Port tf2_geometry_msgs to ROS 2 (#7)

* Add python_orocos_kdl dependency for ros-*-base installs

* Switch tf2_geometry_msgs to use package.xml format 2 (#217)

* Switch tf2_geometry_msgs to use package.xml format 2

* Reinstate min catkin version

* port tf2_geometry_msgs to ros2

* Use new tf2 <-> builtin_interfaces conversions

* geometry_msgs::Quaternion -> geometry_msgs::msg::Quaternion

* Workaround for orocos_kdl package shouldn't be necessary anymore

We have a ros2-specific package now that has absolute paths: ros2/orocos_kinematics_dynamics@efa9674

* Revert find-and-replace changes to test file

This still won't work for now but it is closer

tf2/include/tf2/convert.h

@@ -34,9 +34,6 @@
 
 #include <builtin_interfaces/msg/time.hpp>
 
-// TODO(tfoote) 
-#error This has not been converted to ROS2 and will not compile
-
 #include <tf2/transform_datatypes.h>
 #include <tf2/exceptions.h>
 #include <geometry_msgs/msg/transform_stamped.hpp>
@@ -112,6 +109,9 @@ template<typename A, typename B>
  * \param a an object to convert from
  * \param b the object to convert to
  */
+
+ //TODO(dhood): re-instate if/when IsMessage message traits available in ROS 2
+ /*
 template <class A, class B>
   void convert(const A& a, B& b)
   {
@@ -126,6 +126,7 @@ template <class A>
     if(&a1 != &a2)
       a2 = a1;
   }
+  */
 
 
 }

tf2/include/tf2/impl/utils.h

@@ -32,22 +32,22 @@ tf2::Quaternion toQuaternion(const tf2::Quaternion& q) {
   }
 
 /** Function needed for the generalization of toQuaternion
- * \param q a geometry_msgs::Quaternion
+ * \param q a geometry_msgs::msg::Quaternion
  * \return a copy of the same quaternion as a tf2::Quaternion
  */
 inline
-tf2::Quaternion toQuaternion(const geometry_msgs::Quaternion& q) {
+tf2::Quaternion toQuaternion(const geometry_msgs::msg::Quaternion& q) {
     tf2::Quaternion res;
     fromMsg(q, res);
     return res;
   }
 
 /** Function needed for the generalization of toQuaternion
- * \param q a geometry_msgs::QuaternionStamped
+ * \param q a geometry_msgs::msg::QuaternionStamped
  * \return a copy of the same quaternion as a tf2::Quaternion
  */
 inline
-tf2::Quaternion toQuaternion(const geometry_msgs::QuaternionStamped& q) {
+tf2::Quaternion toQuaternion(const geometry_msgs::msg::QuaternionStamped& q) {
     tf2::Quaternion res;
     fromMsg(q.quaternion, res);
     return res;
@@ -59,18 +59,18 @@ tf2::Quaternion toQuaternion(const geometry_msgs::QuaternionStamped& q) {
  */
 template<typename T>
   tf2::Quaternion toQuaternion(const tf2::Stamped<T>& t) {
-    geometry_msgs::QuaternionStamped q = toMsg<tf2::Stamped<T>, geometry_msgs::QuaternionStamped>(t);
+    geometry_msgs::msg::QuaternionStamped q = toMsg<tf2::Stamped<T>, geometry_msgs::msg::QuaternionStamped>(t);
     return toQuaternion(q);
   }
 
 /** Generic version of toQuaternion. It tries to convert the argument
- * to a geometry_msgs::Quaternion
+ * to a geometry_msgs::msg::Quaternion
  * \param t some object
  * \return a copy of the same quaternion as a tf2::Quaternion
  */
 template<typename T>
   tf2::Quaternion toQuaternion(const T& t) {
-    geometry_msgs::Quaternion q = toMsg<T, geometry_msgs::QuaternionStamped>(t);
+    geometry_msgs::msg::Quaternion q = toMsg<T, geometry_msgs::msg::QuaternionStamped>(t);
     return toQuaternion(q);
   }
 

tf2_geometry_msgs/CMakeLists.txt

@@ -1,47 +1,50 @@
 cmake_minimum_required(VERSION 3.5)
 project(tf2_geometry_msgs)
 
-find_package(orocos_kdl)
-find_package(catkin REQUIRED COMPONENTS geometry_msgs tf2_ros tf2)
-find_package(Boost COMPONENTS thread REQUIRED)
-
-# Issue #53
-find_library(KDL_LIBRARY REQUIRED NAMES orocos-kdl HINTS ${orocos_kdl_LIBRARY_DIRS})
-
-catkin_package(
-   LIBRARIES ${KDL_LIBRARY}
-   INCLUDE_DIRS include
-   DEPENDS orocos_kdl
-   CATKIN_DEPENDS  geometry_msgs tf2_ros tf2)
+if(NOT WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Wextra")
+endif()
 
+find_package(orocos_kdl)
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
 
 include_directories(include
-                    ${catkin_INCLUDE_DIRS}
+   ${orocos_kdl_INCLUDE_DIRS}
+   ${tf2_INCLUDE_DIRS}
+   ${tf2_ros_INCLUDE_DIRS}
+   ${geometry_msgs_INCLUDE_DIRS}
 )
 
 link_directories(${orocos_kdl_LIBRARY_DIRS})
 
 
 
 install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DESTINATION include/${PROJECT_NAME}
 )
 
-catkin_python_setup()
-
-if(CATKIN_ENABLE_TESTING)
-
-find_package(catkin REQUIRED COMPONENTS geometry_msgs rostest tf2_ros tf2)
-
-add_executable(test_geometry_msgs EXCLUDE_FROM_ALL test/test_tf2_geometry_msgs.cpp)
-target_link_libraries(test_geometry_msgs ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${orocos_kdl_LIBRARIES})
-add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test.launch)
-add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_python.launch)
-
-
-if(TARGET tests)
-  add_dependencies(tests test_geometry_msgs)
-endif()
-
-
-endif()
+# TODO(dhood): enable python support once ported to ROS 2
+# catkin_python_setup()
+
+# TODO(dhood): enable tests once ported to ROS 2
+# if(CATKIN_ENABLE_TESTING)
+#
+# find_package(catkin REQUIRED COMPONENTS geometry_msgs rostest tf2_ros tf2)
+#
+# add_executable(test_geometry_msgs EXCLUDE_FROM_ALL test/test_tf2_geometry_msgs.cpp)
+# target_link_libraries(test_geometry_msgs ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${orocos_kdl_LIBRARIES})
+# add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test.launch)
+# add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_python.launch)
+#
+#
+# if(TARGET tests)
+#   add_dependencies(tests test_geometry_msgs)
+# endif()
+#
+#
+# endif()
+ament_export_include_directories(include)
+ament_package()