WIP: ros2-ified

moveit · Jun 7, 2023 · eb41a1e · eb41a1e
1 parent b5ce355
commit eb41a1e
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Showing 2 changed files with 28 additions and 25 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,10 +1,11 @@
-cmake_minimum_required(VERSION 3.1.3)
+cmake_minimum_required(VERSION 3.8)
 project(panda_moveit_config)
 
-find_package(catkin REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
-catkin_package()
-
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
   PATTERN "setup_assistant.launch" EXCLUDE)
-install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+ament_package()
diff --git a/package.xml b/package.xml
@@ -13,28 +13,30 @@
   <url type="website">http://moveit.ros.org/</url>
   <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
   <url type="repository">https://github.com/ros-planning/moveit</url>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <run_depend>moveit_ros_move_group</run_depend>
-  <run_depend>moveit_fake_controller_manager</run_depend>
-  <run_depend>moveit_kinematics</run_depend>
-  <run_depend>moveit_planners</run_depend>
-  <run_depend>moveit_ros_visualization</run_depend>
-  <run_depend>moveit_setup_assistant</run_depend>
-  <run_depend>moveit_simple_controller_manager</run_depend>
-  <run_depend>joint_state_publisher</run_depend>
-  <run_depend>joint_state_publisher_gui</run_depend>
-  <run_depend>robot_state_publisher</run_depend>
-  <run_depend>rviz</run_depend>
-  <run_depend>tf2_ros</run_depend>
-  <run_depend>xacro</run_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_fake_controller_manager</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
   <!-- The next 2 packages are required for the gazebo simulation.
        We don't include them by default to prevent installing gazebo and all its dependencies. -->
-  <!-- <run_depend>joint_trajectory_controller</run_depend> -->
-  <!-- <run_depend>gazebo_ros_control</run_depend> -->
+  <!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
+  <!-- <exec_depend>gazebo_ros_control</exec_depend> -->
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
-  <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
-  <run_depend version_gte="0.10.0">franka_description</run_depend>
+  <!-- <exec_depend>warehouse_ros_mongo</exec_depend> -->
+  <exec_depend version_gte="0.10.0">franka_description</exec_depend>
 
+  <export>
+    <build_type>ament_cmake</build_type>    
+  </export>
 </package>