feat: ROS2 Humble migration + MuJoCo physics simulation bridge

i2cpwm_board/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.8)
+project(i2cpwm_board)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Servo.msg"
+  "msg/ServoArray.msg"
+  "msg/ServoConfig.msg"
+  "srv/ServosConfig.srv"
+  DEPENDENCIES builtin_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

i2cpwm_board/msg/Servo.msg

@@ -0,0 +1,2 @@
+int32 servo
+float32 value

i2cpwm_board/msg/ServoArray.msg

@@ -0,0 +1 @@
+Servo[] servos

i2cpwm_board/msg/ServoConfig.msg

@@ -0,0 +1,4 @@
+int32 servo
+int32 center
+int32 range
+int32 direction

i2cpwm_board/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>i2cpwm_board</name>
+  <version>0.0.1</version>
+  <description>ROS2 interface definitions for i2cpwm_board servo controller</description>
+  <maintainer email="user@todo.todo">user</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

i2cpwm_board/srv/ServosConfig.srv

@@ -0,0 +1,3 @@
+ServoConfig[] servos
+---
+bool success

lcd_monitor/launch/lcd_monitor_launch.py

@@ -0,0 +1,11 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='lcd_monitor',
+            executable='sm_lcd_node',
+            name='lcd_monitor_node',
+            output='screen'),
+    ])

lcd_monitor/package.xml

@@ -1,68 +1,22 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>lcd_monitor</name>
   <version>0.0.0</version>
   <description>The lcd_monitor package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="mike@todo.todo">mike</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>TODO</license>
 
+  <buildtool_depend>ament_python</buildtool_depend>
 
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/lcd_monitor</url> -->
-
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
 
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
-
+    <build_type>ament_python</build_type>
   </export>
 </package>