Jazzy & gz8 support

.github/workflows/main.yaml

@@ -1,30 +1,30 @@
-name: main
+name: jazzy-devel
 
 on:
   pull_request:
     branches:
-      - humble-devel
+      - jazzy-devel
   push:
     branches:
-      - humble-devel
+      - jazyy-devel
 jobs:
   build-and-test:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-22.04]
+        os: [ubuntu-24.04]
       fail-fast: false
     steps:
       - uses: actions/checkout@v2
       - name: Setup ROS 2
-        uses: ros-tooling/[email protected].1
+        uses: ros-tooling/[email protected].9
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: jazzy
       - name: build and test
-        uses: ros-tooling/[email protected].6
+        uses: ros-tooling/[email protected].15
         with:
-          package-name: gazebo_mocap4r2_plugin mocap_interfaces mocap4r2_control mocap4r2_control_msgs rqt_mocap4r2_control
-          target-ros2-distro: humble
+          package-name: mocap4r2_gz_plugin mocap_interfaces mocap4r2_control mocap4r2_control_msgs rqt_mocap4r2_control
+          target-ros2-distro: jazzy
           vcs-repo-file-url: ${GITHUB_WORKSPACE}/dependency_repos.repos
       - name: Codecov
         uses: codecov/[email protected]

CMakeLists.txt

@@ -1,106 +1,50 @@
-cmake_minimum_required(VERSION 3.5)
-project(gazebo_mocap4r2_plugin)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # we dont use add_compile_options with pedantic in message packages
-  # because the Python C extensions dont comply with it
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
-endif()
-
-if(WIN32)
-  add_compile_definitions(
-    # For math constants
-    _USE_MATH_DEFINES
-    # Minimize Windows namespace collision
-    NOMINMAX
-    WIN32_LEAN_AND_MEAN
-  )
-endif()
+project(mocap4r2_gz_plugin)
 
 find_package(ament_cmake REQUIRED)
-find_package(gazebo_dev REQUIRED)
-find_package(gazebo_msgs REQUIRED)
-find_package(gazebo_ros REQUIRED)
+find_package(gz-cmake3 REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(mocap_interfaces REQUIRED)
 find_package(mocap4r2_control REQUIRED)
 find_package(rclcpp REQUIRED)
 
-link_directories(${gazebo_dev_LIBRARY_DIRS})
-
-option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)
-if(ENABLE_PROFILER)
-  find_package(ignition-common3 QUIET COMPONENTS profiler)
-  if(ignition-common3_FOUND)
-    add_definitions("-DIGN_PROFILER_ENABLE=1" "-DIGN_PROFILER_REMOTERY=1")
-    message(STATUS "Profiler is active")
-  else()
-    message(WARNING "Can't find Ignition common3. Profiler will not be actived")
-    add_definitions("-DIGN_PROFILER_ENABLE=0" "-DIGN_PROFILER_REMOTERY=0")
-  endif()
-endif()
+gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
+gz_find_package(gz-sim8 REQUIRED)
+gz_find_package(gz-rendering8 REQUIRED)
+gz_find_package(gz-sensors8 REQUIRED)
 
-# gazebo_ros_mocap
-add_library(gazebo_ros_mocap SHARED
-  src/gazebo_ros_mocap.cpp
-)
-target_include_directories(gazebo_ros_mocap PUBLIC include)
-ament_target_dependencies(gazebo_ros_mocap
-  "gazebo_dev"
-  "gazebo_ros"
-  "rclcpp"
-  "mocap_interfaces"
-  "mocap4r2_control"
-  "geometry_msgs"
-)
-ament_export_libraries(gazebo_ros_mocap)
+set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
+set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
 
+include_directories(include)
 
-ament_export_include_directories(include)
-ament_export_dependencies(rclcpp)
-ament_export_dependencies(gazebo_dev)
-ament_export_dependencies(gazebo_msgs)
-ament_export_dependencies(gazebo_ros)
-ament_export_dependencies(mocap_msgs)
-ament_export_dependencies(mocap_control)
-ament_export_dependencies(geometry_msgs)
+add_library(mocap_gz_ros SHARED src/mocap_gz_ros.cpp)
 
-if(BUILD_TESTING)
-  add_subdirectory(test)
-  find_package(ament_lint_auto REQUIRED)
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-if(NOT WIN32)
-  if(NOT APPLE)
-    set(
-      AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_gazebo_plugins
-      "prepend-non-duplicate;LD_LIBRARY_PATH;${GAZEBO_PLUGIN_PATH}")
-  else()
-    set(
-      AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_gazebo_plugins
-      "prepend-non-duplicate;DYLD_LIBRARY_PATH;${GAZEBO_PLUGIN_PATH}")
-  endif()
-endif()
-ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/gazebo_plugins.sh.in")
-
-ament_package()
+set_target_properties(mocap_gz_ros PROPERTIES OUTPUT_NAME mocap-gz-ros SUFFIX "" PREFIX "")
 
-install(DIRECTORY include/
-        DESTINATION include)
+ament_target_dependencies(mocap_gz_ros
+  rclcpp
+  geometry_msgs
+  mocap_interfaces
+  mocap4r2_control
+)
 
-install(TARGETS
-  gazebo_ros_mocap
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
+target_link_libraries(mocap_gz_ros
+  gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+  gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+)
 
 install(DIRECTORY
-  launch urdf rviz models
+  launch urdf
   DESTINATION share/${PROJECT_NAME}/
 )
+
+install(TARGETS mocap_gz_ros DESTINATION $ENV{HOME}/.gz/sim/plugins)
+
+ament_export_libraries(mocap_gz_ros)
+ament_export_dependencies(gz-cmake3 gz-plugin2 gz-sim8 geometry_msgs mocap_interfaces mocap4r2_control rclcpp)
+
+ament_package()

dependency_repos.repos

@@ -6,4 +6,4 @@ repositories:
   mocap4r2:
     type: git
     url: https://github.com/MOCAP4ROS2-Project/mocap4r2.git
-    version: rep-mocap-humble
+    version: rep-mocap-jazzy

include/mocap4r2_gz_plugin/mocap_gz_ros.hpp

@@ -0,0 +1,73 @@
+// Copyright 2024 Intelligent Robotics Lab
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef GZ_PLUGINS__MOCAP_GZ_ROS_HPP_
+#define GZ_PLUGINS__MOCAP_GZ_ROS_HPP_
+
+#include <gz/sim/System.hh>
+#include <gz/transport/Node.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/sim/Model.hh>
+#include <gz/sim/Util.hh>
+#include "gz/sim/components/ParentEntity.hh"
+#include "gz/sim/components/World.hh"
+#include "gz/sim/components/Model.hh"
+#include "gz/sim/components/Link.hh"
+#include "gz/sim/components/Name.hh"
+
+#include "mocap_interfaces/msg/marker_array.hpp"
+#include "mocap_interfaces/msg/rigid_body_array.hpp"
+#include "mocap_interfaces/srv/create_rigid_body.hpp"
+#include "lifecycle_msgs/msg/state.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "mocap4r2_control/ControlledLifecycleNode.hpp"
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE
+{
+namespace systems
+{
+class MocapGzRosPrivate;
+
+class MocapGzRos
+  : public gz::sim::System,
+  public gz::sim::ISystemConfigure,
+  public gz::sim::ISystemPostUpdate
+{
+public:
+  MocapGzRos();
+  ~MocapGzRos() override = default;
+  void Configure(
+    const gz::sim::Entity & _entity,
+    const std::shared_ptr<const sdf::Element> & _sdf,
+    gz::sim::EntityComponentManager & _ecm,
+    gz::sim::EventManager & _eventMgr) override;
+
+  void PostUpdate(
+    const gz::sim::v8::UpdateInfo & _info,
+    const gz::sim::v8::EntityComponentManager & _ecm) override;
+
+private:
+  std::unique_ptr<MocapGzRosPrivate> impl_;
+};
+} // namespace systems
+} // inline namespace GZ_SIM_VERSION_NAMESPACE
+} // namespace sim
+} // namespace gz
+
+#endif  // GZ_PLUGINS__MOCAP_GZ_ROS_HPP_