From 41a2945923073d347da315ed99ab597cd634a542 Mon Sep 17 00:00:00 2001 From: Mrinal Jain <2mrinaljain@gmail.com> Date: Fri, 13 Mar 2026 17:15:52 -0400 Subject: [PATCH 1/5] add gz_ros2_control dependency --- urc_hw_description/CMakeLists.txt | 1 + urc_hw_description/package.xml | 1 + 2 files changed, 2 insertions(+) diff --git a/urc_hw_description/CMakeLists.txt b/urc_hw_description/CMakeLists.txt index e6c465bc..48063436 100644 --- a/urc_hw_description/CMakeLists.txt +++ b/urc_hw_description/CMakeLists.txt @@ -19,6 +19,7 @@ endif() find_package(ament_cmake REQUIRED) find_package(urdf REQUIRED) find_package(xacro REQUIRED) +find_package(gz_ros2_control REQUIRED) install( DIRECTORY diff --git a/urc_hw_description/package.xml b/urc_hw_description/package.xml index 9a16e37c..d86712d7 100644 --- a/urc_hw_description/package.xml +++ b/urc_hw_description/package.xml @@ -16,6 +16,7 @@ robot_state_publisher joint_state_publisher joint_state_publisher_gui + gz_ros2_control rviz2 launch launch_ros From 6ed891bc9eff92282455cb3d9c2e5edf7035e2bd Mon Sep 17 00:00:00 2001 From: Mrinal Jain <2mrinaljain@gmail.com> Date: Fri, 13 Mar 2026 17:22:12 -0400 Subject: [PATCH 2/5] add more dependencies --- urc_hw_description/CMakeLists.txt | 2 ++ urc_hw_description/package.xml | 2 ++ urc_perception/CMakeLists.txt | 2 ++ urc_perception/package.xml | 1 + 4 files changed, 7 insertions(+) diff --git a/urc_hw_description/CMakeLists.txt b/urc_hw_description/CMakeLists.txt index 48063436..061b04b4 100644 --- a/urc_hw_description/CMakeLists.txt +++ b/urc_hw_description/CMakeLists.txt @@ -20,6 +20,8 @@ find_package(ament_cmake REQUIRED) find_package(urdf REQUIRED) find_package(xacro REQUIRED) find_package(gz_ros2_control REQUIRED) +find_package(ros_gz_sim REQUIRED) +find_package(ros_gz_bridge REQUIRED) install( DIRECTORY diff --git a/urc_hw_description/package.xml b/urc_hw_description/package.xml index d86712d7..fc1812da 100644 --- a/urc_hw_description/package.xml +++ b/urc_hw_description/package.xml @@ -17,6 +17,8 @@ joint_state_publisher joint_state_publisher_gui gz_ros2_control + ros_gz_sim + ros_gz_bridge rviz2 launch launch_ros diff --git a/urc_perception/CMakeLists.txt b/urc_perception/CMakeLists.txt index 2d33da0a..df4fadd0 100644 --- a/urc_perception/CMakeLists.txt +++ b/urc_perception/CMakeLists.txt @@ -19,6 +19,7 @@ find_package(PCL 1.10 REQUIRED) find_package(grid_map_core REQUIRED) find_package(grid_map_ros REQUIRED) find_package(grid_map_msgs REQUIRED) +find_package(grid_map_visualization REQUIRED) find_package(grid_map_pcl REQUIRED) find_package(grid_map_cv REQUIRED) find_package(Eigen3 REQUIRED) @@ -65,6 +66,7 @@ set(dependencies grid_map_core grid_map_ros grid_map_msgs + grid_map_visualization grid_map_pcl grid_map_cv filters diff --git a/urc_perception/package.xml b/urc_perception/package.xml index 6db4685e..e80e9b48 100644 --- a/urc_perception/package.xml +++ b/urc_perception/package.xml @@ -29,6 +29,7 @@ grid_map_core grid_map_ros grid_map_msgs + grid_map_visualization grid_map_pcl grid_map_cv From a3b5c555112fff25026301f7942113cb809f8739 Mon Sep 17 00:00:00 2001 From: Mrinal Jain <2mrinaljain@gmail.com> Date: Fri, 13 Mar 2026 17:44:05 -0400 Subject: [PATCH 3/5] add more dependencies --- urc_bringup/CMakeLists.txt | 2 ++ urc_bringup/package.xml | 1 + urc_controllers/CMakeLists.txt | 2 ++ urc_controllers/package.xml | 1 + urc_hw_description/CMakeLists.txt | 1 + urc_hw_description/package.xml | 3 ++- 6 files changed, 9 insertions(+), 1 deletion(-) diff --git a/urc_bringup/CMakeLists.txt b/urc_bringup/CMakeLists.txt index 04139ef9..f673d649 100644 --- a/urc_bringup/CMakeLists.txt +++ b/urc_bringup/CMakeLists.txt @@ -14,6 +14,7 @@ find_package(sensor_msgs REQUIRED) find_package(tf2_ros REQUIRED) find_package(nav_msgs REQUIRED) find_package(urc_msgs REQUIRED) +find_package(ros_gz REQUIRED) include_directories( include @@ -37,6 +38,7 @@ set(dependencies tf2_msgs tf2_ros urc_msgs + ros_gz ) ament_target_dependencies(${PROJECT_NAME} diff --git a/urc_bringup/package.xml b/urc_bringup/package.xml index f727e61f..97d1475b 100644 --- a/urc_bringup/package.xml +++ b/urc_bringup/package.xml @@ -16,6 +16,7 @@ sensor_msgs tf2_msgs urc_msgs + ros_gz ament_lint_auto ament_lint_common diff --git a/urc_controllers/CMakeLists.txt b/urc_controllers/CMakeLists.txt index b7ef6892..53e5284a 100644 --- a/urc_controllers/CMakeLists.txt +++ b/urc_controllers/CMakeLists.txt @@ -22,6 +22,7 @@ find_package(geometry_msgs REQUIRED) find_package(tf2 REQUIRED) find_package(tf2_ros REQUIRED) find_package(tf2_geometry_msgs REQUIRED) +find_package(ros2_control REQUIRED) add_library( ${PROJECT_NAME} @@ -55,6 +56,7 @@ ament_target_dependencies( tf2 tf2_ros tf2_geometry_msgs + ros2_control ) target_compile_definitions(urc_controllers PRIVATE "urc_hw_BUILDING_LIBRARY") diff --git a/urc_controllers/package.xml b/urc_controllers/package.xml index bef46369..5fe9578c 100644 --- a/urc_controllers/package.xml +++ b/urc_controllers/package.xml @@ -19,6 +19,7 @@ urc_msgs joint_trajectory_controller geometry_msgs + ros2_control pluginlib diff --git a/urc_hw_description/CMakeLists.txt b/urc_hw_description/CMakeLists.txt index 061b04b4..bc6328fc 100644 --- a/urc_hw_description/CMakeLists.txt +++ b/urc_hw_description/CMakeLists.txt @@ -22,6 +22,7 @@ find_package(xacro REQUIRED) find_package(gz_ros2_control REQUIRED) find_package(ros_gz_sim REQUIRED) find_package(ros_gz_bridge REQUIRED) +find_package(joint_state_broadcaster REQUIRED) install( DIRECTORY diff --git a/urc_hw_description/package.xml b/urc_hw_description/package.xml index fc1812da..4f1a3ff9 100644 --- a/urc_hw_description/package.xml +++ b/urc_hw_description/package.xml @@ -11,14 +11,15 @@ urdf xacro urc_bringup + joint_state_broadcaster robot_state_publisher joint_state_publisher joint_state_publisher_gui - gz_ros2_control ros_gz_sim ros_gz_bridge + gz_ros2_control rviz2 launch launch_ros From 91d2e1aafa950ec78eab64fc81dc24714c7facc0 Mon Sep 17 00:00:00 2001 From: Mrinal Jain <2mrinaljain@gmail.com> Date: Sun, 15 Mar 2026 18:07:13 -0400 Subject: [PATCH 4/5] add effort controller dependency --- urc_bringup/CMakeLists.txt | 2 ++ urc_bringup/package.xml | 1 + 2 files changed, 3 insertions(+) diff --git a/urc_bringup/CMakeLists.txt b/urc_bringup/CMakeLists.txt index f673d649..4bfd142a 100644 --- a/urc_bringup/CMakeLists.txt +++ b/urc_bringup/CMakeLists.txt @@ -15,6 +15,7 @@ find_package(tf2_ros REQUIRED) find_package(nav_msgs REQUIRED) find_package(urc_msgs REQUIRED) find_package(ros_gz REQUIRED) +find_package(effort_controllers REQUIRED) include_directories( include @@ -39,6 +40,7 @@ set(dependencies tf2_ros urc_msgs ros_gz + effort_controllers ) ament_target_dependencies(${PROJECT_NAME} diff --git a/urc_bringup/package.xml b/urc_bringup/package.xml index 97d1475b..65558bfa 100644 --- a/urc_bringup/package.xml +++ b/urc_bringup/package.xml @@ -17,6 +17,7 @@ tf2_msgs urc_msgs ros_gz + effort_controller ament_lint_auto ament_lint_common From daf7f8d6bd30843a70c2869619d1532973b89126 Mon Sep 17 00:00:00 2001 From: Mrinal Jain <2mrinaljain@gmail.com> Date: Sun, 15 Mar 2026 18:46:15 -0400 Subject: [PATCH 5/5] more dependency fixes --- urc_bringup/package.xml | 3 ++- urc_perception/package.xml | 1 - 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/urc_bringup/package.xml b/urc_bringup/package.xml index 65558bfa..860545c4 100644 --- a/urc_bringup/package.xml +++ b/urc_bringup/package.xml @@ -17,7 +17,8 @@ tf2_msgs urc_msgs ros_gz - effort_controller + effort_controllers + grid_map_rviz_plugin ament_lint_auto ament_lint_common diff --git a/urc_perception/package.xml b/urc_perception/package.xml index e80e9b48..1d203fa9 100644 --- a/urc_perception/package.xml +++ b/urc_perception/package.xml @@ -22,7 +22,6 @@ tf2_sensor_msgs tf2_geometry_msgs pcl_conversions - pcl_1.10 filters pluginlib rcl_interfaces