Prepare ROS2 release (#155)

* add dep * update package.xml-s * update ci * license name fix * fix pipe * SPDX * update md * dep cleanup * examples cleanup * remove link * remove overwritten effort_controllers/joint_group_pos_controller * fix config --------- Co-authored-by: Aron Svastits <svastits1@gmail.com>
kroshu · Apr 12, 2024 · 020db2e · 020db2e
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diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -38,19 +38,17 @@ jobs:
           TEST_COVERAGE: true
           # Hacky solution needed to be able to build upstream WS:
           #  kuka_driver_interfaces and kuka_drivers_core must be also added to upstream
-          UPSTREAM_WORKSPACE: 'github:kroshu/kuka_robot_descriptions#master github:kroshu/kuka_controllers#master github:kroshu/kuka_drivers#master -kuka_drivers/examples -kuka_drivers/kuka_drivers -kuka_drivers/kuka_iiqka_eac_driver -kuka_drivers/kuka_kss_rsi_driver -kuka_drivers/kuka_sunrise_fri_driver'
+          UPSTREAM_WORKSPACE: 'github:kroshu/kuka_robot_descriptions#master github:kroshu/kuka_controllers#master github:kroshu/kuka-external-control-sdk#master github:kroshu/kuka_drivers#master -kuka_drivers/examples -kuka_drivers/kuka_drivers -kuka_drivers/kuka_iiqka_eac_driver -kuka_drivers/kuka_kss_rsi_driver -kuka_drivers/kuka_sunrise_fri_driver'
           ROS_DISTRO: humble
     env:
       CCACHE_DIR: /github/home/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
-      BEFORE_BUILD_TARGET_WORKSPACE: 'apt update && apt install -y cmake build-essential pkg-config libssl-dev protobuf-compiler-grpc libgrpc++-dev && cd /home/runner/work && git clone https://github.com/kroshu/kuka-external-control-sdk.git && mkdir -p /home/runner/work/kuka-external-control-sdk/kuka-external-control-sdk/build && cd /home/runner/work/kuka-external-control-sdk/kuka-external-control-sdk/build && cmake .. && make install'
       EVENT_NAME: ${{ github.event_name }}
       BRANCH: ${{ github.event.ref }}
       PR_BRANCH: ${{ github.event.pull_request.head.ref }}
       PR_BASE: ${{ github.event.pull_request.base.ref }}
       PR_NUMBER: ${{ github.event.number }}
       ANALYZER_TOKEN: ${{ secrets.ANALYZER_TOKEN }}
       DEBUG_BASH: true
-      DOCKER_RUN_OPTS: '-e LD_LIBRARY_PATH=/root/.local/lib'
     runs-on: ubuntu-latest
     steps:
       - name: Reset ANALYZER for scheduled and push runs

diff --git a/README.md b/README.md
@@ -40,27 +40,13 @@ sudo apt upgrade
 rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
 ```
 
-Clone and build kuka-external-control-sdk in a different workspace.
- - This library is necessary for the iiQKA ExternalAPI.Control driver
- - The library is not a ROS2 package, therefore a different workspace is necessary, otherwise colcon will fail to build it
- - To install dependencies for your platform, check out the [Requirements](https://github.com/kroshu/kuka-external-control-sdk/blob/master/kuka-external-control-sdk/doc/SDK_howto.md#requirements) section of the kuka-external-control-sdk documentation.
-```bash
-mkdir -p ~/sdk_ws/src
-cd ~/sdk_ws/src
-git clone https://github.com/kroshu/kuka-external-control-sdk.git
-mkdir -p ~/sdk_ws/src/kuka-external-control-sdk/kuka-external-control-sdk/build
-cd ~/sdk_ws/src/kuka-external-control-sdk/kuka-external-control-sdk/build
-cmake ..
-make install
-```
-
-Build KUKA packages.
+Build all packages in workspace.
 ```bash
 cd ~/ros2_ws
 colcon build
 ```
 
-Source built KUKA packages.
+Source workspace.
 ```bash
 # Replace ".bash" with your shell if you're not using bash
 # Possible values are: setup.bash, setup.sh, setup.zsh

diff --git a/examples/iiqka_moveit_example/CMakeLists.txt b/examples/iiqka_moveit_example/CMakeLists.txt
@@ -1,61 +1,39 @@
 cmake_minimum_required(VERSION 3.5)
 project(iiqka_moveit_example)
 
-# Common cmake code applied to all moveit packages
-find_package(moveit_common REQUIRED)
-moveit_package()
-
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wpedantic)
 endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(moveit_common REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)
-find_package(rosidl_default_runtime REQUIRED)
-find_package(rclcpp REQUIRED)
 find_package(moveit_visual_tools REQUIRED)
-find_package(rviz_visual_tools REQUIRED)
-find_package(moveit_msgs REQUIRED)
-find_package(kuka_driver_interfaces REQUIRED)
 
 include_directories(include)
 
 add_executable(moveit_basic_planners_example src/moveit_basic_planners_example.cpp)
 ament_target_dependencies(moveit_basic_planners_example
   moveit_ros_planning_interface
-  rclcpp
-  rviz_visual_tools
   moveit_visual_tools
-  kuka_driver_interfaces
 )
 
 add_executable(moveit_collision_avoidance_example src/moveit_collision_avoidance_example.cpp)
 ament_target_dependencies(moveit_collision_avoidance_example
   moveit_ros_planning_interface
-  rclcpp
-  rviz_visual_tools
   moveit_visual_tools
-  kuka_driver_interfaces
 )
 
 add_executable(moveit_constrained_planning_example src/moveit_constrained_planning_example.cpp)
 ament_target_dependencies(moveit_constrained_planning_example
   moveit_ros_planning_interface
-  rclcpp
-  rviz_visual_tools
   moveit_visual_tools
-  kuka_driver_interfaces
 )
 
 add_executable(moveit_depalletizing_example src/moveit_depalletizing_example.cpp)
 ament_target_dependencies(moveit_depalletizing_example
   moveit_ros_planning_interface
-  rclcpp
-  rviz_visual_tools
   moveit_visual_tools
-  kuka_driver_interfaces
 )
 
 install(TARGETS

diff --git a/examples/iiqka_moveit_example/CONTRIBUTING.md b/examples/iiqka_moveit_example/CONTRIBUTING.md
diff --git a/examples/iiqka_moveit_example/LICENSE b/examples/iiqka_moveit_example/LICENSE
diff --git a/examples/iiqka_moveit_example/launch/multi_robot_startup.launch.py b/examples/iiqka_moveit_example/launch/multi_robot_startup.launch.py
@@ -1,4 +1,4 @@
-# Copyright 2024 Áron Svastits
+# Copyright 2024 Aron Svastits
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/examples/iiqka_moveit_example/package.xml b/examples/iiqka_moveit_example/package.xml
@@ -2,22 +2,19 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>iiqka_moveit_example</name>
-  <version>0.0.0</version>
+  <version>0.9.0</version>
   <description>ROS example package using the iiQKA driver and moveit</description>
   <maintainer email="svastits1@gmail.com">Aron Svastits</maintainer>
-  <license>Apache 2.0</license>
+  <maintainer email="kovacsge.work@gmail.com">Gergely Kovacs</maintainer>
+  <maintainer email="szitanics@gmail.com">Mark Szitanics</maintainer>
+  <license>Apache-2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <build_depend>moveit_common</build_depend>
 
   <depend>moveit_ros_planning_interface</depend>
-  <depend>moveit_msgs</depend>
-  <depend>rclcpp</depend>
   <depend>moveit_visual_tools</depend>
-  <depend>moveit_configs_utils</depend>
-  <depend>kuka_driver_interfaces</depend>
 
-  <exec_depend>ros2_controllers</exec_depend>
+  <exec_depend>kuka_iiqka_eac_driver</exec_depend>
   <exec_depend>moveit</exec_depend>
   <exec_depend>ros2_controllers_test_nodes</exec_depend>
 

diff --git a/kuka_driver_interfaces/CMakeLists.txt b/kuka_driver_interfaces/CMakeLists.txt
@@ -18,18 +18,14 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
-find_package(geometry_msgs REQUIRED)
-
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SetInt.srv"
   "srv/GetInt.srv"
   "srv/SetDouble.srv"
   "msg/FRIState.msg"
-  DEPENDENCIES geometry_msgs
 )
 
-
 if(BUILD_TESTING)
 
 endif()