Compiles fully

communications/ff_msgs/CMakeLists.txt

@@ -32,7 +32,6 @@ find_package(builtin_interfaces REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(actionlib_msgs REQUIRED)
 find_package(diagnostic_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(trajectory_msgs REQUIRED)
@@ -69,7 +68,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   geometry_msgs
   sensor_msgs
   trajectory_msgs
-  actionlib_msgs
   diagnostic_msgs
   tf2_geometry_msgs
 

communications/ff_msgs/package.xml

@@ -23,7 +23,6 @@
   <build_depend>geometry_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>trajectory_msgs</build_depend>
-  <build_depend>actionlib_msgs</build_depend>
   <build_depend>diagnostic_msgs</build_depend>
   <build_depend>tf2_geometry_msgs</build_depend>
 
@@ -33,7 +32,6 @@
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>trajectory_msgs</exec_depend>
-  <exec_depend>actionlib_msgs</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>
 

management/executive/include/executive/executive.h

@@ -248,12 +248,12 @@ class Executive : public ff_util::FreeFlyerComponent {
   bool SetEnableAutoReturn(ff_msgs::msg::CommandStamped::SharedPtr const cmd);
   bool SetEnableImmediate(ff_msgs::msg::CommandStamped::SharedPtr const cmd);
   bool SetEnableReplan(ff_msgs::msg::CommandStamped::SharedPtr const cmd);
-  bool SetExposure(ff_msgs::msg::CommandStamped::SharedPtr const& cmd);
+  bool SetExposure(ff_msgs::msg::CommandStamped::SharedPtr const cmd);
   bool SetFlashlightBrightness(
                             ff_msgs::msg::CommandStamped::SharedPtr const cmd);
   bool SetHolonomicMode(ff_msgs::msg::CommandStamped::SharedPtr const cmd);
   bool SetInertia(ff_msgs::msg::CommandStamped::SharedPtr const cmd);
-  bool SetMap(ff_msgs::msg::CommandStamped::SharedPtr const& cmd);
+  bool SetMap(ff_msgs::msg::CommandStamped::SharedPtr const cmd);
   bool SetOperatingLimits(ff_msgs::msg::CommandStamped::SharedPtr const cmd);
   bool SetPlan(ff_msgs::msg::CommandStamped::SharedPtr const cmd);
   bool SetPlanner(ff_msgs::msg::CommandStamped::SharedPtr const cmd);

management/executive/src/executive.cc

@@ -2666,8 +2666,8 @@ bool Executive::SetExposure(ff_msgs::msg::CommandStamped::SharedPtr const cmd) {
     err_msg = "Malformed arguments for set exposure command!";
     completed_status = ff_msgs::msg::AckCompletedStatus::BAD_SYNTAX;
   } else {
-    ff_msgs::srv::SetExposure set_exposure_srv;
-    set_exposure_srv.request.exposure = cmd->args[1].f;
+    ff_util::FreeFlyerService<ff_msgs::srv::SetExposure> set_exposure_srv;
+    set_exposure_srv.request->exposure = cmd->args[1].f;
     if (cmd->args[0].s == CommandConstants::PARAM_NAME_CAMERA_NAME_DOCK) {
       // Check to make sure the dock camera exposure service is valid
       if (!set_dock_cam_exposure_client_.exists()) {
@@ -2678,7 +2678,7 @@ bool Executive::SetExposure(ff_msgs::msg::CommandStamped::SharedPtr const cmd) {
         if (!set_dock_cam_exposure_client_.call(set_exposure_srv)) {
           err_msg = "Failed to set dock cam exposure.";
         } else {
-          if (set_exposure_srv.response.success) {
+          if (set_exposure_srv.response->success) {
             successful = true;
             completed_status = ff_msgs::msg::AckCompletedStatus::OK;
           }
@@ -2694,7 +2694,7 @@ bool Executive::SetExposure(ff_msgs::msg::CommandStamped::SharedPtr const cmd) {
         if (!set_nav_cam_exposure_client_.call(set_exposure_srv)) {
           err_msg = "Failed to set nav cam exposure.";
         } else {
-          if (set_exposure_srv.response.success) {
+          if (set_exposure_srv.response->success) {
             successful = true;
             completed_status = ff_msgs::msg::AckCompletedStatus::OK;
           }
@@ -2881,17 +2881,17 @@ bool Executive::SetMap(ff_msgs::msg::CommandStamped::SharedPtr const cmd) {
       return false;
     }
 
-    ff_msgs::srv::ResetMap map_srv;
+    ff_util::FreeFlyerService<ff_msgs::srv::ResetMap> map_srv;
     // Extract map path and name
-    map_srv.request.map_file = cmd->args[0].s;
+    map_srv.request->map_file = cmd->args[0].s;
 
-    if (!CheckServiceExists(reset_map_client_, "Reset map", cmd->cmd_id)) {
+    if (!CheckServiceExists(reset_map_client_.exists(), "Reset map", cmd->cmd_id)) {
       return false;
     }
 
     if (!reset_map_client_.call(map_srv)) {
       state_->AckCmd(cmd->cmd_id,
-                     ff_msgs::AckCompletedStatus::EXEC_FAILED,
+                     ff_msgs::msg::AckCompletedStatus::EXEC_FAILED,
                      "Reset map service returned false!");
       return false;
     }
@@ -4210,7 +4210,7 @@ bool Executive::ReadParams() {
 
   if (!config_params_.GetBool("sys_monitor_heartbeat_fault_blocking",
                               &sys_monitor_heartbeat_fault_blocking_)) {
-    err_msg == "Sys monitor heartbeat fault blocking not specified.";
+    err_msg = "Sys monitor heartbeat fault blocking not specified.";
     FF_ERROR("%s", err_msg.c_str());
     this->AssertFault(ff_util::INITIALIZATION_FAILED, err_msg);
     return false;

management/executive/tools/data_to_disk_pub.cc

@@ -98,7 +98,7 @@ void TimerCallback() {
 int main(int argc, char** argv) {
   ff_common::InitFreeFlyerApplication(&argc, &argv);
   rclcpp::init(argc, argv);
-  NodeHandle nh;
+  NodeHandle nh = std::make_shared<rclcpp::Node>("data_to_disk_pub");
 
   if (!google::RegisterFlagValidator(&FLAGS_compression, &ValidateCompression)) {
     std::cerr << "Failed to register compression flag validator." << std::endl;

management/executive/tools/plan_pub.cc

@@ -51,11 +51,6 @@ namespace io = boost::iostreams;
 
 FF_DEFINE_LOGGER("plan_pub")
 
-DEFINE_string(compression, "none",
-              "Type of compression [none, deflate, gzip]");
-
-constexpr uintmax_t kMaxSize = 128 * 1024;
-
 rclcpp::Time plan_pub_time;
 
 Publisher<ff_msgs::msg::CommandStamped> command_pub;
@@ -93,13 +88,10 @@ void on_cf_ack(ff_msgs::msg::CompressedFileAck::SharedPtr const cf_ack) {
 
   // If remote and in the granite lab, the clocks of the robots might not be
   // properly synchronized because we do it manually
-  if (plan_pub_time <= cf_ack->header.stamp + duration(5.0)) {
+  if (plan_pub_time <= rclcpp::Time(cf_ack->header.stamp) + rclcpp::Duration::from_seconds(5.0)) {
     FF_INFO("Compressed file ack is valid! Sending set plan!");
     ff_msgs::msg::CommandStamped cmd;
     cmd.cmd_name = ff_msgs::msg::CommandConstants::CMD_NAME_SET_PLAN;
-
-  if (plan_pub_time <= cf_ack->header.stamp + rclcpp::Duration(5.0)) {
-
     cmd.subsys_name = "Astrobee";
     command_pub->publish(cmd);
   }
@@ -114,7 +106,7 @@ void on_plan_status(ff_msgs::msg::PlanStatusStamped::SharedPtr const ps) {
 
   // If remote and in the granite lab, the clocks of the robots might not be
   // properly synchronized because we do it manually
-  if (plan_pub_time <= ps->header.stamp + rclcpp::Duration(5.0)) {
+  if (plan_pub_time <= ps->header.stamp + rclcpp::Duration::from_seconds(5.0)) {
     ff_msgs::msg::CommandStamped cmd;
     cmd.cmd_name = ff_msgs::msg::CommandConstants::CMD_NAME_RUN_PLAN;
     cmd.subsys_name = "Astrobee";
@@ -135,7 +127,7 @@ void TimerCallback() {
 int main(int argc, char** argv) {
   ff_common::InitFreeFlyerApplication(&argc, &argv);
   rclcpp::init(argc, argv);
-  NodeHandle nh; // ros::NodeHandle n(std::string("/") + FLAGS_ns);
+  NodeHandle nh  = std::make_shared<rclcpp::Node>("plan_pub"); // ros::NodeHandle n(std::string("/") + FLAGS_ns);
 
   if (!google::RegisterFlagValidator(&FLAGS_compression, &ValidateCompression)) {
     std::cerr << "Failed to register compression flag validator." << std::endl;
@@ -211,7 +203,7 @@ int main(int argc, char** argv) {
     rclcpp::sleep_for(ns);
   }
   if (count == MAX_COUNT && !FLAGS_remote) {
-    ROS_ERROR("Could not connect");
+    FF_ERROR("Could not connect");
     return 1;
   }
 

management/executive/tools/simple_move.cc

@@ -54,7 +54,7 @@ void AckCallback(ff_msgs::msg::AckStamped::SharedPtr const Ack) {
 
 int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
-  NodeHandle nh;
+  NodeHandle nh = std::make_shared<rclcpp::Node>("simple_move");
 
   if (argc <= 1) {
     FF_ERROR("Error! Must provide x, y, and z as arguments!");

management/executive/tools/teleop_tool.cc

@@ -851,7 +851,7 @@ int main(int argc, char** argv) {
     rclcpp::Time start_time = nh->now();
 
     // Spin for 3 seconds
-    while (nh->now() - start_time < rclcpp::Duration(3.0))
+    while (nh->now() - start_time < rclcpp::Duration::from_seconds(3.0))
         loop_rate.sleep();
   }
 

management/executive/tools/zones_pub.cc

@@ -98,7 +98,7 @@ void TimerCallback() {
 int main(int argc, char** argv) {
   ff_common::InitFreeFlyerApplication(&argc, &argv);
   rclcpp::init(argc, argv);
-  NodeHandle nh;
+  NodeHandle nh = std::make_shared<rclcpp::Node>("zones_pub");
 
   if (!google::RegisterFlagValidator(&FLAGS_compression, &ValidateCompression)) {
     std::cerr << "Failed to register compression flag validator." << std::endl;

mobility/choreographer/CMakeLists.txt

@@ -18,13 +18,15 @@
 cmake_minimum_required(VERSION 3.5)
 project(choreographer)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 set( CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wall -Werror -O3 -fPIC" )
 
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../../cmake")
+
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
@@ -41,13 +43,16 @@ find_package(nav_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
 find_package(pcl_conversions REQUIRED)
 
+find_package(JPS3D REQUIRED)
+
 ###########
 ## Build ##
 ###########
 
 # Specify additional locations of header files
 include_directories(
   include
+  ${JPS3D_INCLUDE_DIR}
 )
 
 # Declare C++ libraries
@@ -57,6 +62,7 @@ add_library(choreographer SHARED
 )
 target_compile_definitions(choreographer
   PRIVATE "COMPOSITION_BUILDING_DLL")
+target_link_libraries(choreographer ${JPS3D_LIBRARIES})
 ament_target_dependencies(choreographer rclcpp rclcpp_components ff_common ff_util ff_msgs ff_hw_msgs jsonloader geometry_msgs nav_msgs visualization_msgs pcl_conversions)
 rclcpp_components_register_nodes(choreographer "choreographer::ChoreographerComponent")
 
@@ -124,6 +130,7 @@ ament_export_dependencies(
   ff_util
   jsonloader
   pcl_conversions
+  JPS3D
 )
 
 ament_export_include_directories(include)

mobility/mapper/CMakeLists.txt

@@ -100,6 +100,19 @@ endif()
 #############
 ## Install ##
 #############
+ament_export_dependencies(
+  std_srvs
+  ff_util
+  ff_msgs
+  visualization_msgs
+  sensor_msgs
+  pcl_msgs
+  octomap
+  Eigen3
+  PCL
+)
+
+ament_export_include_directories(include)
 
 # Mark libraries for installation
 install(TARGETS ${PROJECT_NAME}

mobility/mobility/CMakeLists.txt

@@ -18,12 +18,14 @@
 cmake_minimum_required(VERSION 3.5)
 project(mobility)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 set( CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wall -Werror -O3 -fPIC" )
 
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../../cmake")
+
 # Find amend and libraries
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -88,4 +90,4 @@ install(TARGETS teleop
 #   ERROR_QUIET
 #   )")
 
-ament_package()
+ament_package()

mobility/planner_trapezoidal/CMakeLists.txt

@@ -18,12 +18,13 @@
 cmake_minimum_required(VERSION 3.5)
 project(planner_trapezoidal)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 set( CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wall -O3 -fPIC" )
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../../cmake")
 
 ## Find amend and libraries
 find_package(ament_cmake REQUIRED)
@@ -69,6 +70,16 @@ rclcpp_components_register_nodes(${PROJECT_NAME} "planner_trapezoidal::PlannerTr
 ## Install ##
 #############
 
+ament_export_dependencies(
+  ff_common
+  ff_util
+  ff_msgs
+  choreographer
+  tf2_geometry_msgs
+)
+
+ament_export_include_directories(include)
+
 target_include_directories(planner_trapezoidal
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>