Migrate support packages to ROS 2

README.md

@@ -1,43 +1,34 @@
 # ABB
 
-[![Build Status: Ubuntu Focal (Actions)](https://github.com/ros-industrial/abb/workflows/CI%20-%20Ubuntu%20Focal/badge.svg?branch=kinetic-devel)](https://github.com/ros-industrial/abb/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22)
-
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
 [![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.svg)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)
 
-[ROS-Industrial][] ABB meta-package.  See the [ROS wiki][] page for more information.
+[ROS-Industrial][] ABB meta-package.
 
-The [abb_experimental][] repository contains additional packages.
+The [abb_experimental][] repository may contain additional packages.
 
 
 ## Contents
 
-Branch naming follows the ROS distribution they are compatible with. `-devel`
-branches may be unstable. Releases are made from the distribution branches
-(`hydro`, `indigo`, `kinetic` and `noetic`).
+Branch naming follows the ROS distribution they are compatible with.
+`-devel` branches may be unstable.
+Releases are made from the distribution branches (`noetic` and `ros2`).
 
-Branching is done only when needed (ie: because of breaking changes between distributions).
+Branching is done ***only*** if and when needed (ie: because of breaking changes between distributions), otherwise the most recent distribution branch is expected to be upwards compatible with newer ROS releases.
 
 Older releases may be found in the old ROS-Industrial [subversion repository][].
 
 
-### MoveIt configurations
-
-All provided MoveIt configurations were moved to the [moveit](/moveit) subdirectory in [#214][].
-These packages can be used as-if they were still located in the root of the repository.
-Catkin will still be able to locate them.
-
-
 ## Status
 
 The packages in this repository are *community supported*.
 This means they do not get support from the OEM, nor from the ROS-Industrial consortia directly (see also the `support level` badge at the top of this page).
 
 Maintenance and development is on a best-effort basis and depends on volunteers.
 
-If you are looking for official support, we suggest contacting your local ABB branch office.
+If you are looking for official support, we suggest contacting your local ABB branch office and letting them know you are trying to use these community supported packages with their product(s).
 
 
 ## Naming Convention
@@ -50,80 +41,71 @@ All robot support packages and MoveIt configurations follow the naming conventio
 ### On newer (or older) versions of ROS
 
 Building the packages on newer (or older) versions of ROS is in most cases possible and supported.
-For example: building the packages in this repository on Ubuntu Focal/ROS Noetic systems is supported.
-This will require creating a Catkin workspace, cloning this repository, installing all required dependencies and finally building the workspace.
 
-### Catkin tools
+Only do this if there is no binary release available for the ROS 2 distribution you want to use the packages with.
 
-It is recommended to use [catkin_tools][] instead of the default [catkin][] when building ROS workspaces.
-`catkin_tools` provides a number of benefits over regular `catkin_make` and will be used in the instructions below.
-All packages can be built using `catkin_make` however: use `catkin_make` in place of `catkin build` where appropriate.
+Building packages will require creating a Colcon workspace, cloning this repository, installing all required dependencies and finally building the workspace.
 
 ### Building the packages
 
-The following instructions assume that a [Catkin workspace][] has been created at `$HOME/catkin_ws` and that the *source space* is at `$HOME/catkin_ws/src`.
+The following instructions assume that a [Colcon workspace][] has been created at `$HOME/colcon_ws` and that the *source space* is at `$HOME/colcon_ws/src`.
 Update paths appropriately if they are different on the build machine.
 
-These instructions build the `noetic-devel` branch on a ROS Noetic system:
+These instructions build the `ros2` branch on a ROS Jazzy system (but should work on all supported ROS 2 versions):
 
 ```bash
-# change to the root of the Catkin workspace
-$ cd $HOME/catkin_ws
+# change to the root of the Colcon workspace
+cd $HOME/colcon_ws
 
-# retrieve the latest development version of abb. If you'd rather
-# use the latest released version, replace 'noetic-devel' with 'noetic'
-# NOTE: 'noetic-devel' is compatible with ROS Noetic. Use the correct branch
-# for the OS + ROS version you're building these packages for
-$ git clone -b noetic-devel https://github.com/ros-industrial/abb.git src/abb
+# retrieve the latest development version of the abb repository.
+# NOTE: the 'ros2' branch is compatible with all supported ROS 2 LTS releases.
+# Use the correct branch for the OS + ROS version you're building these
+# packages for.
+git clone -b ros2 https://github.com/ros-industrial/abb.git src/abb
 
 # check build dependencies. Note: this may install additional packages,
 # depending on the software installed on the machine
-$ rosdep update
+rosdep update
 
-# be sure to change 'noetic' to whichever ROS release you are using
-$ rosdep install --from-paths src/ --ignore-src --rosdistro noetic
+# be sure to change 'jazzy' to whichever ROS release you are using
+rosdep install --from-paths src/ --ignore-src --rosdistro jazzy
 
-# build the workspace (using catkin_tools)
-$ catkin build
+# build the workspace
+colcon build
 ```
 
 ### Activating the workspace
 
 Finally, activate the workspace to get access to the packages just built:
 
 ```bash
-$ source $HOME/catkin_ws/devel/setup.bash
+source $HOME/colcon_ws/install/local_setup.bash
 ```
 
-At this point all packages should be usable (ie: `roslaunch` should be able to auto-complete package names starting with `abb_..`).
+At this point all packages should be usable (ie: `ros2 launch` should be able to auto-complete package names starting with `abb_..`).
 In case the workspace contains additional packages (ie: not from this repository), those should also still be available.
 
 
 ## Installation and usage
 
-Refer to [Working With ROS-Industrial Robot Support Packages][] for information on how to use the files provided by the robot support and MoveIt configuration packages.
-See also the other pages on the [ROS wiki][].
+Even though it was written for ROS 1, the [Working With ROS-Industrial Robot Support Packages][] tutorial has information on the design of the structure of the support packages in this repository which is also relevant to their use in ROS 2 applications.
 
-Refer to the [tutorials][] for information on installation and configuration of the controller-specific software components.
 
+## Drivers
 
-## Migration of abb_driver
+This repository does not host any drivers for ABB robots.
 
-The `abb_driver` package was migrated from this repository to [ros-industrial/abb_driver][] as part of [ros-industrial/abb#179][]. See that issue for rationale and a description of the process.
+The community supported ROS 1 `abb_driver` package was migrated from this repository to [ros-industrial/abb_driver][] as part of [ros-industrial/abb#179][].
+See that issue for rationale and a description of the process.
 
-Please file enhancement requests and report issues for `abb_driver` on the issue tracker of `ros-industrial/abb_driver`.
+ROS 2 has several community supported drivers for ABB robots, and the support packages in this repository are expected to be compatible with those, as long as those drivers are compatible with basic URDFs and/or XACROs.
 
 
-[ROS-Industrial]: http://wiki.ros.org/Industrial
-[ROS wiki]: http://wiki.ros.org/abb
+[ROS-Industrial]: https://rosindustrial.org
 [abb_experimental]: https://github.com/ros-industrial/abb_experimental
 [subversion repository]: https://code.google.com/p/swri-ros-pkg/source/browse
-[#214]: https://github.com/ros-industrial/abb/pull/214
 [REP-I0007]: https://github.com/ros-industrial/rep/blob/master/rep-I0007.rst
-[Catkin workspace]: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
-[catkin]: http://wiki.ros.org/catkin
-[catkin_tools]: https://catkin-tools.readthedocs.io/en/latest
+[Colcon workspace]: https://docs.ros.org/en/kilted/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html
 [Working With ROS-Industrial Robot Support Packages]: http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages
-[tutorials]: http://wiki.ros.org/abb/Tutorials
 [ros-industrial/abb_driver]: https://github.com/ros-industrial/abb_driver
 [ros-industrial/abb#179]: https://github.com/ros-industrial/abb/issues/179

abb/CMakeLists.txt

@@ -1,4 +1,7 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(abb)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+cmake_minimum_required(VERSION 3.12)
+project(abb NONE)
+find_package(ament_cmake REQUIRED)
+ament_package()
+
+install(FILES LICENSE.Apache-2.0 LICENSE.BSD-3-Clause
+  DESTINATION share/${PROJECT_NAME})

abb/package.xml

@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>abb</name>
   <version>1.5.0</version>
@@ -9,13 +10,11 @@
   <license>BSD-3-Clause</license>
   <license>Apache-2.0</license>
 
-  <url type="website">http://ros.org/wiki/abb</url>
   <url type="repository">https://github.com/ros-industrial/abb</url>
   <url type="bugtracker">https://github.com/ros-industrial/abb/issues</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>abb_driver</exec_depend>
   <exec_depend>abb_crb15000_support</exec_depend>
   <exec_depend>abb_irb1200_support</exec_depend>
   <exec_depend>abb_irb120_support</exec_depend>
@@ -34,7 +33,7 @@
   <exec_depend>abb_resources</exec_depend>
 
   <export>
-    <metapackage/>
     <architecture_independent/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

abb_crb15000_support/CMakeLists.txt

@@ -1,18 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.12)
+project(abb_crb15000_support NONE)
 
-project(abb_crb15000_support)
+find_package(ament_cmake REQUIRED)
+ament_package()
 
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-if (CATKIN_ENABLE_TESTING)
-  find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(tests/roslaunch_test_crb15000_5_95.xml)
-  roslaunch_add_file_check(tests/roslaunch_test_crb15000_12_127.xml)
-endif()
-
-install(DIRECTORY config launch meshes urdf
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch meshes urdf
+  DESTINATION share/${PROJECT_NAME})
 install(FILES LICENSE
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  DESTINATION share/${PROJECT_NAME})

abb_crb15000_support/launch/view_crb15000_12_127.launch

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<launch>
+  <let name="xacro_path" value="$(find-pkg-share abb_crb15000_support)/urdf/crb15000_12_127.xacro" />
+  <let name="rviz_cfg" value="$(find-pkg-share abb_resources)/rviz/view_robot.rviz" />
+
+  <node pkg="robot_state_publisher" exec="robot_state_publisher">
+    <param name="robot_description" type="str" value="$(command 'xacro $(var xacro_path)')" />
+  </node>
+  <node pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
+  <node pkg="rviz2" exec="rviz2" output="screen" args="-d $(var rviz_cfg)" />
+</launch>

abb_crb15000_support/launch/view_crb15000_5_95.launch

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<launch>
+  <let name="xacro_path" value="$(find-pkg-share abb_crb15000_support)/urdf/crb15000_5_95.xacro" />
+  <let name="rviz_cfg" value="$(find-pkg-share abb_resources)/rviz/view_robot.rviz" />
+
+  <node pkg="robot_state_publisher" exec="robot_state_publisher">
+    <param name="robot_description" type="str" value="$(command 'xacro $(var xacro_path)')" />
+  </node>
+  <node pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
+  <node pkg="rviz2" exec="rviz2" output="screen" args="-d $(var rviz_cfg)" />
+</launch>

abb_crb15000_support/package.xml

@@ -44,23 +44,20 @@
   <maintainer email="[email protected]">ROS-Industrial community</maintainer>
   <license>Apache-2.0</license>
 
-  <url type="website">http://wiki.ros.org/abb_crb15000_support</url>
   <url type="bugtracker">https://github.com/ros-industrial/abb/issues</url>
   <url type="repository">https://github.com/ros-industrial/abb</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <test_depend>roslaunch</test_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>abb_resources</exec_depend>
-  <exec_depend>industrial_robot_client</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rviz</exec_depend>
+  <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <export>
     <architecture_independent/>
+    <build_type>ament_cmake</build_type>
     <rosindex>
       <tags>
         <tag>support_package</tag>

abb_irb1200_support/CMakeLists.txt

@@ -1,18 +1,10 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.12)
+project(abb_irb1200_support NONE)
 
-project(abb_irb1200_support)
+find_package(ament_cmake REQUIRED)
+ament_package()
 
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-if (CATKIN_ENABLE_TESTING)
-  find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(tests/roslaunch_test_irb1200_5_90.xml)
-  roslaunch_add_file_check(tests/roslaunch_test_irb1200_7_70.xml)
-endif()
-
-install(DIRECTORY config launch meshes urdf
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch meshes urdf
+  DESTINATION share/${PROJECT_NAME})
 install(FILES LICENSE
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  DESTINATION share/${PROJECT_NAME})