Planning interface, port to ROS 2 (#61)

* Port planning_interface to ROS 2 * planning_interface, adapt logger to #21
moveit · Apr 8, 2019 · 9bdc9d6 · 9bdc9d6
1 parent 021a669
commit 9bdc9d6
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Showing 5 changed files with 20 additions and 14 deletions.
diff --git a/moveit_core/planning_interface/CMakeLists.txt b/moveit_core/planning_interface/CMakeLists.txt
@@ -5,12 +5,15 @@ add_library(${MOVEIT_LIB_NAME}
   src/planning_response.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-
-target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state moveit_robot_trajectory ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
+ament_target_dependencies(${MOVEIT_LIB_NAME}
+  urdf
+  visualization_msgs
+  moveit_robot_state
+  moveit_robot_trajectory
+  urdfdom
+  urdfdom_headers)
 
 install(TARGETS ${MOVEIT_LIB_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-
-install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib)
+install(DIRECTORY include/ DESTINATION include)
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
@@ -42,6 +42,7 @@
 #include <moveit/planning_interface/planning_response.h>
 #include <string>
 #include <map>
+#include "rclcpp/rclcpp.hpp"
 
 namespace planning_scene
 {

diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h
@@ -37,7 +37,7 @@
 #ifndef MOVEIT_PLANNING_INTERFACE_PLANNING_REQUEST_
 #define MOVEIT_PLANNING_INTERFACE_PLANNING_REQUEST_
 
-#include <moveit_msgs/MotionPlanRequest.h>
+#include <moveit_msgs/msg/motion_plan_request.hpp>
 
 namespace planning_interface
 {

diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_response.h
@@ -38,9 +38,9 @@
 #define MOVEIT_PLANNING_INTERFACE_PLANNING_RESPONSE_
 
 #include <moveit/robot_trajectory/robot_trajectory.h>
-#include <moveit_msgs/MoveItErrorCodes.h>
-#include <moveit_msgs/MotionPlanResponse.h>
-#include <moveit_msgs/MotionPlanDetailedResponse.h>
+#include <moveit_msgs/msg/move_it_error_codes.hpp>
+#include <moveit_msgs/msg/motion_plan_response.hpp>
+#include <moveit_msgs/msg/motion_plan_detailed_response.hpp>
 
 namespace planning_interface
 {

diff --git a/moveit_core/planning_interface/src/planning_interface.cpp b/moveit_core/planning_interface/src/planning_interface.cpp
@@ -40,6 +40,8 @@
 
 namespace planning_interface
 {
+rclcpp::Logger LOGGER = rclcpp::get_logger("moveit").get_child("planning_interface");
+
 namespace
 {
 // keep track of currently active contexts
@@ -80,13 +82,13 @@ void PlanningContext::setMotionPlanRequest(const MotionPlanRequest& request)
   request_ = request;
   if (request_.allowed_planning_time <= 0.0)
   {
-    ROS_INFO_NAMED("planning_interface",
+    RCLCPP_INFO(LOGGER,
                    "The timeout for planning must be positive (%lf specified). Assuming one second instead.",
                    request_.allowed_planning_time);
     request_.allowed_planning_time = 1.0;
   }
   if (request_.num_planning_attempts < 0)
-    ROS_ERROR_NAMED("planning_interface", "The number of desired planning attempts should be positive. "
+    RCLCPP_ERROR(LOGGER, "The number of desired planning attempts should be positive. "
                                           "Assuming one attempt.");
   request_.num_planning_attempts = std::max(1, request_.num_planning_attempts);
 }
@@ -127,4 +129,4 @@ void PlannerManager::terminate() const
     (*it)->terminate();
 }
 
-}  // end of namespace planning_interface
+}  // end of namespace planning_interface