Fix rosdeps for Noetic, CMake cleanup, add CI

.github/workflows/build.yml

@@ -0,0 +1,68 @@
+name: build
+
+on:
+  push:
+    branches: [master]
+  pull_request:
+    branches: [master]
+
+jobs:
+  build: # Iterates on all ROS 1 distributions in Linux
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution:
+          - kinetic
+          - melodic
+          # Noetic build is broken because there's currently no release for the serial dependency:
+          # https://github.com/wjwwood/serial/issues/222
+          # - noetic
+
+        # Define the Docker image(s) associated with each ROS distribution.
+        # The include syntax allows additional variables to be defined, like
+        # docker_image in this case. See documentation:
+        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
+        #
+        # Platforms are defined in REP 3, and REP 2000:
+        # https://ros.org/reps/rep-0003.html
+        # https://ros.org/reps/rep-2000.html
+        include:
+          # Kinetic Kame (May 2016 - May 2021)
+          - docker_image: ubuntu:xenial
+            ros_distribution: kinetic
+            # Setting ros_version is helpful to customize the workflow
+            # depending on whether a ROS 1, or ROS 2 is being tested.
+            # See 'if: ros_version ==' below for an example.
+            ros_version: 1
+
+          # Melodic Morenia (May 2018 - May 2023)
+          - docker_image: ubuntu:bionic
+            ros_distribution: melodic
+            ros_version: 1
+
+          # # Noetic Ninjemys (May 2020 - May 2025)
+          # - docker_image: ubuntu:focal
+          #   ros_distribution: noetic
+          #   ros_version: 1
+
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: setup ROS environment
+        uses: ros-tooling/setup-ros@0.0.25
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+      - name: build and test ROS1
+        if: ${{ matrix.ros_version == 1 }}
+        uses: ros-tooling/action-ros-ci@0.0.19
+        with:
+          package-name: |
+            blue_bringup
+            blue_controller_manager
+            blue_controllers
+            blue_descriptions
+            blue_hardware_interface
+            blue_hardware_drivers
+            blue_msgs
+          target-ros1-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: ""

blue_bringup/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(blue_bringup)
 
 find_package(catkin REQUIRED COMPONENTS)

blue_bringup/package.xml

@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
   <name>blue_bringup</name>
   <version>0.0.0</version>
   <description>Bringup scripts and launch files for Blue</description>

blue_controller_manager/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(blue_controller_manager)
 
 add_compile_options(-std=c++11)

blue_controller_manager/package.xml

@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
   <name>blue_controller_manager</name>
   <version>0.0.0</version>
   <description>
@@ -24,11 +24,11 @@
   <depend>blue_hardware_interface</depend>
   <depend>joint_limits_interface</depend>
   <depend>kdl_parser</depend>
-  <depend>orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO != noetic">orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
   <depend>roscpp</depend>
   <depend>urdf</depend>
   <depend>control_toolbox</depend>
   <depend>control_msgs</depend>
   <depend>blue_msgs</depend>
-
 </package>

blue_controllers/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(blue_controllers)
 
 add_compile_options(-std=c++11)

blue_controllers/package.xml

@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
   <name>blue_controllers</name>
   <version>0.0.0</version>
   <description>Source code for our custom controller plugins</description>
@@ -27,7 +27,8 @@
   <depend>gripper_action_controller</depend>
   <depend>joint_trajectory_controller</depend>
   <depend>kdl_parser</depend>
-  <depend>orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO != noetic">orocos_kdl</depend>
+  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

blue_core/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(blue_core)
 find_package(catkin REQUIRED)
 catkin_metapackage()

blue_core/package.xml

@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
   <name>blue_core</name>
   <version>0.0.0</version>
   <description>The blue_core metapackage contains all the basic software for running and using a Blue robot arm</description>

blue_descriptions/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 
 project(blue_descriptions)
 

blue_descriptions/package.xml

@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
   <name>blue_descriptions</name>
   <version>1.0.0</version>
   <description>URDF files, 3D models, and other physical descriptors</description>

blue_hardware_drivers/CMakeLists.txt

@@ -1,6 +1,9 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(blue_hardware_drivers)
 
+# add modules for finding JSONCPP
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
+
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
 
@@ -15,15 +18,18 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   blue_msgs
 )
+find_package(JSONCPP REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES blue_hardware_drivers
   CATKIN_DEPENDS roscpp rospy sensor_msgs serial std_msgs
+  DEPENDS JSONCPP
 )
+include_directories(include include/blue_hardware_drivers)
 include_directories(
-  include
   ${catkin_INCLUDE_DIRS}
+  ${JSONCPP_INCLUDE_DIRS}
 )
 
 add_library(${PROJECT_NAME}
@@ -32,7 +38,9 @@ add_library(${PROJECT_NAME}
   src/Packets.cpp
   src/crc16.cpp
   src/Buffer.cpp
-  json_src/json.cpp
+)
+target_link_libraries(${PROJECT_NAME}
+  ${JSONCPP_LIBRARY}
 )
 
 add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
@@ -57,11 +65,11 @@ target_link_libraries(BLDCDriver_communication_freq_test
 
 
 ## Mark executables and/or libraries for installation
-#install(TARGETS BLDCDriver
-#  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-#)
+install(TARGETS ${PROJECT_NAME}
+ ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 install(TARGETS BLDCDriver_communication_freq_test
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -70,8 +78,9 @@ install(TARGETS BLDCDriver_communication_freq_test
 )
 
 ## Mark cpp header files for installation
-install(DIRECTORY include/blue_hardware_drivers
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+install(DIRECTORY include/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
 )
 
 ## Mark Python scripts for installation