Support for ros2 humble

icclab · May 20, 2022 · fc0e3b5 · fc0e3b5
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diff --git a/mcp_can_rpi/CMakeLists.txt b/mcp_can_rpi/CMakeLists.txt
diff --git a/mcp_can_rpi/README.md b/mcp_can_rpi/README.md
diff --git a/mcp_can_rpi/include/mcp_can_rpi/mcp_can_dfs_rpi.h b/mcp_can_rpi/include/mcp_can_rpi/mcp_can_dfs_rpi.h
diff --git a/mcp_can_rpi/include/mcp_can_rpi/mcp_can_rpi.h b/mcp_can_rpi/include/mcp_can_rpi/mcp_can_rpi.h
diff --git a/mcp_can_rpi/package.xml b/mcp_can_rpi/package.xml
diff --git a/mcp_can_rpi/src/mcp_can_rpi.cpp b/mcp_can_rpi/src/mcp_can_rpi.cpp
diff --git a/niryo_one_bringup/CMakeLists.txt b/niryo_one_bringup/CMakeLists.txt
diff --git a/niryo_one_bringup/README.md b/niryo_one_bringup/README.md
diff --git a/niryo_one_bringup/config/niryo_one_driver.yaml b/niryo_one_bringup/config/niryo_one_driver.yaml
diff --git a/niryo_one_bringup/config/v1/niryo_one_motors.yaml b/niryo_one_bringup/config/v1/niryo_one_motors.yaml
diff --git a/niryo_one_bringup/config/v1/stepper_params.yaml b/niryo_one_bringup/config/v1/stepper_params.yaml
diff --git a/niryo_one_bringup/config/v2/niryo_one_motors.yaml b/niryo_one_bringup/config/v2/niryo_one_motors.yaml
diff --git a/niryo_one_bringup/config/v2/stepper_params.yaml b/niryo_one_bringup/config/v2/stepper_params.yaml
diff --git a/niryo_one_bringup/package.xml b/niryo_one_bringup/package.xml
diff --git a/niryo_one_bringup/scripts/install b/niryo_one_bringup/scripts/install
diff --git a/niryo_one_description/CMakeLists.txt b/niryo_one_description/CMakeLists.txt
diff --git a/niryo_one_description/README.md b/niryo_one_description/README.md
diff --git a/niryo_one_description/config/default_config.rviz b/niryo_one_description/config/default_config.rviz
diff --git a/niryo_one_description/launch/display.launch b/niryo_one_description/launch/display.launch
diff --git a/niryo_one_description/launch/start.py b/niryo_one_description/launch/start.py
diff --git a/niryo_one_description/launch/without_mesh_display.launch b/niryo_one_description/launch/without_mesh_display.launch
diff --git a/niryo_one_description/meshes/v1/collada/arm_link.dae b/niryo_one_description/meshes/v1/collada/arm_link.dae
diff --git a/niryo_one_description/meshes/v1/collada/base_link.dae b/niryo_one_description/meshes/v1/collada/base_link.dae
diff --git a/niryo_one_description/meshes/v1/collada/elbow_link.dae b/niryo_one_description/meshes/v1/collada/elbow_link.dae
diff --git a/niryo_one_description/meshes/v1/collada/forearm_link.dae b/niryo_one_description/meshes/v1/collada/forearm_link.dae
diff --git a/niryo_one_description/meshes/v1/collada/hand_link.dae b/niryo_one_description/meshes/v1/collada/hand_link.dae
diff --git a/niryo_one_description/meshes/v1/collada/shoulder_link.dae b/niryo_one_description/meshes/v1/collada/shoulder_link.dae
diff --git a/niryo_one_description/meshes/v1/collada/wrist_link.dae b/niryo_one_description/meshes/v1/collada/wrist_link.dae
diff --git a/niryo_one_description/meshes/v1/stl/arm_link.stl b/niryo_one_description/meshes/v1/stl/arm_link.stl
diff --git a/niryo_one_description/meshes/v1/stl/base_link.stl b/niryo_one_description/meshes/v1/stl/base_link.stl
diff --git a/niryo_one_description/meshes/v1/stl/elbow_link.stl b/niryo_one_description/meshes/v1/stl/elbow_link.stl
diff --git a/niryo_one_description/meshes/v1/stl/forearm_link.stl b/niryo_one_description/meshes/v1/stl/forearm_link.stl
diff --git a/niryo_one_description/meshes/v1/stl/hand_link.stl b/niryo_one_description/meshes/v1/stl/hand_link.stl
diff --git a/niryo_one_description/meshes/v1/stl/shoulder_link.stl b/niryo_one_description/meshes/v1/stl/shoulder_link.stl
diff --git a/niryo_one_description/meshes/v1/stl/wrist_link.stl b/niryo_one_description/meshes/v1/stl/wrist_link.stl
diff --git a/niryo_one_description/meshes/v2/collada/arm_link.dae b/niryo_one_description/meshes/v2/collada/arm_link.dae
diff --git a/niryo_one_description/meshes/v2/collada/base_link.dae b/niryo_one_description/meshes/v2/collada/base_link.dae
diff --git a/niryo_one_description/meshes/v2/collada/elbow_link.dae b/niryo_one_description/meshes/v2/collada/elbow_link.dae
diff --git a/niryo_one_description/meshes/v2/collada/forearm_link.dae b/niryo_one_description/meshes/v2/collada/forearm_link.dae
diff --git a/niryo_one_description/meshes/v2/collada/hand_link.dae b/niryo_one_description/meshes/v2/collada/hand_link.dae
diff --git a/niryo_one_description/meshes/v2/collada/shoulder_link.dae b/niryo_one_description/meshes/v2/collada/shoulder_link.dae
diff --git a/niryo_one_description/meshes/v2/collada/wrist_link.dae b/niryo_one_description/meshes/v2/collada/wrist_link.dae
diff --git a/niryo_one_description/meshes/v2/stl/arm_link.stl b/niryo_one_description/meshes/v2/stl/arm_link.stl
diff --git a/niryo_one_description/meshes/v2/stl/base_link.stl b/niryo_one_description/meshes/v2/stl/base_link.stl
diff --git a/niryo_one_description/meshes/v2/stl/elbow_link.stl b/niryo_one_description/meshes/v2/stl/elbow_link.stl
diff --git a/niryo_one_description/meshes/v2/stl/forearm_link.stl b/niryo_one_description/meshes/v2/stl/forearm_link.stl
diff --git a/niryo_one_description/meshes/v2/stl/hand_link.stl b/niryo_one_description/meshes/v2/stl/hand_link.stl
diff --git a/niryo_one_description/meshes/v2/stl/shoulder_link.stl b/niryo_one_description/meshes/v2/stl/shoulder_link.stl
diff --git a/niryo_one_description/meshes/v2/stl/wrist_link.stl b/niryo_one_description/meshes/v2/stl/wrist_link.stl
diff --git a/niryo_one_description/package.xml b/niryo_one_description/package.xml
diff --git a/niryo_one_description/urdf/niryo_one.urdf.xacro b/niryo_one_description/urdf/niryo_one.urdf.xacro
diff --git a/niryo_one_driver/CMakeLists.txt b/niryo_one_driver/CMakeLists.txt
diff --git a/niryo_one_driver/README.md b/niryo_one_driver/README.md
diff --git a/niryo_one_driver/config/niryo_one_controllers.yaml b/niryo_one_driver/config/niryo_one_controllers.yaml
diff --git a/niryo_one_driver/include/niryo_one_driver/can_communication.h b/niryo_one_driver/include/niryo_one_driver/can_communication.h
diff --git a/niryo_one_driver/include/niryo_one_driver/communication_base.h b/niryo_one_driver/include/niryo_one_driver/communication_base.h
diff --git a/niryo_one_driver/include/niryo_one_driver/dxl_communication.h b/niryo_one_driver/include/niryo_one_driver/dxl_communication.h
diff --git a/niryo_one_driver/include/niryo_one_driver/dxl_driver.h b/niryo_one_driver/include/niryo_one_driver/dxl_driver.h
diff --git a/niryo_one_driver/include/niryo_one_driver/dxl_motor_state.h b/niryo_one_driver/include/niryo_one_driver/dxl_motor_state.h
diff --git a/niryo_one_driver/include/niryo_one_driver/fake_communication.h b/niryo_one_driver/include/niryo_one_driver/fake_communication.h
diff --git a/niryo_one_driver/include/niryo_one_driver/niryo_one_can_driver.h b/niryo_one_driver/include/niryo_one_driver/niryo_one_can_driver.h
diff --git a/niryo_one_driver/include/niryo_one_driver/niryo_one_communication.h b/niryo_one_driver/include/niryo_one_driver/niryo_one_communication.h
diff --git a/niryo_one_driver/include/niryo_one_driver/niryo_one_hardware_interface.h b/niryo_one_driver/include/niryo_one_driver/niryo_one_hardware_interface.h
@@ -46,6 +46,8 @@
 
 namespace niryo_one_driver{
 
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
 class NiryoOneHardwareInterface:  public hardware_interface::SystemInterface {
 
     public:

diff --git a/niryo_one_driver/include/niryo_one_driver/ros_interface.h b/niryo_one_driver/include/niryo_one_driver/ros_interface.h
diff --git a/niryo_one_driver/include/niryo_one_driver/rpi_diagnostics.h b/niryo_one_driver/include/niryo_one_driver/rpi_diagnostics.h
diff --git a/niryo_one_driver/include/niryo_one_driver/stepper_motor_state.h b/niryo_one_driver/include/niryo_one_driver/stepper_motor_state.h
diff --git a/niryo_one_driver/include/niryo_one_driver/test_motors.h b/niryo_one_driver/include/niryo_one_driver/test_motors.h
diff --git a/niryo_one_driver/include/niryo_one_driver/xl320_driver.h b/niryo_one_driver/include/niryo_one_driver/xl320_driver.h
diff --git a/niryo_one_driver/include/niryo_one_driver/xl430_driver.h b/niryo_one_driver/include/niryo_one_driver/xl430_driver.h
diff --git a/niryo_one_driver/package.xml b/niryo_one_driver/package.xml
diff --git a/niryo_one_driver/src/hw_comm/can_communication.cpp b/niryo_one_driver/src/hw_comm/can_communication.cpp
diff --git a/niryo_one_driver/src/hw_comm/dxl_communication.cpp b/niryo_one_driver/src/hw_comm/dxl_communication.cpp
diff --git a/niryo_one_driver/src/hw_comm/fake_communication.cpp b/niryo_one_driver/src/hw_comm/fake_communication.cpp
diff --git a/niryo_one_driver/src/hw_comm/niryo_one_communication.cpp b/niryo_one_driver/src/hw_comm/niryo_one_communication.cpp
diff --git a/niryo_one_driver/src/hw_driver/dxl_driver.cpp b/niryo_one_driver/src/hw_driver/dxl_driver.cpp
diff --git a/niryo_one_driver/src/hw_driver/niryo_one_can_driver.cpp b/niryo_one_driver/src/hw_driver/niryo_one_can_driver.cpp
diff --git a/niryo_one_driver/src/hw_driver/xl320_driver.cpp b/niryo_one_driver/src/hw_driver/xl320_driver.cpp
diff --git a/niryo_one_driver/src/hw_driver/xl430_driver.cpp b/niryo_one_driver/src/hw_driver/xl430_driver.cpp
diff --git a/niryo_one_driver/src/niryo_one_hardware_interface.cpp b/niryo_one_driver/src/niryo_one_hardware_interface.cpp
diff --git a/niryo_one_driver/src/ros_interface.cpp b/niryo_one_driver/src/ros_interface.cpp
diff --git a/niryo_one_driver/src/rpi_diagnostics.cpp b/niryo_one_driver/src/rpi_diagnostics.cpp
diff --git a/niryo_one_driver/src/test_motors.cpp b/niryo_one_driver/src/test_motors.cpp
@@ -143,7 +143,7 @@ void NiryoOneTestMotor::startTrajectory(control_msgs::action::FollowJointTraject
     }
 
     // When to start the trajectory: 1s from now
-    goal.trajectory.header.stamp = node->now() + rclcpp::Duration(1.0);
+    goal.trajectory.header.stamp = node->now() + rclcpp::Duration::from_seconds(1.0);
 
     auto result_future = traj_client_->async_send_goal(goal);
 
@@ -211,7 +211,7 @@ control_msgs::action::FollowJointTrajectory_Goal_<std::allocator<void>> NiryoOne
         goal.trajectory.points[ind].velocities[j] = 0.0;
     }
     // To be reached 1 second after starting along the trajectory
-    goal.trajectory.points[ind].time_from_start = rclcpp::Duration(3.0);
+    goal.trajectory.points[ind].time_from_start = rclcpp::Duration::from_seconds(3.0);
 
     return goal;
 }

diff --git a/niryo_one_driver/src/utils/motor_offset_file_handler.cpp b/niryo_one_driver/src/utils/motor_offset_file_handler.cpp
diff --git a/niryo_one_msgs/CMakeLists.txt b/niryo_one_msgs/CMakeLists.txt
diff --git a/niryo_one_msgs/__init__.py b/niryo_one_msgs/__init__.py
diff --git a/niryo_one_msgs/action/JoystickJoints.action b/niryo_one_msgs/action/JoystickJoints.action
diff --git a/niryo_one_msgs/action/RobotMove.action b/niryo_one_msgs/action/RobotMove.action
diff --git a/niryo_one_msgs/action/Sequence.action b/niryo_one_msgs/action/Sequence.action
diff --git a/niryo_one_msgs/action/Tool.action b/niryo_one_msgs/action/Tool.action
diff --git a/niryo_one_msgs/msg/ConveyorFeedback.msg b/niryo_one_msgs/msg/ConveyorFeedback.msg
diff --git a/niryo_one_msgs/msg/DigitalIOState.msg b/niryo_one_msgs/msg/DigitalIOState.msg
diff --git a/niryo_one_msgs/msg/HardwareStatus.msg b/niryo_one_msgs/msg/HardwareStatus.msg
diff --git a/niryo_one_msgs/msg/LogStatus.msg b/niryo_one_msgs/msg/LogStatus.msg
diff --git a/niryo_one_msgs/msg/MatlabMoveResult.msg b/niryo_one_msgs/msg/MatlabMoveResult.msg
diff --git a/niryo_one_msgs/msg/ObjectPose.msg b/niryo_one_msgs/msg/ObjectPose.msg
diff --git a/niryo_one_msgs/msg/Position.msg b/niryo_one_msgs/msg/Position.msg
diff --git a/niryo_one_msgs/msg/ProcessState.msg b/niryo_one_msgs/msg/ProcessState.msg
diff --git a/niryo_one_msgs/msg/RPY.msg b/niryo_one_msgs/msg/RPY.msg
diff --git a/niryo_one_msgs/msg/RobotMoveCommand.msg b/niryo_one_msgs/msg/RobotMoveCommand.msg
diff --git a/niryo_one_msgs/msg/RobotState.msg b/niryo_one_msgs/msg/RobotState.msg
diff --git a/niryo_one_msgs/msg/Sequence.msg b/niryo_one_msgs/msg/Sequence.msg
diff --git a/niryo_one_msgs/msg/SequenceAutorunStatus.msg b/niryo_one_msgs/msg/SequenceAutorunStatus.msg
diff --git a/niryo_one_msgs/msg/ShiftPose.msg b/niryo_one_msgs/msg/ShiftPose.msg
diff --git a/niryo_one_msgs/msg/SoftwareVersion.msg b/niryo_one_msgs/msg/SoftwareVersion.msg
diff --git a/niryo_one_msgs/msg/ToolCommand.msg b/niryo_one_msgs/msg/ToolCommand.msg
diff --git a/niryo_one_msgs/msg/Trajectory.msg b/niryo_one_msgs/msg/Trajectory.msg
diff --git a/niryo_one_msgs/msg/TrajectoryPlan.msg b/niryo_one_msgs/msg/TrajectoryPlan.msg
diff --git a/niryo_one_msgs/package.xml b/niryo_one_msgs/package.xml
diff --git a/niryo_one_msgs/srv/ChangeHardwareVersion.srv b/niryo_one_msgs/srv/ChangeHardwareVersion.srv
diff --git a/niryo_one_msgs/srv/ChangeMotorConfig.srv b/niryo_one_msgs/srv/ChangeMotorConfig.srv
diff --git a/niryo_one_msgs/srv/CloseGripper.srv b/niryo_one_msgs/srv/CloseGripper.srv
diff --git a/niryo_one_msgs/srv/ControlConveyor.srv b/niryo_one_msgs/srv/ControlConveyor.srv
diff --git a/niryo_one_msgs/srv/DebugColorDetection.srv b/niryo_one_msgs/srv/DebugColorDetection.srv
diff --git a/niryo_one_msgs/srv/DebugMarkers.srv b/niryo_one_msgs/srv/DebugMarkers.srv
diff --git a/niryo_one_msgs/srv/EditGrip.srv b/niryo_one_msgs/srv/EditGrip.srv
diff --git a/niryo_one_msgs/srv/EditWorkspace.srv b/niryo_one_msgs/srv/EditWorkspace.srv
diff --git a/niryo_one_msgs/srv/GetCalibrationCam.srv b/niryo_one_msgs/srv/GetCalibrationCam.srv
diff --git a/niryo_one_msgs/srv/GetDigitalIO.srv b/niryo_one_msgs/srv/GetDigitalIO.srv
diff --git a/niryo_one_msgs/srv/GetInt.srv b/niryo_one_msgs/srv/GetInt.srv
diff --git a/niryo_one_msgs/srv/GetPositionList.srv b/niryo_one_msgs/srv/GetPositionList.srv
diff --git a/niryo_one_msgs/srv/GetSequenceList.srv b/niryo_one_msgs/srv/GetSequenceList.srv
diff --git a/niryo_one_msgs/srv/GetTargetPose.srv b/niryo_one_msgs/srv/GetTargetPose.srv
diff --git a/niryo_one_msgs/srv/GetTrajectoryList.srv b/niryo_one_msgs/srv/GetTrajectoryList.srv
diff --git a/niryo_one_msgs/srv/GetWorkspaceList.srv b/niryo_one_msgs/srv/GetWorkspaceList.srv
diff --git a/niryo_one_msgs/srv/GetWorkspaceRatio.srv b/niryo_one_msgs/srv/GetWorkspaceRatio.srv
diff --git a/niryo_one_msgs/srv/GetWorkspaceRobotPoses.srv b/niryo_one_msgs/srv/GetWorkspaceRobotPoses.srv
diff --git a/niryo_one_msgs/srv/ManagePosition.srv b/niryo_one_msgs/srv/ManagePosition.srv
diff --git a/niryo_one_msgs/srv/ManageProcess.srv b/niryo_one_msgs/srv/ManageProcess.srv
diff --git a/niryo_one_msgs/srv/ManageSequence.srv b/niryo_one_msgs/srv/ManageSequence.srv
diff --git a/niryo_one_msgs/srv/ManageTrajectory.srv b/niryo_one_msgs/srv/ManageTrajectory.srv
diff --git a/niryo_one_msgs/srv/ObjDetection.srv b/niryo_one_msgs/srv/ObjDetection.srv
diff --git a/niryo_one_msgs/srv/OpenGripper.srv b/niryo_one_msgs/srv/OpenGripper.srv
diff --git a/niryo_one_msgs/srv/PingDxlTool.srv b/niryo_one_msgs/srv/PingDxlTool.srv
diff --git a/niryo_one_msgs/srv/PullAirVacuumPump.srv b/niryo_one_msgs/srv/PullAirVacuumPump.srv
diff --git a/niryo_one_msgs/srv/PushAirVacuumPump.srv b/niryo_one_msgs/srv/PushAirVacuumPump.srv
diff --git a/niryo_one_msgs/srv/RobotMove.srv b/niryo_one_msgs/srv/RobotMove.srv
diff --git a/niryo_one_msgs/srv/SendCustomDxlValue.srv b/niryo_one_msgs/srv/SendCustomDxlValue.srv
diff --git a/niryo_one_msgs/srv/SetBool.srv b/niryo_one_msgs/srv/SetBool.srv
diff --git a/niryo_one_msgs/srv/SetCalibrationCam.srv b/niryo_one_msgs/srv/SetCalibrationCam.srv
diff --git a/niryo_one_msgs/srv/SetConveyor.srv b/niryo_one_msgs/srv/SetConveyor.srv
diff --git a/niryo_one_msgs/srv/SetDigitalIO.srv b/niryo_one_msgs/srv/SetDigitalIO.srv
diff --git a/niryo_one_msgs/srv/SetInt.srv b/niryo_one_msgs/srv/SetInt.srv
diff --git a/niryo_one_msgs/srv/SetLeds.srv b/niryo_one_msgs/srv/SetLeds.srv
diff --git a/niryo_one_msgs/srv/SetSequenceAutorun.srv b/niryo_one_msgs/srv/SetSequenceAutorun.srv
diff --git a/niryo_one_msgs/srv/SetString.srv b/niryo_one_msgs/srv/SetString.srv
diff --git a/niryo_one_msgs/srv/TakePicture.srv b/niryo_one_msgs/srv/TakePicture.srv
diff --git a/niryo_one_msgs/srv/UpdateConveyorId.srv b/niryo_one_msgs/srv/UpdateConveyorId.srv
diff --git a/niryo_one_rpi/niryo_one_rpi/fans_manager.py b/niryo_one_rpi/niryo_one_rpi/fans_manager.py
diff --git a/niryo_one_rpi/niryo_one_rpi/led_manager.py b/niryo_one_rpi/niryo_one_rpi/led_manager.py
diff --git a/niryo_one_rpi/niryo_one_rpi/niryo_one_rpi_node.py b/niryo_one_rpi/niryo_one_rpi/niryo_one_rpi_node.py
diff --git a/niryo_one_rpi/package.xml b/niryo_one_rpi/package.xml
diff --git a/niryo_one_tools/config/end_effectors.yaml b/niryo_one_tools/config/end_effectors.yaml
diff --git a/niryo_one_tools/niryo_one_tools/tool_controller.py b/niryo_one_tools/niryo_one_tools/tool_controller.py
diff --git a/niryo_one_tools/niryo_one_tools/tool_ros_command_interface.py b/niryo_one_tools/niryo_one_tools/tool_ros_command_interface.py
diff --git a/niryo_one_tools/niryo_one_tools/tools.py b/niryo_one_tools/niryo_one_tools/tools.py
diff --git a/niryo_one_tools/package.xml b/niryo_one_tools/package.xml
-Original file line number
+Diff line change
@@ Expand Up / @@ -46,6 +46,8 @@ @@
     namespace niryo_one_driver{
+    using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
     class NiryoOneHardwareInterface:  public hardware_interface::SystemInterface {
         public:
@@ Expand Down @@