Partial update to ros2

.gitignore

@@ -0,0 +1,2 @@
+.vscode/c_cpp_properties.json
+.vscode/settings.json

CMakeLists.txt

@@ -1,62 +1,36 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.8)
 
 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 ${CATKIN_PACKAGE_BIN_DESTINATION})
+# Find packages in ROS 2
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tasker_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# Generate Python modules from message files
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CMD.msg"
+  "msg/RobotResource.msg"
+  "msg/ScheduleParams.msg"
+  "msg/ShdlData.msg"
+  "msg/ShdlDataStamped.msg"
+  "msg/Status.msg"
+  "msg/TaskState.msg"
+  "srv/CostConditions.srv"
+  "srv/HoldConditions.srv"
+  "srv/LaunchConditions.srv"
+  "srv/SchedulingConditions.srv"
+  "srv/StartTask.srv"
+  "srv/SuspendConditions.srv"
+  "srv/TaskRequest.srv"
+  DEPENDENCIES std_msgs geometry_msgs
+)
+
+# Install Python modules
+# ament_python_install_package(${PROJECT_NAME})
+
+# Build the ROS 2 package
+ament_package()

bin/control_human.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python  
+#!/usr/bin/env python3  
 import roslib
 import rospy
 import rospkg
@@ -138,7 +138,7 @@ def handle_actor_vel(msg):
     marker_pub.publish(marker)
     marker_pub.publish(marker_name)
     task_reqested = False
-    while not rospy.is_shutdown():
+    while rclpy.ok():
         actor_posture = rospy.get_param(actor_name+"/actor_posture")
         marker_pub.publish(marker)
         if actor_posture == "fell":

bin/control_human_real.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python  
+#!/usr/bin/env python3  
 import roslib
 import rospy
 import rospkg
@@ -125,7 +125,7 @@ def handle_ionis_msg(msg):
     marker_pub.publish(marker)
     marker_pub.publish(marker_name)
     task_reqested = False
-    while not rospy.is_shutdown():
+    while rclpy.ok():
         actor_posture = rospy.get_param(actor_name+"/actor_posture")
         marker_pub.publish(marker)
         if actor_posture == "fell":

bin/exampleState

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 from task_machine.StateMachine import * #StateMachine
 import rospy

bin/exemplary_susp_task

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # encoding: utf8
 
 import tkinter as tk

bin/harmonization_table_generator

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import rospy
 import time 

bin/taskHarmonizer

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import rospy 
 from multitasker.srv import *
@@ -59,7 +59,7 @@ def handleNewTaskRequest(req):
     da_name = req.da_name
     cmd = "rosrun "+ package + " "+executable+ " "+da_name+ " "+str(req.task_priority)+ " "+str(req.task_deadline)
     subprocess.Popen(['rosrun', package, executable, da_name, str(req.task_priority), str(req.task_deadline)])
-    isInterrupting = False
+    is_interrupting = False
     set_new_task = False
     status = False
     global current_state
@@ -105,11 +105,11 @@ def handleNewTaskRequest(req):
         #         time.sleep(1)            
         # rospy.spinOnce()
     if current_state.status == 1:
-        isInterrupting = True
+        is_interrupting = True
     else:
-        isInterrupting = False
+        is_interrupting = False
     start_task_srv = rospy.ServiceProxy(requested_task_namespace+'/startTask', StartTask)
-    start_task_srv(isInterrupting)
+    start_task_srv(is_interrupting)
 
     # node = roslaunch.core.Node(package, executable)