action
+      interface_type: teleop_tools_msgs/action/Increment
+      action_name: joy_turbo_angular_decrease
+      buttons: [0, 4, 5]
 
-  joy_turbo_angular_increase:
-    type: action
-    action_name: joy_turbo_angular_increase
-    buttons: [2, 4, 5]
+    joy_turbo_angular_increase:
+      type: action
+      interface_type: teleop_tools_msgs/action/Increment
+      action_name: joy_turbo_angular_increase
+      buttons: [2, 4, 5]
 
-  joy_turbo_reset:
-    type: action
-    action_name: joy_turbo_reset
-    buttons: [4, 5, 7]
+    joy_turbo_reset:
+      type: action
+      interface_type: teleop_tools_msgs/action/Increment
+      action_name: joy_turbo_reset
+      buttons: [4, 5, 7]
 
-  # Disable speed_limit example
-  # @todo duration param is not taken
-  #speed_limit_disable:
-  #  type: action
-  #  action_name: speed_limit/disable
-  #  duration: 10.0
-  #  buttons: [4, 5, 6, 7]
+    # Disable speed_limit example
+    # @todo duration param is not taken
+    #speed_limit_disable:
+    #  type: action
+    #  action_name: speed_limit/disable
+    #  duration: 10.0
+    #  buttons: [4, 5, 6, 7]

pmb2_bringup/config/twist_mux/joystick.yaml

@@ -1,10 +1,12 @@
-priority: false
+/**:
+  ros__parameters:
+    priority: false
 
-turbo:
-  linear_forward_min  : 0.05
-  linear_forward_max  : 1.00
-  linear_backward_min : 0.05
-  linear_backward_max : 0.20
-  angular_min : !degrees  10.0
-  angular_max : !degrees 120.0
-  steps       : 8
+    turbo:
+      linear_forward_min  : 0.05
+      linear_forward_max  : 1.00
+      linear_backward_min : 0.05
+      linear_backward_max : 0.20
+      angular_min : !degrees  10.0
+      angular_max : !degrees 120.0
+      steps       : 8