[ROS2] port package to ament_cmake, other necessary updates

rosapi/CMakeLists.txt

@@ -1,50 +1,55 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(rosapi)
 
-find_package(catkin REQUIRED COMPONENTS message_generation)
-catkin_python_setup()
+find_package(ament_cmake_ros REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
-add_message_files(
-  FILES
-  TypeDef.msg
-)
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-add_service_files(
-  FILES
-  DeleteParam.srv
-  GetActionServers.srv
-  GetParam.srv
-  GetParamNames.srv
-  GetTime.srv
-  HasParam.srv
-  MessageDetails.srv
-  Nodes.srv
-  NodeDetails.srv
-  Publishers.srv
-  SearchParam.srv
-  ServiceHost.srv
-  ServiceNode.srv
-  ServiceProviders.srv
-  ServiceRequestDetails.srv
-  ServiceResponseDetails.srv
-  Services.srv
-  ServicesForType.srv
-  ServiceType.srv
-  SetParam.srv
-  Subscribers.srv
-  Topics.srv
-  TopicsForType.srv
-  TopicType.srv
-)
+ament_python_install_package(
+  ${PROJECT_NAME} PACKAGE_DIR "src/${PROJECT_NAME}")
 
-generate_messages(
-  DEPENDENCIES
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/TypeDef.msg
+  srv/DeleteParam.srv
+  srv/GetActionServers.srv
+  srv/GetParam.srv
+  srv/GetParamNames.srv
+  srv/GetTime.srv
+  srv/HasParam.srv
+  srv/MessageDetails.srv
+  srv/Nodes.srv
+  srv/NodeDetails.srv
+  srv/Publishers.srv
+  srv/SearchParam.srv
+  srv/ServiceHost.srv
+  srv/ServiceNode.srv
+  srv/ServiceProviders.srv
+  srv/ServiceRequestDetails.srv
+  srv/ServiceResponseDetails.srv
+  srv/Services.srv
+  srv/ServicesForType.srv
+  srv/ServiceType.srv
+  srv/SetParam.srv
+  srv/Subscribers.srv
+  srv/Topics.srv
+  srv/TopicsForType.srv
+  srv/TopicType.srv
+  DEPENDENCIES builtin_interfaces
 )
 
-catkin_package(
-  CATKIN_DEPENDS message_runtime
-)
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
 
 install(PROGRAMS scripts/rosapi_node
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  FILES mapping_rules.yaml
+  DESTINATION share/${PROJECT_NAME}
 )

rosapi/mapping_rules.yaml

@@ -0,0 +1,8 @@
+-
+  ros1_package_name: 'rosapi'
+  ros1_service_name: 'GetParam'
+  ros2_package_name: 'rosapi'
+  ros2_service_name: 'GetParam'
+  request_fields_1_to_2:
+    name: 'name'
+    default: 'default_value'

rosapi/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>rosapi</name>
   <version>0.11.1</version>
   <description>
@@ -17,13 +17,28 @@
   <maintainer email="rctoris@wpi.edu">Russell Toris</maintainer>
   <maintainer email="jihoonlee.in@gmail.com">Jihoon Lee</maintainer>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <build_depend>message_generation</build_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
   <exec_depend>rosbridge_library</exec_depend>
-  <exec_depend>rospy</exec_depend>
+  <exec_depend>ros2node</exec_depend>
+  <exec_depend>ros2param</exec_depend>
+  <exec_depend>ros2pkg</exec_depend>
+  <exec_depend>ros2service</exec_depend>
+  <exec_depend>ros2topic</exec_depend>
+  <!--
   <exec_depend>rosnode</exec_depend>
   <exec_depend>rosgraph</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
+  -->
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <ros1_bridge mapping_rules="mapping_rules.yaml"/>
+  </export>
 </package>