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paulbovbelpaulbovbel
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Initial release to open source
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‎README.md

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# ros1_tools
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# ros1_tools
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## ros1_message_mirror
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Provides the `rosidl_from_ros1_package` cmake macro, allowing one to easily clone message definitions from ROS1 into ROS2

‎json_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(json_msgs)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(ros1_message_mirror REQUIRED)
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rosidl_from_ros1_package(
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${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# Ignore copyright linting, for now
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎json_msgs/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>json_msgs</name>
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<version>0.4.0</version>
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<description>locus_msgs port to ROS2</description>
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<maintainer email="[email protected]">Paul Bovbel</maintainer>
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<license>Apache License 2.0</license>
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<author email="[email protected]">Paul Bovbel</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>ros1_message_mirror</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎ros1_message_mirror/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(ros1_message_mirror)
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if(NOT WIN32)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Werror")
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endif()
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find_package(ament_cmake REQUIRED)
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ament_python_install_package(${PROJECT_NAME})
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install(
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DIRECTORY cmake
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DESTINATION share/${PROJECT_NAME}
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)
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install(
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PROGRAMS
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scripts/adapt_ros1_message
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scripts/get_ros1_messages
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DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# Ignore copyright linting, for now
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package(
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CONFIG_EXTRAS ros1_message_mirror-extras.cmake
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)

‎ros1_message_mirror/cmake/find_ros1_package.cmake

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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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macro(find_ros1_package name)
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cmake_parse_arguments(_ARG "REQUIRED" "" "" ${ARGN})
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if(_ARG_UNPARSED_ARGUMENTS)
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message(FATAL_ERROR
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"find_ros1_package() called with unused arguments: "
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"${ARG_UNPARSED_ARGUMENTS}")
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endif()
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find_package(PkgConfig REQUIRED)
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# the error message of pkg_check_modules for not found required modules
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# doesn't include the module name which is not helpful
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pkg_check_modules(ros1_${name} ${name})
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if(NOT ros1_${name}_FOUND)
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if(_ARG_REQUIRED)
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message(FATAL_ERROR
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"find_ros1_package() failed to find '${name}' using "
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"pkg_check_modules()")
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endif()
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else()
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set(_libraries "${ros1_${name}_LIBRARIES}")
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# Prior to catkin 0.7.7, dependent libraries in the pkg-config file were always generated
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# in the form "-l:/absolute/path/to/library". Because of the leading "-l", this made
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# them show up in ${ros1_${name}_LIBRARIES}. catkin 0.7.7 and later has changed this to
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# just be an absolute path (of the form "/absolute/path/to/library"), so we now have to
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# look through the LDFLAGS_OTHER and add those to the libraries that we need to link with.
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foreach(_flag ${ros1_${name}_LDFLAGS_OTHER})
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if(IS_ABSOLUTE ${_flag})
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list(APPEND _libraries "${_flag}")
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endif()
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endforeach()
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set(_library_dirs "${ros1_${name}_LIBRARY_DIRS}")
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set(ros1_${name}_LIBRARIES "")
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set(ros1_${name}_LIBRARY_DIRS "")
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foreach(_library ${_libraries})
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string(SUBSTRING "${_library}" 0 1 _prefix)
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if("${_prefix} " STREQUAL ": ")
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string(SUBSTRING "${_library}" 1 -1 _rest)
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list(APPEND ros1_${name}_LIBRARIES ${_rest})
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elseif(IS_ABSOLUTE ${_library})
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list(APPEND ros1_${name}_LIBRARIES ${_library})
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else()
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set(_lib "${_library}-NOTFOUND")
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set(_lib_path "")
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# since the path where the library is found is not returned
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# this has to be done for each path separately
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foreach(_path ${_library_dirs})
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find_library(_lib ${_library}
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PATHS ${_path}
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
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if(_lib)
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set(_lib_path ${_path})
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break()
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endif()
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endforeach()
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if(_lib)
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list(APPEND ros1_${name}_LIBRARIES ${_lib})
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list_append_unique(ros1_${name}_LIBRARY_DIRS ${_lib_path})
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else()
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# as a fall back try to search globally
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find_library(_lib ${_library})
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if(NOT _lib)
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message(FATAL_ERROR "pkg-config module '${name}' failed to find library '${_library}'")
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endif()
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list(APPEND ros1_${name}_LIBRARIES ${_lib})
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endif()
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endif()
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endforeach()
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endif()
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endmacro()

‎ros1_message_mirror/cmake/rosidl_from_ros1_package.cmake

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macro(rosidl_from_ros1_package package)
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cmake_parse_arguments(args "" "" "DEPENDENCIES;ENTITIES" ${ARGN})
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find_package(rosidl_default_generators REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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foreach(dependency ${args_DEPENDENCIES})
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find_package(${dependency})
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endforeach()
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# TODO(pbovbel) register bin path
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set(bin_path ${CMAKE_INSTALL_PREFIX}/lib/ros1_message_mirror)
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set(message_types "msg" "srv")
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foreach(message_type ${message_types})
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execute_process(COMMAND ${bin_path}/get_ros1_messages ${package} --type ${message_type}
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OUTPUT_VARIABLE ${message_type}_ROS1_LIST
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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set(${message_type}_ROS2_LIST "")
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file(MAKE_DIRECTORY "${CMAKE_BINARY_DIR}/${message_type}/")
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foreach(input_message ${${message_type}_ROS1_LIST})
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stamp(${input_message}) # Reconfigure if the upstream message file changes
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get_filename_component(filename ${input_message} NAME)
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if(args_ENTITIES AND NOT filename IN_LIST args_ENTITIES)
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continue()
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endif()
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execute_process(
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COMMAND ${bin_path}/adapt_ros1_message ${input_message} ${CMAKE_BINARY_DIR}/${message_type}/${filename}
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OUTPUT_VARIABLE output_message
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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# TODO(pbovbel) automatically generate mapping_rules.yaml
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list(APPEND ${message_type}_ROS2_LIST ${output_message})
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endforeach()
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endforeach()
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# How does rosidl know if something's a srv or msg? By the file extension?
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# No! by the containing directory! *facepalm*
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# https://github.com/ros2/rosidl/issues/213
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if(msg_ROS2_LIST OR srv_ROS2_LIST)
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rosidl_generate_interfaces(${package}
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${msg_ROS2_LIST}
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${srv_ROS2_LIST}
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DEPENDENCIES ${args_DEPENDENCIES} builtin_interfaces
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ADD_LINTER_TESTS
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)
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else()
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message(FATAL_ERROR "No interface files imported from ROS1 package ${package}")
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endif()
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ament_export_dependencies(rosidl_default_runtime)
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endmacro()

‎ros1_message_mirror/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>ros1_message_mirror</name>
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<version>0.4.0</version>
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<description>Common tools for working with ROS1 components.</description>
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<maintainer email="[email protected]">Paul Bovbel</maintainer>
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<license>Apache License 2.0</license>
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<author email="[email protected]">Paul Bovbel</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>builtin_interfaces</depend>
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<!-- catkin dependencies -->
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<!-- <build_export_depend>rosmsg</build_export_depend> -->
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<exec_depend>rosidl_default_runtime</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎ros1_message_mirror/ros1_message_mirror-extras.cmake

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include("${CMAKE_CURRENT_LIST_DIR}/find_ros1_package.cmake")
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include("${CMAKE_CURRENT_LIST_DIR}/rosidl_from_ros1_package.cmake")

‎ros1_message_mirror/ros1_message_mirror/__init__.py

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# Copyright 2015-2016 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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import sys
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# import rospkg which is required by rosmsg
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# and likely only available for Python 2
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try:
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import rospkg
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except ImportError:
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from importlib.machinery import SourceFileLoader
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import subprocess
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for python_executable in ['python2', 'python2.7']:
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try:
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rospkg_path = subprocess.check_output(
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[python_executable, '-c', 'import rospkg; print(rospkg.__file__)'])
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except (subprocess.CalledProcessError, FileNotFoundError):
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continue
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rospkg_path = rospkg_path.decode().strip()
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if rospkg_path.endswith('.pyc'):
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rospkg_path = rospkg_path[:-1]
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rospkg = SourceFileLoader('rospkg', rospkg_path).load_module()
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if not rospkg:
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raise
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# more ROS 1 imports
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# since ROS 2 should be sourced after ROS 1 it will overlay
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# e.g. the message packages, to prevent that from happening (and ROS 1 code to
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# fail) ROS 1 paths are moved to the front of the search path
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rpp = os.environ.get('ROS_PACKAGE_PATH', '').split(os.pathsep)
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for package_path in reversed([p for p in rpp if p]):
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if not package_path.endswith(os.sep + 'share'):
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continue
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ros1_basepath = os.path.dirname(package_path)
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for sys_path in sys.path:
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if sys_path.startswith(os.path.join(ros1_basepath, '')):
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sys.path.remove(sys_path)
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sys.path.insert(0, sys_path)
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import rosmsg # noqa
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extension_to_rosmsg_mode = {
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'msg': rosmsg.MODE_MSG,
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'srv': rosmsg.MODE_SRV,
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}
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def get_ros1_message_paths(package, extension):
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rospack = rospkg.RosPack()
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mode = extension_to_rosmsg_mode[extension]
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path = os.path.join(rospack.get_path(package), extension)
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msgs = rosmsg.list_types(package, mode, rospack)
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return [os.path.join(path, msg.split('/')[-1] + '.' + extension) for msg in msgs]

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