Merge branch 'rolling' into ahcorde/rolling/clean_ci

geometry_tutorials/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package geometry_tutorials
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.0 (2024-07-10)
+------------------
+
 0.3.6 (2022-09-15)
 ------------------
 

geometry_tutorials/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry_tutorials</name>
-  <version>0.3.6</version>
+  <version>0.6.0</version>
   <description>Metapackage of geometry tutorials ROS.</description>
   <maintainer email="alejandro@openrobotics.org">Alejandro Hernández Cordero</maintainer>
   <maintainer email="audrow@openrobotics.org">Audrow Nash</maintainer>

turtle_tf2_cpp/CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package turtle_tf2_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.0 (2024-07-10)
+------------------
+* Used turtlesim_msgs (`#78 <https://github.com/ros/geometry_tutorials/issues/78>`_)
+* Migrate std::bind calls to lambda expressions (`#76 <https://github.com/ros/geometry_tutorials/issues/76>`_)
+  * ♻️ Geometry msgs lambda refactor
+  Co-authored-by: Chris Lalancette <clalancette@gmail.com>
+* Fix a few more minor nitpicks. (`#72 <https://github.com/ros/geometry_tutorials/issues/72>`_)
+  1.  Remove dependencies from the targets that don't need them.
+  2.  Remove a totally unnecessary typedef.
+  3.  Remove unnecessary casts to float.
+* Contributors: Alejandro Hernández Cordero, Chris Lalancette, Felipe Gomes de Melo
+
 0.3.6 (2022-09-15)
 ------------------
 * Minor cleanups across the tutorials. (`#71 <https://github.com/ros/geometry_tutorials/issues/71>`_)

turtle_tf2_cpp/CMakeLists.txt

@@ -21,7 +21,7 @@ find_package(rclcpp REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(turtlesim REQUIRED)
+find_package(turtlesim_msgs REQUIRED)
 
 if(TARGET tf2_geometry_msgs::tf2_geometry_msgs)
   get_target_property(_include_dirs tf2_geometry_msgs::tf2_geometry_msgs INTERFACE_INCLUDE_DIRECTORIES)
@@ -37,58 +37,52 @@ find_file(TF2_CPP_HEADERS
 )
 
 add_executable(static_turtle_tf2_broadcaster src/static_turtle_tf2_broadcaster.cpp)
-ament_target_dependencies(
-  static_turtle_tf2_broadcaster
-  geometry_msgs
-  rclcpp
-  tf2
-  tf2_ros
+target_link_libraries(static_turtle_tf2_broadcaster PRIVATE
+  ${geometry_msgs_TARGET}
+  rclcpp::rclcpp
+  tf2::tf2
+  tf2_ros::tf2_ros
 )
 
 add_executable(turtle_tf2_broadcaster src/turtle_tf2_broadcaster.cpp)
-ament_target_dependencies(
-  turtle_tf2_broadcaster
-  geometry_msgs
-  rclcpp
-  tf2
-  tf2_ros
-  turtlesim
+target_link_libraries(turtle_tf2_broadcaster PRIVATE
+  ${geometry_msgs_TARGET}
+  rclcpp::rclcpp
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${turtlesim_msgs_TARGETS}
 )
 
 add_executable(turtle_tf2_listener src/turtle_tf2_listener.cpp)
-ament_target_dependencies(
-  turtle_tf2_listener
-  geometry_msgs
-  rclcpp
-  tf2
-  tf2_ros
-  turtlesim
+target_link_libraries(turtle_tf2_listener PRIVATE
+  ${geometry_msgs_TARGET}
+  rclcpp::rclcpp
+  tf2::tf2
+  tf2_ros::tf2_ros
+  ${turtlesim_msgs_TARGETS}
 )
 
 add_executable(fixed_frame_tf2_broadcaster src/fixed_frame_tf2_broadcaster.cpp)
-ament_target_dependencies(
-  fixed_frame_tf2_broadcaster
-  geometry_msgs
-  rclcpp
-  tf2_ros
+target_link_libraries(fixed_frame_tf2_broadcaster PRIVATE
+  ${geometry_msgs_TARGET}
+  rclcpp::rclcpp
+  tf2_ros::tf2_ros
 )
 
 add_executable(dynamic_frame_tf2_broadcaster src/dynamic_frame_tf2_broadcaster.cpp)
-ament_target_dependencies(
-  dynamic_frame_tf2_broadcaster
-  geometry_msgs
-  rclcpp
-  tf2_ros
+target_link_libraries(dynamic_frame_tf2_broadcaster PRIVATE
+  ${geometry_msgs_TARGETS}
+  rclcpp::rclcpp
+  tf2_ros::tf2_ros
 )
 
 add_executable(turtle_tf2_message_filter src/turtle_tf2_message_filter.cpp)
-ament_target_dependencies(
-  turtle_tf2_message_filter
-  geometry_msgs
-  message_filters
-  rclcpp
-  tf2_geometry_msgs
-  tf2_ros
+target_link_libraries(turtle_tf2_message_filter PRIVATE
+  ${geometry_msgs_TARGETS}
+  message_filters::message_filters
+  rclcpp::rclcpp
+  ${tf2_geometry_msgs_TARGETS}
+  tf2_ros::tf2_ros
 )
 
 if(EXISTS ${TF2_CPP_HEADERS})

turtle_tf2_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtle_tf2_cpp</name>
-  <version>0.3.6</version>
+  <version>0.6.0</version>
   <description>
     turtle_tf2_cpp demonstrates how to write a ROS2 C++ tf2 broadcaster and listener with the turtlesim. The turtle_tf2_listener commands turtle2 to follow turtle1 around as you drive turtle1 using the keyboard.
   </description>
@@ -13,7 +13,7 @@
   <author email="abilkasov@gmail.com">Shyngyskhan Abilkassov</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  
+
   <depend>geometry_msgs</depend>
   <depend>launch</depend>
   <depend>launch_ros</depend>
@@ -22,7 +22,7 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>turtlesim</depend>
+  <depend>turtlesim_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp

@@ -21,7 +21,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/LinearMath/Quaternion.h"
 #include "tf2_ros/transform_broadcaster.h"
-#include "turtlesim/msg/pose.hpp"
+#include "turtlesim_msgs/msg/pose.hpp"
 
 class FramePublisher : public rclcpp::Node
 {
@@ -42,7 +42,7 @@ class FramePublisher : public rclcpp::Node
     stream << "/" << turtlename_.c_str() << "/pose";
     std::string topic_name = stream.str();
 
-    auto handle_turtle_pose = [this](const std::shared_ptr<turtlesim::msg::Pose> msg) {
+    auto handle_turtle_pose = [this](const std::shared_ptr<turtlesim_msgs::msg::Pose> msg) {
         geometry_msgs::msg::TransformStamped t;
 
         // Read message content and assign it to
@@ -70,13 +70,13 @@ class FramePublisher : public rclcpp::Node
         // Send the transformation
         tf_broadcaster_->sendTransform(t);
       };
-    subscription_ = this->create_subscription<turtlesim::msg::Pose>(
+    subscription_ = this->create_subscription<turtlesim_msgs::msg::Pose>(
       topic_name, 10,
       handle_turtle_pose);
   }
 
 private:
-  rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscription_;
+  rclcpp::Subscription<turtlesim_msgs::msg::Pose>::SharedPtr subscription_;
   std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
   std::string turtlename_;
 };

turtle_tf2_cpp/src/turtle_tf2_listener.cpp

@@ -23,7 +23,7 @@
 #include "tf2/exceptions.h"
 #include "tf2_ros/transform_listener.h"
 #include "tf2_ros/buffer.h"
-#include "turtlesim/srv/spawn.hpp"
+#include "turtlesim_msgs/srv/spawn.hpp"
 
 using namespace std::chrono_literals;
 
@@ -45,7 +45,7 @@ class FrameListener : public rclcpp::Node
 
     // Create a client to spawn a turtle
     spawner_ =
-      this->create_client<turtlesim::srv::Spawn>("spawn");
+      this->create_client<turtlesim_msgs::srv::Spawn>("spawn");
 
     // Create turtle2 velocity publisher
     publisher_ =
@@ -102,16 +102,16 @@ class FrameListener : public rclcpp::Node
       // Check if the service is ready
       if (spawner_->service_is_ready()) {
         // Initialize request with turtle name and coordinates
-        // Note that x, y and theta are defined as floats in turtlesim/srv/Spawn
-        auto request = std::make_shared<turtlesim::srv::Spawn::Request>();
+        // Note that x, y and theta are defined as floats in turtlesim_msgs/srv/Spawn
+        auto request = std::make_shared<turtlesim_msgs::srv::Spawn::Request>();
         request->x = 4.0;
         request->y = 2.0;
         request->theta = 0.0;
         request->name = "turtle2";
 
         // Call request
         using ServiceResponseFuture =
-          rclcpp::Client<turtlesim::srv::Spawn>::SharedFuture;
+          rclcpp::Client<turtlesim_msgs::srv::Spawn>::SharedFuture;
         auto response_received_callback = [this](ServiceResponseFuture future) {
             auto result = future.get();
             if (strcmp(result->name.c_str(), "turtle2") == 0) {
@@ -132,7 +132,7 @@ class FrameListener : public rclcpp::Node
   bool turtle_spawning_service_ready_;
   // if the turtle was successfully spawned
   bool turtle_spawned_;
-  rclcpp::Client<turtlesim::srv::Spawn>::SharedPtr spawner_{nullptr};
+  rclcpp::Client<turtlesim_msgs::srv::Spawn>::SharedPtr spawner_{nullptr};
   rclcpp::TimerBase::SharedPtr timer_{nullptr};
   rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_{nullptr};
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_{nullptr};

turtle_tf2_py/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package turtle_tf2_py
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.0 (2024-07-10)
+------------------
+* Used turtlesim_msgs (`#78 <https://github.com/ros/geometry_tutorials/issues/78>`_)
+* Fix a few more minor nitpicks. (`#72 <https://github.com/ros/geometry_tutorials/issues/72>`_)
+  1.  Remove dependencies from the targets that don't need them.
+  2.  Remove a totally unnecessary typedef.
+  3.  Remove unnecessary casts to float.
+* Contributors: Alejandro Hernández Cordero, Chris Lalancette
+
 0.3.6 (2022-09-15)
 ------------------
 * Minor cleanups across the tutorials. (`#71 <https://github.com/ros/geometry_tutorials/issues/71>`_)

turtle_tf2_py/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtle_tf2_py</name>
-  <version>0.3.6</version>
+  <version>0.6.0</version>
   <description>
     turtle_tf2_py demonstrates how to write a ROS2 Python tf2 broadcaster and listener with the turtlesim. The turtle_tf2_listener commands turtle2 to follow turtle1 around as you drive turtle1 using the keyboard.
   </description>
@@ -19,7 +19,7 @@
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>turtlesim</exec_depend>
+  <exec_depend>turtlesim_msgs</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

turtle_tf2_py/setup.py

@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version='0.3.6',
+    version='0.6.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),

turtle_tf2_py/turtle_tf2_py/turtle_tf2_broadcaster.py

@@ -23,7 +23,7 @@
 
 from tf2_ros import TransformBroadcaster
 
-from turtlesim.msg import Pose
+from turtlesim_msgs.msg import Pose
 
 
 # This function is a stripped down version of the code in

turtle_tf2_py/turtle_tf2_py/turtle_tf2_listener.py

@@ -94,7 +94,7 @@ def on_timer(self):
         else:
             if self.spawner.service_is_ready():
                 # Initialize request with turtle name and coordinates
-                # Note that x, y and theta are defined as floats in turtlesim/srv/Spawn
+                # Note that x, y and theta are defined as floats in turtlesim_msgs/srv/Spawn
                 request = Spawn.Request()
                 request.name = 'turtle2'
                 request.x = 4.0

turtle_tf2_py/turtle_tf2_py/turtle_tf2_message_broadcaster.py

@@ -18,8 +18,8 @@
 import rclpy
 from rclpy.node import Node
 
-from turtlesim.msg import Pose
-from turtlesim.srv import Spawn
+from turtlesim_msgs.msg import Pose
+from turtlesim_msgs.srv import Spawn
 
 
 class PointPublisher(Node):
@@ -53,7 +53,7 @@ def on_timer(self):
         else:
             if self.spawner.service_is_ready():
                 # Initialize request with turtle name and coordinates
-                # Note that x, y and theta are defined as floats in turtlesim/srv/Spawn
+                # Note that x, y and theta are defined as floats in turtlesim_msgs/srv/Spawn
                 request = Spawn.Request()
                 request.name = 'turtle3'
                 request.x = 4.0