Rebase from 'upstream'

.github/workflows/iron_jammy.yml

@@ -0,0 +1,15 @@
+name: ros2-iron-jammy
+
+on:
+  push
+
+jobs:
+  ros2_iron_jammy_ci:
+    name: iron (jammy)
+    uses: ./.github/workflows/ros2.yml
+    with:
+      ROS_DISTRO: iron
+      ROS_REPO: testing
+      OS_NAME: ubuntu
+      OS_CODE_NAME: jammy
+      ALLOW_FAIL: false

CHANGELOG.rst

@@ -2,6 +2,41 @@
 Changelog for package naoqi_driver
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2023-11-23)
+------------------
+* New "Listen" action
+* Remove usages of BOOST_FOREACH
+* New `qi_listen_url` option and update README
+* Track `ros2` branch of `nao_meshes`
+* Get odom at the same time as joint states
+* No need to register the driver as a NAOqi service
+* Simplify starting and stopping the node
+  An extra thread is not required anymore to run the ROS loop.
+* Safer unsubscription from ALMemory
+* Switch to NAOqi 2 subscribers for touch events
+* Fix build warnings
+  * libqi-related warnings
+    * Use .value() when getting a Qi service
+  * Fix lack of return value in `camera.cpp`
+  * Fix deprecated include to `image_transport.h`
+  * Remove unused mentions to behavior trees
+* Better error messages
+  * Transform computation
+* Experimental running the driver and for dev
+  Adapted from https://github.com/sea-bass/turtlebot3_behavior_demos
+* Support NAOqi 2.8 (NAO v6)
+  * Repair audio
+* Support for humble & iron
+  * RViz files converted to RViz2 ones
+  * Update use of placeholders
+  * Update robot description code
+  * Remove mentions to catkin
+* Update README:
+  * New details about building meshes
+  * How to build from source now
+* Remove dependence to `orocos-kdl`
+* Contributors: Maxime Busy, Victor Paleologue, Victor Paléologue
+
 2.0.0 (2022-09-13)
 ------------------
 * Update README, add buildfarm status badges

CMakeLists.txt

@@ -3,6 +3,7 @@ project(naoqi_driver)
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(diagnostic_msgs REQUIRED)
 find_package(diagnostic_updater REQUIRED)
@@ -18,10 +19,8 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(OpenCV REQUIRED)
-find_package(orocos_kdl REQUIRED)
 find_package(Boost QUIET COMPONENTS chrono filesystem program_options regex system thread random)
 
-# define source files that can be used by qibuild or catkin
 set(
   CONVERTERS_SRC
   src/converters/audio.cpp
@@ -50,7 +49,6 @@ set(
 set(
   PUBLISHER_SRC
   src/publishers/camera.cpp
-  src/publishers/info.cpp
   src/publishers/joint_state.cpp
   src/publishers/log.cpp
   src/publishers/sonar.cpp
@@ -70,6 +68,11 @@ set(
   src/services/get_language.cpp
   )
 
+set(
+  ACTIONS_SRC
+  src/actions/listen.cpp
+)
+
 set(
   RECORDER_SRC
   src/recorder/camera.cpp
@@ -96,23 +99,11 @@ add_definitions(-DLIBQI_VERSION=${naoqi_libqi_VERSION_MAJOR}${naoqi_libqi_VERSIO
 # Add pre-processor compile flag indicating ament
 add_definitions( -DAMENT_BUILD )
 
-include_directories(include 
+include_directories(
+  "include"
   ${naoqi_libqi_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
-  ${orocos_kdl_INCLUDE_DIRS})
-
-# create the different libraries
-# add_library(
-#   naoqi_driver_module
-#   SHARED
-#   src/autoload_registration.cpp
-# )
-
-# target_link_libraries(naoqi_driver_module ${naoqi_libqi_LIBRARIES})
-# ament_target_dependencies(naoqi_driver_module
-#     naoqi_libqi)
-
-# install(TARGETS naoqi_driver_module DESTINATION lib/${PROJECT_NAME})
+)
 
 add_library(
   naoqi_driver
@@ -122,12 +113,14 @@ add_library(
   ${PUBLISHER_SRC}
   ${SUBSCRIBER_SRC}
   ${SERVICES_SRC}
+  ${ACTIONS_SRC}
   ${RECORDER_SRC}
   ${TOOLS_SRC}
 )
 
 ament_target_dependencies(naoqi_driver
   rclcpp
+  rclcpp_action
   cv_bridge
   diagnostic_msgs
   diagnostic_updater
@@ -143,14 +136,11 @@ ament_target_dependencies(naoqi_driver
   tf2_msgs
   tf2_ros
   OpenCV
-  orocos_kdl
-  Boost)
+  Boost
 
-install(TARGETS naoqi_driver DESTINATION lib/)
+)
 
-# target_link_libraries(naoqi_driver_module
-#   naoqi_driver
-# )
+install(TARGETS naoqi_driver DESTINATION lib/)
 
 # create the binary of the bridge
 add_executable(naoqi_driver_node src/external_registration.cpp)
@@ -164,19 +154,10 @@ target_link_libraries(naoqi_driver_node
 install(TARGETS naoqi_driver_node DESTINATION lib/${PROJECT_NAME})
 
 # install the urdf for runtime loading
-# file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/share DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/)
-# install(DIRECTORY share DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}")
 install(DIRECTORY share DESTINATION share/${PROJECT_NAME})
 
 # install the launch files
-# install(DIRECTORY launch DESTINATION "${CATKIN_PACKAGE_SHARE_DESTINATION}")
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
-# make sure there is a file describing a naoqi module
-# file(WRITE ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/qi/module/naoqi_driver_module.mod "cpp")
-# install(FILES ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_SHARE_DESTINATION}/qi/module/naoqi_driver_module.mod DESTINATION ${CATKIN_GLOBAL_SHARE_DESTINATION}/qi/module/)
-# file(WRITE share/${PROJECT_NAME}/qi/module/naoqi_driver_module.mod "cpp")
-
-# ament_export_libraries(naoqi_driver_module naoqi_driver)
 ament_export_libraries(naoqi_driver)
 ament_package()