From 227265f3240f173e8fb5fd693a506ff49042c9b4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Mon, 7 Jul 2025 07:29:32 +0200 Subject: [PATCH 1/2] Remove ament_target_dependencies MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- plansys2_bt_example/CMakeLists.txt | 42 +++++++++---------- plansys2_cascade_example/CMakeLists.txt | 20 ++++----- plansys2_multidomain_example/CMakeLists.txt | 22 +++++----- .../CMakeLists.txt | 27 ++++++------ plansys2_simple_example/CMakeLists.txt | 16 ++++--- plansys2_simple_example_py/CMakeLists.txt | 14 +++---- 6 files changed, 63 insertions(+), 78 deletions(-) diff --git a/plansys2_bt_example/CMakeLists.txt b/plansys2_bt_example/CMakeLists.txt index f056622..6961be6 100644 --- a/plansys2_bt_example/CMakeLists.txt +++ b/plansys2_bt_example/CMakeLists.txt @@ -17,24 +17,22 @@ find_package(plansys2_pddl_parser REQUIRED) find_package(ament_index_cpp REQUIRED) find_package(plansys2_bt_actions REQUIRED) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() + set(dependencies - rclcpp - rclcpp_action - geometry_msgs - tf2_geometry_msgs - nav2_msgs - plansys2_msgs - plansys2_domain_expert - plansys2_executor - plansys2_planner - plansys2_problem_expert - plansys2_pddl_parser - ament_index_cpp - plansys2_bt_actions + rclcpp::rclcpp + rclcpp_action::rclcpp_action + plansys2_domain_expert::plansys2_domain_expert + plansys2_executor::plansys2_executor + plansys2_planner::plansys2_planner + plansys2_problem_expert::plansys2_problem_expert + plansys2_pddl_parser::plansys2_pddl_parser + ament_index_cpp::ament_index_cpp + plansys2_bt_actions::plansys2_bt_actions + ${geometry_msgs_TARGETS} + ${tf2_geometry_msgs_TARGETS} + ${nav2_msgs_TARGETS} + ${plansys2_msgs_TARGETS} ) include_directories(include) @@ -55,18 +53,18 @@ add_library(plansys2_approach_object_bt_node SHARED src/behavior_tree_nodes/Appr list(APPEND plugin_libs plansys2_approach_object_bt_node) foreach(bt_plugin ${plugin_libs}) - ament_target_dependencies(${bt_plugin} ${dependencies}) + target_link_libraries(${bt_plugin} PUBLIC ${dependencies}) target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT) endforeach() add_executable(assemble_action_node src/assemble_action_node.cpp) -ament_target_dependencies(assemble_action_node ${dependencies}) +target_link_libraries(assemble_action_node PUBLIC ${dependencies}) add_executable(assemble_controller_node src/assemble_controller_node.cpp) -ament_target_dependencies(assemble_controller_node ${dependencies}) +target_link_libraries(assemble_controller_node PUBLIC ${dependencies}) add_executable(nav2_sim_node src/nav2_sim_node.cpp) -ament_target_dependencies(nav2_sim_node ${dependencies}) +target_link_libraries(nav2_sim_node PUBLIC ${dependencies}) install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME}) @@ -77,7 +75,7 @@ install(TARGETS ${plugin_libs} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib - RUNTIME DESTINATION lib/${PROJECT_NAME} + RUNTIME DESTINATION bin ) if(BUILD_TESTING) @@ -87,6 +85,4 @@ if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) endif() -ament_export_dependencies(${dependencies}) - ament_package() diff --git a/plansys2_cascade_example/CMakeLists.txt b/plansys2_cascade_example/CMakeLists.txt index 09021c7..f20edec 100644 --- a/plansys2_cascade_example/CMakeLists.txt +++ b/plansys2_cascade_example/CMakeLists.txt @@ -8,26 +8,26 @@ find_package(rclcpp_action REQUIRED) find_package(plansys2_msgs REQUIRED) find_package(plansys2_executor REQUIRED) -set(CMAKE_CXX_STANDARD 17) + set(dependencies - rclcpp - rclcpp_action - plansys2_msgs - plansys2_executor + rclcpp::rclcpp + rclcpp_action::rclcpp_action + plansys2_executor::plansys2_executor + ${plansys2_msgs_TARGETS} ) add_executable(move_action_node src/move_action_node.cpp) -ament_target_dependencies(move_action_node ${dependencies}) +target_link_libraries(move_action_node PUBLIC ${dependencies}) add_executable(charge_action_node src/charge_action_node.cpp) -ament_target_dependencies(charge_action_node ${dependencies}) +target_link_libraries(charge_action_node PUBLIC ${dependencies}) add_executable(ask_charge_action_node src/ask_charge_action_node.cpp) -ament_target_dependencies(ask_charge_action_node ${dependencies}) +target_link_libraries(ask_charge_action_node PUBLIC ${dependencies}) add_executable(check_obstacles_node src/check_obstacles_node.cpp) -ament_target_dependencies(check_obstacles_node ${dependencies}) +target_link_libraries(check_obstacles_node PUBLIC ${dependencies}) install(DIRECTORY launch pddl DESTINATION share/${PROJECT_NAME}) @@ -48,6 +48,4 @@ if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) endif() -ament_export_dependencies(${dependencies}) - ament_package() \ No newline at end of file diff --git a/plansys2_multidomain_example/CMakeLists.txt b/plansys2_multidomain_example/CMakeLists.txt index 51ac7fc..8fbc816 100644 --- a/plansys2_multidomain_example/CMakeLists.txt +++ b/plansys2_multidomain_example/CMakeLists.txt @@ -8,29 +8,29 @@ find_package(rclcpp_action REQUIRED) find_package(plansys2_msgs REQUIRED) find_package(plansys2_executor REQUIRED) -set(CMAKE_CXX_STANDARD 17) + set(dependencies - rclcpp - rclcpp_action - plansys2_msgs - plansys2_executor + rclcpp::rclcpp + rclcpp_action::rclcpp_action + plansys2_executor::plansys2_executor + ${plansys2_msgs_TARGETS} ) add_executable(move_action_node src/move_action_node.cpp) -ament_target_dependencies(move_action_node ${dependencies}) +target_link_libraries(move_action_node PUBLIC ${dependencies}) add_executable(charge_action_node src/charge_action_node.cpp) -ament_target_dependencies(charge_action_node ${dependencies}) +target_link_libraries(charge_action_node PUBLIC ${dependencies}) add_executable(ask_charge_action_node src/ask_charge_action_node.cpp) -ament_target_dependencies(ask_charge_action_node ${dependencies}) +target_link_libraries(ask_charge_action_node PUBLIC ${dependencies}) add_executable(pick_object_action_node src/pick_object_action_node.cpp) -ament_target_dependencies(pick_object_action_node ${dependencies}) +target_link_libraries(pick_object_action_node PUBLIC ${dependencies}) add_executable(place_object_action_node src/place_object_action_node.cpp) -ament_target_dependencies(place_object_action_node ${dependencies}) +target_link_libraries(place_object_action_node PUBLIC ${dependencies}) install(DIRECTORY launch pddl_1 pddl_2 DESTINATION share/${PROJECT_NAME}) @@ -52,6 +52,4 @@ if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) endif() -ament_export_dependencies(${dependencies}) - ament_package() \ No newline at end of file diff --git a/plansys2_patrol_navigation_example/CMakeLists.txt b/plansys2_patrol_navigation_example/CMakeLists.txt index 5a7d243..ed3aaf1 100644 --- a/plansys2_patrol_navigation_example/CMakeLists.txt +++ b/plansys2_patrol_navigation_example/CMakeLists.txt @@ -14,28 +14,27 @@ find_package(plansys2_planner REQUIRED) find_package(plansys2_problem_expert REQUIRED) find_package(plansys2_pddl_parser REQUIRED) -set(CMAKE_CXX_STANDARD 17) set(dependencies - rclcpp - rclcpp_action - plansys2_msgs - nav2_msgs - plansys2_domain_expert - plansys2_executor - plansys2_planner - plansys2_problem_expert - plansys2_pddl_parser + rclcpp::rclcpp + rclcpp_action::rclcpp_action + plansys2_domain_expert::plansys2_domain_expert + plansys2_executor::plansys2_executor + plansys2_planner::plansys2_planner + plansys2_problem_expert::plansys2_problem_expert + plansys2_pddl_parser::plansys2_pddl_parser + ${plansys2_msgs_TARGETS} + ${nav2_msgs_TARGETS} ) add_executable(move_action_node src/move_action_node.cpp) -ament_target_dependencies(move_action_node ${dependencies}) +target_link_libraries(move_action_node PUBLIC ${dependencies}) add_executable(patrol_action_node src/patrol_action_node.cpp) -ament_target_dependencies(patrol_action_node ${dependencies}) +target_link_libraries(patrol_action_node PUBLIC ${dependencies}) add_executable(patrolling_controller_node src/patrolling_controller_node.cpp) -ament_target_dependencies(patrolling_controller_node ${dependencies}) +target_link_libraries(patrolling_controller_node PUBLIC ${dependencies}) install(DIRECTORY launch pddl params DESTINATION share/${PROJECT_NAME}) @@ -55,6 +54,4 @@ if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) endif() -ament_export_dependencies(${dependencies}) - ament_package() diff --git a/plansys2_simple_example/CMakeLists.txt b/plansys2_simple_example/CMakeLists.txt index 1c51225..8e6366c 100644 --- a/plansys2_simple_example/CMakeLists.txt +++ b/plansys2_simple_example/CMakeLists.txt @@ -7,22 +7,22 @@ find_package(rclcpp REQUIRED) find_package(plansys2_msgs REQUIRED) find_package(plansys2_executor REQUIRED) -set(CMAKE_CXX_STANDARD 17) + set(dependencies - rclcpp - plansys2_msgs - plansys2_executor + rclcpp::rclcpp + plansys2_executor::plansys2_executor + ${plansys2_msgs_TARGETS} ) add_executable(move_action_node src/move_action_node.cpp) -ament_target_dependencies(move_action_node ${dependencies}) +target_link_libraries(move_action_node PUBLIC ${dependencies}) add_executable(charge_action_node src/charge_action_node.cpp) -ament_target_dependencies(charge_action_node ${dependencies}) +target_link_libraries(charge_action_node PUBLIC ${dependencies}) add_executable(ask_charge_action_node src/ask_charge_action_node.cpp) -ament_target_dependencies(ask_charge_action_node ${dependencies}) +target_link_libraries(ask_charge_action_node PUBLIC ${dependencies}) install(DIRECTORY launch pddl DESTINATION share/${PROJECT_NAME}) @@ -42,6 +42,4 @@ if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) endif() -ament_export_dependencies(${dependencies}) - ament_package() \ No newline at end of file diff --git a/plansys2_simple_example_py/CMakeLists.txt b/plansys2_simple_example_py/CMakeLists.txt index 9d7f406..03e8dc6 100644 --- a/plansys2_simple_example_py/CMakeLists.txt +++ b/plansys2_simple_example_py/CMakeLists.txt @@ -11,19 +11,19 @@ find_package(Python3 REQUIRED COMPONENTS Interpreter Development) ament_python_install_package(${PROJECT_NAME}) -set(CMAKE_CXX_STANDARD 17) + set(dependencies - rclcpp - plansys2_msgs - plansys2_executor + rclcpp::rclcpp + plansys2_executor::plansys2_executor + ${plansys2_msgs_TARGETS} ) add_executable(move_action_node src/move_action_node.cpp) -ament_target_dependencies(move_action_node ${dependencies}) +target_link_libraries(move_action_node PUBLIC ${dependencies}) add_executable(ask_charge_action_node src/ask_charge_action_node.cpp) -ament_target_dependencies(ask_charge_action_node ${dependencies}) +target_link_libraries(ask_charge_action_node PUBLIC ${dependencies}) install(DIRECTORY launch pddl DESTINATION share/${PROJECT_NAME}) @@ -47,6 +47,4 @@ if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) endif() -ament_export_dependencies(${dependencies}) - ament_package() \ No newline at end of file From f96f0853c13e5ac2327a1bb78b85d8425417524f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Mon, 7 Jul 2025 07:30:11 +0200 Subject: [PATCH 2/2] Use geometry_msgs::msg::Pose as Pose2D is now in vision_msgs MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- .../behavior_tree_nodes/Move.hpp | 4 ++-- .../src/assemble_controller_node.cpp | 1 + .../src/behavior_tree_nodes/Move.cpp | 17 +++++++---------- .../src/patrolling_controller_node.cpp | 1 + 4 files changed, 11 insertions(+), 12 deletions(-) diff --git a/plansys2_bt_example/include/plansys2_bt_example/behavior_tree_nodes/Move.hpp b/plansys2_bt_example/include/plansys2_bt_example/behavior_tree_nodes/Move.hpp index 201cd4f..ce5c810 100644 --- a/plansys2_bt_example/include/plansys2_bt_example/behavior_tree_nodes/Move.hpp +++ b/plansys2_bt_example/include/plansys2_bt_example/behavior_tree_nodes/Move.hpp @@ -18,7 +18,7 @@ #include #include -#include "geometry_msgs/msg/pose2_d.hpp" +#include "geometry_msgs/msg/pose.hpp" #include "nav2_msgs/action/navigate_to_pose.hpp" #include "plansys2_bt_actions/BTActionNode.hpp" @@ -49,7 +49,7 @@ class Move : public plansys2::BtActionNode< private: int goal_reached_; - std::map waypoints_; + std::map waypoints_; }; } // namespace plansys2_bt_tests diff --git a/plansys2_bt_example/src/assemble_controller_node.cpp b/plansys2_bt_example/src/assemble_controller_node.cpp index 59a4531..c1a2c6c 100644 --- a/plansys2_bt_example/src/assemble_controller_node.cpp +++ b/plansys2_bt_example/src/assemble_controller_node.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include #include "plansys2_pddl_parser/Utils.hpp" diff --git a/plansys2_bt_example/src/behavior_tree_nodes/Move.cpp b/plansys2_bt_example/src/behavior_tree_nodes/Move.cpp index 3cb4390..61e87e5 100644 --- a/plansys2_bt_example/src/behavior_tree_nodes/Move.cpp +++ b/plansys2_bt_example/src/behavior_tree_nodes/Move.cpp @@ -19,7 +19,7 @@ #include "plansys2_bt_example/behavior_tree_nodes/Move.hpp" -#include "geometry_msgs/msg/pose2_d.hpp" +#include "geometry_msgs/msg/pose.hpp" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" #include "behaviortree_cpp/behavior_tree.h" @@ -60,10 +60,10 @@ Move::Move( std::vector coords; if (node->get_parameter_or("waypoint_coords." + wp, coords, {})) { - geometry_msgs::msg::Pose2D pose; - pose.x = coords[0]; - pose.y = coords[1]; - pose.theta = coords[2]; + geometry_msgs::msg::Pose pose; + pose.position.x = coords[0]; + pose.position.y = coords[1]; + pose.orientation = tf2::toMsg(tf2::Quaternion({0.0, 0.0, 1.0}, coords[2])); waypoints_[wp] = pose; } else { @@ -85,7 +85,7 @@ Move::on_tick() std::string goal; getInput("goal", goal); - geometry_msgs::msg::Pose2D pose2nav; + geometry_msgs::msg::Pose pose2nav; if (waypoints_.find(goal) != waypoints_.end()) { pose2nav = waypoints_[goal]; } else { @@ -96,10 +96,7 @@ Move::on_tick() goal_pos.header.frame_id = "map"; goal_pos.header.stamp = node->now(); - goal_pos.pose.position.x = pose2nav.x; - goal_pos.pose.position.y = pose2nav.y; - goal_pos.pose.position.z = 0; - goal_pos.pose.orientation = tf2::toMsg(tf2::Quaternion({0.0, 0.0, 1.0}, pose2nav.theta)); + goal_pos.pose = pose2nav; goal_.pose = goal_pos; } diff --git a/plansys2_patrol_navigation_example/src/patrolling_controller_node.cpp b/plansys2_patrol_navigation_example/src/patrolling_controller_node.cpp index a99c2d4..d0c5e33 100644 --- a/plansys2_patrol_navigation_example/src/patrolling_controller_node.cpp +++ b/plansys2_patrol_navigation_example/src/patrolling_controller_node.cpp @@ -13,6 +13,7 @@ // limitations under the License. #include +#include #include "plansys2_pddl_parser/Utils.hpp"