ported to humble

.github/workflows/ci.yml

@@ -19,28 +19,28 @@ jobs:
       - name: Build Docker Image
         uses: docker/build-push-action@v2
         with:
-          tags: franka_ros2:galactic
+          tags: franka_ros2:humble
           file: Dockerfile
           push: false
 
       - name: Build
         uses: addnab/docker-run-action@v3
         with:
-          image: franka_ros2:galactic
+          image: franka_ros2:humble
           options: -v ${{github.workspace}}/:/ros/
           run: |
             cd /ros
-            . /opt/ros/galactic/setup.sh
+            . /opt/ros/humble/setup.sh
             colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCHECK_TIDY=ON
 
       - name: Test
         uses: addnab/docker-run-action@v3
         with:
-          image: franka_ros2:galactic
+          image: franka_ros2:humble
           options: -v ${{github.workspace}}/:/ros/
           run: |
             cd /ros
-            . /opt/ros/galactic/setup.sh
+            . /opt/ros/humble/setup.sh
             . install/setup.sh
             colcon test
             colcon test-result

Dockerfile

@@ -1,21 +1,21 @@
-FROM ros:galactic
+FROM ros:humble
 RUN apt-get update -y && apt-get install -y --allow-unauthenticated \
     clang-6.0 \
     clang-format-6.0 \
     clang-tidy-6.0 \
     python3-pip \
     libpoco-dev \
     libeigen3-dev \
-    ros-galactic-control-msgs \
-    ros-galactic-xacro \
-    ros-galactic-ament-cmake-clang-format \
-    ros-galactic-ament-clang-format \
-    ros-galactic-ament-flake8 \
-    ros-galactic-ament-cmake-clang-tidy \
-    ros-galactic-angles \
-    ros-galactic-ros2-control \
-    ros-galactic-realtime-tools \
-    ros-galactic-control-toolbox \
+    ros-humble-control-msgs \
+    ros-humble-xacro \
+    ros-humble-ament-cmake-clang-format \
+    ros-humble-ament-clang-format \
+    ros-humble-ament-flake8 \
+    ros-humble-ament-cmake-clang-tidy \
+    ros-humble-angles \
+    ros-humble-ros2-control \
+    ros-humble-realtime-tools \
+    ros-humble-control-toolbox \
     && rm -rf /var/lib/apt/lists/*
 
 RUN python3 -m pip install -U \

Jenkinsfile

@@ -17,15 +17,15 @@ pipeline {
         stage('Build') {
             steps {
                 sh '''
-                    . /opt/ros/galactic/setup.sh
+                    . /opt/ros/humble/setup.sh
                     colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCHECK_TIDY=ON
                 '''
             }
         }
         stage('Test') {
             steps {
                 sh '''
-                    . /opt/ros/galactic/setup.sh
+                    . /opt/ros/humble/setup.sh
                     . install/setup.sh
                     colcon test
                     colcon test-result

franka_example_controllers/src/gravity_compensation_example_controller.cpp

@@ -46,7 +46,7 @@ controller_interface::return_type GravityCompensationExampleController::update(
 
 CallbackReturn GravityCompensationExampleController::on_configure(
     const rclcpp_lifecycle::State& /*previous_state*/) {
-  arm_id_ = node_->get_parameter("arm_id").as_string();
+  arm_id_ = get_node()->get_parameter("arm_id").as_string();
   return CallbackReturn::SUCCESS;
 }
 

franka_example_controllers/src/joint_impedance_example_controller.cpp

@@ -50,7 +50,7 @@ controller_interface::return_type JointImpedanceExampleController::update(
     const rclcpp::Duration& /*period*/) {
   updateJointStates();
   Vector7d q_goal = initial_q_;
-  auto time = this->node_->now() - start_time_;
+  auto time = this->get_node()->now() - start_time_;
   double delta_angle = M_PI / 8.0 * (1 - std::cos(M_PI / 2.5 * time.seconds()));
   q_goal(3) += delta_angle;
   q_goal(4) += delta_angle;
@@ -79,25 +79,25 @@ CallbackReturn JointImpedanceExampleController::on_init() {
 
 CallbackReturn JointImpedanceExampleController::on_configure(
     const rclcpp_lifecycle::State& /*previous_state*/) {
-  arm_id_ = node_->get_parameter("arm_id").as_string();
-  auto k_gains = node_->get_parameter("k_gains").as_double_array();
-  auto d_gains = node_->get_parameter("d_gains").as_double_array();
+  arm_id_ = get_node()->get_parameter("arm_id").as_string();
+  auto k_gains = get_node()->get_parameter("k_gains").as_double_array();
+  auto d_gains = get_node()->get_parameter("d_gains").as_double_array();
   if (k_gains.empty()) {
-    RCLCPP_FATAL(node_->get_logger(), "k_gains parameter not set");
+    RCLCPP_FATAL(get_node()->get_logger(), "k_gains parameter not set");
     return CallbackReturn::FAILURE;
   }
   if (k_gains.size() != static_cast<uint>(num_joints)) {
-    RCLCPP_FATAL(node_->get_logger(), "k_gains should be of size %d but is of size %ld", num_joints,
-                 k_gains.size());
+    RCLCPP_FATAL(get_node()->get_logger(), "k_gains should be of size %d but is of size %ld",
+                 num_joints, k_gains.size());
     return CallbackReturn::FAILURE;
   }
   if (d_gains.empty()) {
-    RCLCPP_FATAL(node_->get_logger(), "d_gains parameter not set");
+    RCLCPP_FATAL(get_node()->get_logger(), "d_gains parameter not set");
     return CallbackReturn::FAILURE;
   }
   if (d_gains.size() != static_cast<uint>(num_joints)) {
-    RCLCPP_FATAL(node_->get_logger(), "d_gains should be of size %d but is of size %ld", num_joints,
-                 d_gains.size());
+    RCLCPP_FATAL(get_node()->get_logger(), "d_gains should be of size %d but is of size %ld",
+                 num_joints, d_gains.size());
     return CallbackReturn::FAILURE;
   }
   for (int i = 0; i < num_joints; ++i) {
@@ -112,7 +112,7 @@ CallbackReturn JointImpedanceExampleController::on_activate(
     const rclcpp_lifecycle::State& /*previous_state*/) {
   updateJointStates();
   initial_q_ = q_;
-  start_time_ = this->node_->now();
+  start_time_ = this->get_node()->now();
   return CallbackReturn::SUCCESS;
 }
 

franka_example_controllers/src/move_to_start_example_controller.cpp

@@ -49,7 +49,7 @@ controller_interface::return_type MoveToStartExampleController::update(
     const rclcpp::Time& /*time*/,
     const rclcpp::Duration& /*period*/) {
   updateJointStates();
-  auto trajectory_time = this->node_->now() - start_time_;
+  auto trajectory_time = this->get_node()->now() - start_time_;
   auto motion_generator_output = motion_generator_->getDesiredJointPositions(trajectory_time);
   Vector7d q_desired = motion_generator_output.first;
   bool finished = motion_generator_output.second;
@@ -84,25 +84,25 @@ CallbackReturn MoveToStartExampleController::on_init() {
 
 CallbackReturn MoveToStartExampleController::on_configure(
     const rclcpp_lifecycle::State& /*previous_state*/) {
-  arm_id_ = node_->get_parameter("arm_id").as_string();
-  auto k_gains = node_->get_parameter("k_gains").as_double_array();
-  auto d_gains = node_->get_parameter("d_gains").as_double_array();
+  arm_id_ = get_node()->get_parameter("arm_id").as_string();
+  auto k_gains = get_node()->get_parameter("k_gains").as_double_array();
+  auto d_gains = get_node()->get_parameter("d_gains").as_double_array();
   if (k_gains.empty()) {
-    RCLCPP_FATAL(node_->get_logger(), "k_gains parameter not set");
+    RCLCPP_FATAL(get_node()->get_logger(), "k_gains parameter not set");
     return CallbackReturn::FAILURE;
   }
   if (k_gains.size() != static_cast<uint>(num_joints)) {
-    RCLCPP_FATAL(node_->get_logger(), "k_gains should be of size %d but is of size %ld", num_joints,
-                 k_gains.size());
+    RCLCPP_FATAL(get_node()->get_logger(), "k_gains should be of size %d but is of size %ld",
+                 num_joints, k_gains.size());
     return CallbackReturn::FAILURE;
   }
   if (d_gains.empty()) {
-    RCLCPP_FATAL(node_->get_logger(), "d_gains parameter not set");
+    RCLCPP_FATAL(get_node()->get_logger(), "d_gains parameter not set");
     return CallbackReturn::FAILURE;
   }
   if (d_gains.size() != static_cast<uint>(num_joints)) {
-    RCLCPP_FATAL(node_->get_logger(), "d_gains should be of size %d but is of size %ld", num_joints,
-                 d_gains.size());
+    RCLCPP_FATAL(get_node()->get_logger(), "d_gains should be of size %d but is of size %ld",
+                 num_joints, d_gains.size());
     return CallbackReturn::FAILURE;
   }
   for (int i = 0; i < num_joints; ++i) {
@@ -117,7 +117,7 @@ CallbackReturn MoveToStartExampleController::on_activate(
     const rclcpp_lifecycle::State& /*previous_state*/) {
   updateJointStates();
   motion_generator_ = std::make_unique<MotionGenerator>(0.2, q_, q_goal_);
-  start_time_ = this->node_->now();
+  start_time_ = this->get_node()->now();
   return CallbackReturn::SUCCESS;
 }
 

franka_gripper/src/gripper_action_server.cpp

@@ -33,11 +33,11 @@
 namespace franka_gripper {
 GripperActionServer::GripperActionServer(const rclcpp::NodeOptions& options)
     : Node("franka_gripper_node", options) {
-  this->declare_parameter("robot_ip");
+  this->declare_parameter("robot_ip", std::string());
   this->declare_parameter("default_grasp_epsilon.inner", k_default_grasp_epsilon);
   this->declare_parameter("default_grasp_epsilon.outer", k_default_grasp_epsilon);
   this->declare_parameter("default_speed", k_default_speed);
-  this->declare_parameter("joint_names");
+  this->declare_parameter("joint_names", std::vector<std::string>());
   this->declare_parameter("state_publish_rate", k_default_state_publish_rate);
   this->declare_parameter("feedback_publish_rate", k_default_feedback_publish_rate);
   std::string robot_ip;

franka_hardware/include/franka_hardware/franka_hardware_interface.hpp

@@ -44,8 +44,10 @@ class FrankaHardwareInterface : public hardware_interface::SystemInterface {
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
   CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
   CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
-  hardware_interface::return_type read() override;
-  hardware_interface::return_type write() override;
+  hardware_interface::return_type read(const rclcpp::Time& time,
+                                       const rclcpp::Duration& period) override;
+  hardware_interface::return_type write(const rclcpp::Time& time,
+                                        const rclcpp::Duration& period) override;
   CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
   static const size_t kNumberOfJoints = 7;
 

franka_hardware/src/franka_hardware_interface.cpp

@@ -59,7 +59,8 @@ CallbackReturn FrankaHardwareInterface::on_activate(
     const rclcpp_lifecycle::State& /*previous_state*/) {
   robot_->initializeContinuousReading();
   hw_commands_.fill(0);
-  read();  // makes sure that the robot state is properly initialized.
+  read(rclcpp::Time(0),
+       rclcpp::Duration(0, 0));  // makes sure that the robot state is properly initialized.
   RCLCPP_INFO(getLogger(), "Started");
   return CallbackReturn::SUCCESS;
 }
@@ -72,15 +73,17 @@ CallbackReturn FrankaHardwareInterface::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type FrankaHardwareInterface::read() {
+hardware_interface::return_type FrankaHardwareInterface::read(const rclcpp::Time& /*time*/,
+                                                              const rclcpp::Duration& /*period*/) {
   const auto kState = robot_->read();
   hw_positions_ = kState.q;
   hw_velocities_ = kState.dq;
   hw_efforts_ = kState.tau_J;
   return hardware_interface::return_type::OK;
 }
 
-hardware_interface::return_type FrankaHardwareInterface::write() {
+hardware_interface::return_type FrankaHardwareInterface::write(const rclcpp::Time& /*time*/,
+                                                               const rclcpp::Duration& /*period*/) {
   if (std::any_of(hw_commands_.begin(), hw_commands_.end(),
                   [](double c) { return not std::isfinite(c); })) {
     return hardware_interface::return_type::ERROR;

joint_effort_trajectory_controller/include/joint_effort_trajectory_controller/tolerances.hpp

@@ -92,7 +92,7 @@ struct SegmentTolerances
  * \return Trajectory segment tolerances.
  */
 SegmentTolerances get_segment_tolerances(
-  const rclcpp::Node & node, const std::vector<std::string> & joint_names)
+  const rclcpp_lifecycle::LifecycleNode & node, const std::vector<std::string> & joint_names)
 {
   const auto n_joints = joint_names.size();
   SegmentTolerances tolerances;