Provide package.xml and augment CMakeLists.txt to turn this into a RO…

…S driver.

.github/workflows/ros2.yml

@@ -0,0 +1,51 @@
+name: ros2
+
+on:
+  push:
+    paths:
+      - ".github/workflows/ros2.yml"
+      - "include/**"
+      - "launch/**"
+      - "src/**"
+      - "CMakeLists.txt"
+      - "package.xml"
+  pull_request:
+    paths:
+      - ".github/workflows/ros2.yml"
+      - "include/**"
+      - "launch/**"
+      - "src/**"
+      - "CMakeLists.txt"
+      - "package.xml"
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    name: Build on ros2 ${{ matrix.ros_distro }}
+    runs-on: ubuntu-22.04
+    strategy:
+      matrix:
+        ros_distro: [ humble ]
+
+    steps:   
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distro }}
+
+    - name: Setup ros2 workspace
+      run: | 
+        mkdir -p ${{github.workspace}}/ros2_ws/src
+
+    - uses: actions/checkout@v4
+      with:
+        path: 'ros2_ws/src/pika-spark-bno085-driver'
+        submodules: true
+        fetch-depth: 1
+
+    - name: colcon build
+      run: |
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        cd ${{github.workspace}}/ros2_ws
+        colcon build --event-handlers console_direct+

CMakeLists.txt

@@ -1,11 +1,15 @@
 ##########################################################################
 cmake_minimum_required(VERSION 3.15)
 ##########################################################################
-project("pika-spark-bno085-driver")
+project("pika_spark_bno085_driver")
+set(PIKA_SPARK_BNO085_TARGET ${PROJECT_NAME}_node)
+##########################################################################
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
 ##########################################################################
 add_subdirectory(sh2)
 ##########################################################################
-add_executable(${PROJECT_NAME} 
+add_executable(${PIKA_SPARK_BNO085_TARGET}
   main.cpp
   bno085.cpp
   bno085_hal.cpp
@@ -14,10 +18,17 @@ add_executable(${PROJECT_NAME}
 )
 ##########################################################################
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Werror -Wextra -Wpedantic)
+  target_compile_options(${PIKA_SPARK_BNO085_TARGET} PRIVATE -Wall -Werror -Wextra -Wpedantic)
 endif()
 ##########################################################################
-target_link_libraries(${PROJECT_NAME} pika-spark-sh2)
+target_link_libraries(${PIKA_SPARK_BNO085_TARGET} pika-spark-sh2)
+##########################################################################
+target_compile_features(${PIKA_SPARK_BNO085_TARGET} PUBLIC cxx_std_17)
+##########################################################################
+ament_target_dependencies(${PIKA_SPARK_BNO085_TARGET} rclcpp)
+##########################################################################
+install(TARGETS ${PIKA_SPARK_BNO085_TARGET} DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 ##########################################################################
-target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
+ament_package()
 ##########################################################################

README.md

@@ -1,18 +1,20 @@
 <a href="https://pika-spark.io/"><img align="right" src="https://raw.githubusercontent.com/pika-spark/.github/main/logo/logo-pika-spark-bg-white.png" width="15%"></a>
 :sparkles: `pika-spark-bno085-driver`
 =====================================
-[![Smoke test status](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/smoke-test.yml/badge.svg)](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/smoke-test.yml)
+[![Build Status](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/ros2.yml/badge.svg)](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/ros2.yml)
 [![Spell Check status](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/spell-check.yml/badge.svg)](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/spell-check.yml)
 
-Linux user space driver for the [BNO085](https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf) 9-DoF IMU driver.
+Linux user space ROS driver for the [BNO085](https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf) 9-DoF IMU.
 
 <p align="center">
   <a href="https://pika-spark.io/"><img src="https://raw.githubusercontent.com/pika-spark/.github/main/logo/logo-pika-spark-bg-white-github.png" width="40%"></a>
 </p>
 
-### How-to-build/run
+### How-to-build
 ```bash
-git clone https://github.com/pika-spark/pika-spark-bno085-driver && cd pika-spark-bno085-driver/docker
-./docker-build.sh
-sudo ./docker-run.sh
+cd $COLCON_WS/src
+git clone --recursive https://github.com/pika-spark/pika-spark-bno085-driver
+cd $COLCON_WS
+source /opt/ros/humble/setup.bash
+colcon build --packages-select pika_spark_bno085_driver
 ```

package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>pika_spark_bno085_driver</name>
+  <version>1.0.0</version>
+  <description>This package implements a ROS driver for the BNO085 9-DoF IMU.</description>
+
+  <maintainer email="[email protected]">Alexander Entinger</maintainer>
+
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>l4xz</depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>