using ros-controls/control_msgs#228 instead of industrial_robot_motion_interfaces

Author: mathias31415

motion_primitives_forward_controller/CMakeLists.txt

@@ -14,7 +14,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   rclcpp_lifecycle
   realtime_tools
   std_srvs
-  industrial_robot_motion_interfaces
 )
 
 find_package(ament_cmake REQUIRED)
@@ -45,7 +44,6 @@ target_link_libraries(motion_primitives_forward_controller PUBLIC
                       realtime_tools::realtime_tools
                       ${control_msgs_TARGETS}
                       ${std_srvs_TARGETS}
-                      ${industrial_robot_motion_interfaces_TARGETS}
 )
 
 target_compile_definitions(motion_primitives_forward_controller PRIVATE "MOTION_PRIMITIVES_FORWARD_CONTROLLER_BUILDING_DLL")

motion_primitives_forward_controller/README.md

@@ -6,7 +6,7 @@ Package to control robots using motion primitives like LINEAR_JOINT (PTP/ MOVEJ)
 [![Licence](https://img.shields.io/badge/License-Apache-2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 
-This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotion.action` action from the [industrial_robot_motion_interfaces](https://github.com/UniversalRobots/industrial_robot_motion_interfaces) package. The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented.
+This project provides an interface for sending motion primitives to an industrial robot controller using the `ExecuteMotionPrimitiveSequence.action` action from [control_msgs](https://github.com/ros-controls/control_msgs/blob/motion_primitives/control_msgs/action/ExecuteMotionPrimitiveSequence.action). The controller receives the primitives via the action interface and forwards them through command interfaces to the robot-specific hardware interface. Currently, hardware interfaces for [Universal Robots](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver) and [KUKA Robots](https://github.com/b-robotized-forks/kuka_experimental/tree/motion_primitive_kuka_driver) are implemented.
 
 - Supported motion primitives:
   - `LINEAR_JOINT`

motion_primitives_forward_controller/include/motion_primitives_forward_controller/motion_primitives_forward_controller.hpp

@@ -31,8 +31,8 @@
 #include "realtime_tools/realtime_buffer.hpp"
 #include "realtime_tools/realtime_publisher.hpp"
 
-#include "industrial_robot_motion_interfaces/action/execute_motion.hpp"
-#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp"
+#include "control_msgs/action/execute_motion_primitive_sequence.hpp"
+#include "control_msgs/msg/motion_primitive.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 
 namespace motion_primitives_forward_controller
@@ -46,7 +46,7 @@ enum class ExecutionState : uint8_t
   STOPPED = 4
 };
 
-using MotionType = industrial_robot_motion_interfaces::msg::MotionPrimitive;
+using MotionType = control_msgs::msg::MotionPrimitive;
 enum class MotionHelperType : uint8_t
 {
   STOP_MOTION = 66,
@@ -89,10 +89,10 @@ class MotionPrimitivesForwardController : public controller_interface::Controlle
   std::shared_ptr<motion_primitives_forward_controller::ParamListener> param_listener_;
   motion_primitives_forward_controller::Params params_;
 
-  using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive;
+  using MotionPrimitive = control_msgs::msg::MotionPrimitive;
   realtime_tools::LockFreeSPSCQueue<MotionPrimitive, 1024> moprim_queue_;
 
-  using ExecuteMotionAction = industrial_robot_motion_interfaces::action::ExecuteMotion;
+  using ExecuteMotionAction = control_msgs::action::ExecuteMotionPrimitiveSequence;
   rclcpp_action::Server<ExecuteMotionAction>::SharedPtr action_server_;
   rclcpp_action::GoalResponse goal_received_callback(
     const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const ExecuteMotionAction::Goal> goal);

motion_primitives_forward_controller/package.xml

@@ -26,7 +26,6 @@
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
-  <depend>industrial_robot_motion_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>realtime_tools</depend>

motion_primitives_forward_controller/test/test_motion_primitives_forward_controller.hpp

@@ -41,11 +41,11 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 
-#include "industrial_robot_motion_interfaces/action/execute_motion.hpp"
-#include "industrial_robot_motion_interfaces/msg/motion_primitive.hpp"
+#include "control_msgs/action/execute_motion_primitive_sequence.hpp"
+#include "control_msgs/msg/motion_primitive.hpp"
 
-using MotionPrimitive = industrial_robot_motion_interfaces::msg::MotionPrimitive;
-using ExecuteMotion = industrial_robot_motion_interfaces::action::ExecuteMotion;
+using MotionPrimitive = control_msgs::msg::MotionPrimitive;
+using ExecuteMotion = control_msgs::action::ExecuteMotionPrimitiveSequence;
 
 namespace
 {

ros2_controllers.rolling.repos

@@ -9,8 +9,8 @@ repositories:
     version: master
   control_msgs:
     type: git
-    url: https://github.com/ros-controls/control_msgs.git
-    version: master
+    url: https://github.com/urfeex/control_msgs.git
+    version: motion_primitives
   control_toolbox:
     type: git
     url: https://github.com/ros-controls/control_toolbox.git