Partial update to ros2

.gitignore

@@ -0,0 +1,3 @@
+.vscode/c_cpp_properties.json
+.vscode/settings.json
+tasker/__pycache__/*

CMakeLists.txt

@@ -1,62 +1,32 @@
-cmake_minimum_required(VERSION 2.8.3)
-
+cmake_minimum_required(VERSION 3.5)
 project(tasker)
 
-# Get the information about this package's buildtime dependencies
-  find_package(catkin REQUIRED
-    COMPONENTS tasker_msgs message_generation std_msgs geometry_msgs rospy)
-
-  catkin_python_setup()
-if(USE_PDDL)
-execute_process(COMMAND bash ${CMAKE_CURRENT_SOURCE_DIR}/compile-pddl-planner.sh
-
-		WORKIN_DIRECTORY ${CATKIN_PACKAGE_SOURCE_DIR}
-		)
-endif()
-
-#message( ${CMAKE_CURRENT_SOURCE_DIR} )
-#add_custom_command(TARGET VAL
-#                   PRE_BUILD 
-#                   COMMAND make clean
-#		   COMMAND make
-#                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../VAL
-#		  )
-#add_custom_command(TARGET universal-pddl-parser
-#                   PRE_BUILD 
-#                   COMMAND scons 
-#                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../universal-pddl-parser 
-#                  )
-#add_custom_command(TARGET temporal-planning
-#                   PRE_BUILD 
-#                   COMMAND python fd_copy/build.py release64
-#		   COMMAND scons 
-#                   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../temporal-planning
-#                  )
-
-
-  # Actually generate the language-specific message and service files
-# Catkin package  
-  catkin_package(
-   INCLUDE_DIRS 
-   CATKIN_DEPENDS rospy
-   DEPENDS )
-
-
-
-  # define executable using MyMessage1 etc.
-  #add_executable(message_program src/main.cpp)
-  #add_dependencies(message_program ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-  # define executable not using any messages/services provided by this package
-  #add_executable(does_not_use_local_messages_program src/main.cpp)
-  #add_dependencies(does_not_use_local_messages_program ${catkin_EXPORTED_TARGETS})
-
-  catkin_install_python(PROGRAMS 
-  		bin/exampleState
-  		bin/exemplary_susp_task
-  		bin/txt_guideHuman
-  		bin/txt_hazardDetection
-      bin/txt_human_fell
-      bin/harmonization_table_generator
-      bin/txt_test
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+# if(POLICY CMP0148)
+#   cmake_policy(SET CMP0148 NEW)
+# endif()
+
+# Find packages in ROS 2
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tasker_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# Install Python script
+install(PROGRAMS
+  tasker/task_harmonizer.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install Python modules
+ament_python_install_package(tasker PACKAGE_DIR src/TaskER)
+
+# Install launch files
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()