ros2 foxy

Author: zifengqi123

package.xml

@@ -1,31 +1,19 @@
 <?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>robot_upstart</name>
   <version>0.4.2</version>
   <description>
     The robot_upstart package provides scripts which may be used to install
     and uninstall Ubuntu Linux upstart jobs which launch groups of roslaunch files.
   </description>
 
-  <maintainer email="[email protected]">Chris Iverach-Brereton</maintainer>
-  <maintainer email="[email protected]">Tony Baltovski</maintainer>
-  <author email="[email protected]">Mike Purvis</author>
-
-  <license>BSD</license>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <exec_depend>daemontools</exec_depend>
-  <exec_depend>net-tools</exec_depend>
-  <exec_depend>roslaunch</exec_depend>
-  <exec_depend>util-linux</exec_depend>
-  <exec_depend>xacro</exec_depend>
-
-  <test_depend>roslint</test_depend>
-  <test_depend>rosunit</test_depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
 
   <export>
-    <architecture_independent/>
-    <rosdoc config="rosdoc.yaml"/>
+    <build_type>ament_python</build_type>
   </export>
 </package>

scripts/mklaunch

@@ -28,7 +28,7 @@
 # Please send comments, questions, or patches to [email protected] 
 
 path=$1
-files=$(ls $path/*.launch)
+files=$(ls $path/*.launch.py)
 if [[ "$?" != "0" ]]; then
   echo "<!-- No matching files found -->"
   exit 1

setup.py

@@ -1,7 +1,25 @@
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
+import os
+from setuptools import setup
+from glob import glob
 
-setup(**generate_distutils_setup(
-    packages=['robot_upstart'],
-    package_dir={'': 'src'}
-))
+package_name = 'robot_upstart'
+
+setup(
+    name=package_name,
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('lib', package_name, 'scripts'), glob('scripts/*')),
+        (os.path.join('share', package_name, 'scripts'), glob('scripts/*')),
+        (os.path.join('share', package_name, 'templates'), glob('templates/*')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

templates/job-start.em

@@ -53,9 +53,9 @@ if [[ ! -d $log_path ]]; then
 fi
 
 @[if interface]@
-export ROS_IP=`rosrun robot_upstart getifip @(interface)`
+export ROS_IP=`ros2 run robot_upstart getifip @(interface)`
 if [ "$ROS_IP" = "" ]; then
-  log err "@(name): No IP address on @(interface), cannot roslaunch."
+  log err "@(name): No IP address on @(interface), cannot ros2 launch."
   exit 1
 fi
 @[else]@
@@ -75,10 +75,10 @@ log info "@(name): Launching ROS_HOSTNAME=$ROS_HOSTNAME, ROS_IP=$ROS_IP, ROS_MAS
 # If xacro files are present in job folder, generate and expand an amalgamated urdf.
 XACRO_FILENAME=$log_path/@(name).xacro
 XACRO_ROBOT_NAME=$(echo "@(name)" | cut -d- -f1)
-rosrun robot_upstart mkxacro $JOB_FOLDER $XACRO_ROBOT_NAME > $XACRO_FILENAME
+ros2 run robot_upstart mkxacro $JOB_FOLDER $XACRO_ROBOT_NAME > $XACRO_FILENAME
 if [[ "$?" == "0" ]]; then
   URDF_FILENAME=$log_path/@(name).urdf
-  rosrun xacro xacro $XACRO_FILENAME -o $URDF_FILENAME
+  ros2 run xacro xacro $XACRO_FILENAME -o $URDF_FILENAME
   if [[ "$?" == "0" ]]; then
     log info "@(name): Generated URDF: $URDF_FILENAME"
   else
@@ -88,10 +88,10 @@ if [[ "$?" == "0" ]]; then
 fi
 
 # Assemble amalgamated launchfile.
-LAUNCH_FILENAME=$log_path/@(name).launch
-rosrun robot_upstart mklaunch $JOB_FOLDER > $LAUNCH_FILENAME
+LAUNCH_FILENAME=$log_path/@(name).launch.py
+ros2 run robot_upstart mklaunch $JOB_FOLDER > $LAUNCH_FILENAME
 if [[ "$?" != "0" ]]; then
-  log err "@(name): Unable to generate amalgamated launchfile."
+  log err "@(name): Unable to generate amalgamated launchfile. $JOB_FOLDER $LAUNCH_FILENAME"
   exit 1
 fi
 log info "@(name): Generated launchfile: $LAUNCH_FILENAME"
@@ -104,10 +104,10 @@ if [ "$?" != "0" ]; then
 fi
 
 # Punch it.
-setpriv --reuid @(user) --regid @(user) --init-groups roslaunch $LAUNCH_FILENAME @(roslaunch_wait?'--wait ')&
+setpriv --reuid @(user) ros2 launch $LAUNCH_FILENAME @(roslaunch_wait?'--wait ')&
 PID=$!
 
-log info "@(name): Started roslaunch as background process, PID $PID, ROS_LOG_DIR=$ROS_LOG_DIR"
+log info "@(name): Started ros2 launch as background process, PID $PID, ROS_LOG_DIR=$ROS_LOG_DIR"
 echo "$PID" > $log_path/@(name).pid
 
 wait "$PID"

templates/job-stop.em

@@ -31,5 +31,5 @@
 PID=$(cat @(log_path)/@(name).pid)
 logger -p user.info "Attempting to stop @(name) (PID $PID)"
 kill $PID
-logger -s -p user.info "Waiting for roslaunch process to end"
+logger -s -p user.info "Waiting for ros2 launch process to end"
 while kill -0 $PID 2>/dev/null; do sleep 0.2; done