First description of DemoRobot and test node for it.

ros2_control_demo_communication_headless/CMakeLists.txt

@@ -13,6 +13,30 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(ros2_control_core REQUIRED)
+
+## COMPILE
+add_library(${PROJECT_NAME} SHARED
+  src/demo_robot_headless.cpp
+)
+
+target_include_directories(${PROJECT_NAME}
+  PRIVATE include
+)
+
+ament_target_dependencies(${PROJECT_NAME}
+  pluginlib
+  rclcpp
+  ros2_control_core
+)
+
+pluginlib_export_plugin_description_file(ros2_control_core ros2_control_demo_communication_headless.xml)
+
+# INSTALL
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION lib
+)
 
 install(DIRECTORY include/
   DESTINATION include)
@@ -26,6 +50,14 @@ if(BUILD_TESTING)
 
 endif()
 
+## EXPORTS
+ament_export_dependencies(
+  pluginlib
+  rclcpp
+  ros2_control_core
+)
 ament_export_libraries(${PROJECT_NAME})
-ament_export_include_directories(include)
+ament_export_include_directories(
+  include
+)
 ament_package()

ros2_control_demo_communication_headless/include/ros2_control_demo_communication_headless/demo_robot_headless.hpp

@@ -0,0 +1,46 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// 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 ROS2_CONTROL_DEMO_COMMUNICATION__DEMO_ROBOT_HEADLESS_HPP_
+#define ROS2_CONTROL_DEMO_COMMUNICATION__DEMO_ROBOT_HEADLESS_HPP_
+
+#include "rclcpp/rate.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "ros2_control_core/communication_interface/hardware_communication_interface.hpp"
+#include "ros2_control_core/ros2_control_types.h"
+#include "ros2_control_demo_communication_headless/visibility_control.h"
+
+
+namespace ros2_control_demo_communication_headless
+{
+class DemoRobotHeadless : public ros2_control_core_communication_interface::HardwareCommunicationInterface
+{
+public:
+  RCLCPP_SHARED_PTR_DEFINITIONS(DemoRobotHeadless);
+
+  ROS2_CONTROL_DEMO_COMMUNICATION_HEADLESS_PUBLIC DemoRobotHeadless() = default;
+
+  ROS2_CONTROL_DEMO_COMMUNICATION_HEADLESS_PUBLIC virtual ~DemoRobotHeadless() = default;
+
+  ROS2_CONTROL_DEMO_COMMUNICATION_HEADLESS_PUBLIC ros2_control_types::return_type configure(const std::string parameters_path, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface,  const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr parameters_interface, const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr services_interface);
+
+  ROS2_CONTROL_DEMO_COMMUNICATION_HEADLESS_PUBLIC ros2_control_types::return_type init();
+
+protected:
+};
+
+}  // namespace ros2_control_core_components
+
+#endif  // ROS2_CONTROL_DEMO_COMMUNICATION__DEMO_ROBOT_HEADLESS_HPP_

ros2_control_demo_communication_headless/ros2_control_demo_communication_headless.xml

@@ -0,0 +1,7 @@
+<library path="ros2_control_demo_communication_headless">
+  <class name="ros2_control_communicaiton_interface/DemoRobotCommunicationHeadless" type="ros2_control_demo_communication_headless::DemoRobotHeadless" base_class_type="ros2_control_core_communication_interface::HardwareCommunicationInterface">
+    <description>
+      The ROS2 Control communication interface for headless demo robot.
+    </description>
+  </class>
+</library>

ros2_control_demo_communication_headless/src/demo_robot_headless.cpp

@@ -0,0 +1,47 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// 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.
+
+#include "ros2_control_demo_communication_headless/demo_robot_headless.hpp"
+
+using namespace ros2_control_demo_communication_headless;
+
+ros2_control_types::return_type DemoRobotHeadless::configure(const std::string parameters_path, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface,  const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr parameters_interface, const rclcpp::node_interfaces::NodeServicesInterface::SharedPtr services_interface)
+{
+  ros2_control_types::return_type ret;
+  ret = HardwareCommunicationInterface::configure(parameters_path, logging_interface, parameters_interface, services_interface);
+
+  RCLCPP_INFO(logging_interface_->get_logger(), "Configuring DemoRobotHeadless communication ...");
+
+  return ret;
+}
+
+ros2_control_types::return_type DemoRobotHeadless::init()
+{
+  RCLCPP_INFO(logging_interface_->get_logger(), "Initalizing DemoRobotHeadless communication ...please wait...");
+
+  for (int i=0; i < 2; i++)
+  {
+    rclcpp::sleep_for(std::chrono::milliseconds(1*1000/2));
+    RCLCPP_INFO(logging_interface_->get_logger(), "%f seconds left...", 1-(i/2.0));
+  }
+
+  RCLCPP_INFO(logging_interface_->get_logger(), "DemoRobotHeadless communication sucessfully initalized!");
+
+  return ros2_control_types::ROS2C_RETURN_OK;
+}
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(
+  ros2_control_demo_communication_headless::DemoRobotHeadless, ros2_control_core_communication_interface::HardwareCommunicationInterface)

ros2_control_demo_hardware/CMakeLists.txt

@@ -13,6 +13,31 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(ros2_control_core REQUIRED)
+
+## COMPILE
+add_library(${PROJECT_NAME} SHARED
+  src/demo_robot_hardware_headless.cpp
+  src/demo_robot_hardware_minimal.cpp
+)
+
+target_include_directories(${PROJECT_NAME}
+  PRIVATE include
+)
+
+ament_target_dependencies(${PROJECT_NAME}
+  pluginlib
+  rclcpp
+  ros2_control_core
+)
+
+pluginlib_export_plugin_description_file(ros2_control_hardware ros2_control_demo_hardware_headless.xml)
+
+# INSTALL
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION lib
+)
 
 install(DIRECTORY include/
   DESTINATION include)
@@ -26,6 +51,14 @@ if(BUILD_TESTING)
 
 endif()
 
+## EXPORTS
+ament_export_dependencies(
+  pluginlib
+  rclcpp
+  ros2_control_core
+)
 ament_export_libraries(${PROJECT_NAME})
-ament_export_include_directories(include)
+ament_export_include_directories(
+  include
+)
 ament_package()

ros2_control_demo_hardware/include/ros2_control_demo_hardware/demo_robot_hardware_headless.hpp

@@ -0,0 +1,41 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// 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 ROS2_CONTROL_DEMO_HARDWARE__DEMO_ROBOT_HARDWARE_HEADLESS_HPP_
+#define ROS2_CONTROL_DEMO_HARDWARE__DEMO_ROBOT_HARDWARE_HEADLESS_HPP_
+
+#include "rclcpp/rate.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "ros2_control_core/hardware/robot_hardware.hpp"
+#include "ros2_control_demo_hardware/visibility_control.h"
+
+
+namespace ros2_control_demo_hardware_headless
+{
+class DemoRobotHardwareHeadless : public ros2_control_core_hardware::RobotHardware
+{
+public:
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC DemoRobotHardwareHeadless() = default;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC ~DemoRobotHardwareHeadless() = default;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC ros2_control_types::return_type init_hardware();
+
+protected:
+};
+
+}  // namespace ros2_control_core_components
+
+#endif  // ROS2_CONTROL_DEMO_HARDWARE__DEMO_ROBOT_HARDWARE_HEADLESS_HPP_

ros2_control_demo_hardware/include/ros2_control_demo_hardware/demo_robot_hardware_minimal.hpp

@@ -0,0 +1,42 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// 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 ROS2_CONTROL_DEMO_HARDWARE__DEMO_ROBOT_HARDWARE_MINIMAL_HPP_
+#define ROS2_CONTROL_DEMO_HARDWARE__DEMO_ROBOT_HARDWARE_MINIMAL_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+#include "ros2_control_core/hardware/robot_hardware.hpp"
+#include "ros2_control_demo_hardware/visibility_control.h"
+
+
+namespace ros2_control_demo_hardware_minimal
+{
+class DemoRobotHardwareMinimal : public ros2_control_core_hardware::RobotHardware
+{
+public:
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC DemoRobotHardwareMinimal() = default;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC ~DemoRobotHardwareMinimal() = default;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC ros2_control_types::return_type init_hardware();
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC ros2_control_types::return_type write();
+
+protected:
+};
+
+}  // namespace ros2_control_core_components
+
+#endif  // ROS2_CONTROL_DEMO_HARDWARE__DEMO_ROBOT_HARDWARE_MINIMAL_HPP_

ros2_control_demo_hardware/ros2_control_demo_hardware_headless.xml

@@ -0,0 +1,12 @@
+<library path="ros2_control_demo_hardware">
+  <class name="ros2_control_demo_hardware/DemoRobotHardwareHeadless" type="ros2_control_demo_hardware_headless::DemoRobotHardwareHeadless" base_class_type="ros2_control_core_hardware::RobotHardware">
+    <description>
+      The ROS2 Control robot protocol for headless demo robot.
+    </description>
+  </class>
+  <class name="ros2_control_demo_hardware/DemoRobotHardwareMinimal" type="ros2_control_demo_hardware_minimal::DemoRobotHardwareMinimal" base_class_type="ros2_control_core_hardware::RobotHardware">
+    <description>
+      The ROS2 Control minimal robot protocol. This is example for start porting the robot from ROS 1.
+    </description>
+  </class>
+</library>

ros2_control_demo_hardware/src/demo_robot_hardware_headless.cpp

@@ -0,0 +1,38 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// 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.
+
+
+#include "ros2_control_demo_hardware/demo_robot_hardware_headless.hpp"
+
+using namespace ros2_control_demo_hardware_headless;
+
+ros2_control_types::return_type DemoRobotHardwareHeadless::init_hardware()
+{
+  RCLCPP_INFO(logging_interface_->get_logger(), "Initalizing DemoRobotHardwareHeadless ...please wait...");
+
+  for (int i=0; i < 3; i++)
+  {
+    rclcpp::sleep_for(std::chrono::seconds(1));
+    RCLCPP_INFO(logging_interface_->get_logger(), "%d seconds left...", 3-i);
+  }
+
+  RCLCPP_INFO(logging_interface_->get_logger(), "DemoRobotHardwareHeadless sucessfully initalized!");
+
+  return ros2_control_types::ROS2C_RETURN_OK;
+}
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(
+  ros2_control_demo_hardware_headless::DemoRobotHardwareHeadless, ros2_control_core_hardware::RobotHardware)

ros2_control_demo_hardware/src/demo_robot_hardware_minimal.cpp

@@ -0,0 +1,38 @@
+// Copyright 2020 ROS2-Control Development Team
+//
+// 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.
+
+
+#include "ros2_control_demo_hardware/demo_robot_hardware_minimal.hpp"
+
+using namespace ros2_control_demo_hardware_minimal;
+
+ros2_control_types::return_type DemoRobotHardwareMinimal::init_hardware()
+{
+  RCLCPP_INFO(logging_interface_->get_logger(), "Initalizing DemoRobotHardwareMinimal ...please wait...");
+
+  for (int i=0; i < 3; i++)
+  {
+    rclcpp::sleep_for(std::chrono::seconds(1));
+    RCLCPP_INFO(logging_interface_->get_logger(), "%d seconds left...", 3-i);
+  }
+
+  RCLCPP_INFO(logging_interface_->get_logger(), "DemoRobotHardwareMinimal sucessfully initalized!");
+
+  return ros2_control_types::ROS2C_RETURN_OK;
+}
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(
+  ros2_control_demo_hardware_minimal::DemoRobotHardwareMinimal, ros2_control_core_hardware::RobotHardware)