4am-robotics · majdkhalife · Mar 12, 2025 · May 20, 2025
diff --git a/.ci.xacro_test.sh b/.ci.xacro_test.sh
@@ -1,7 +1,13 @@
 #!/bin/sh
 status=0
-[ "$ROS_DISTRO" \< "melodic" ] && xacro_args='--inorder'
-for x in $(find "$TARGET_REPO_PATH" -name '*.xacro'|sort); do
+# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it.
+if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then
+    xacro_args='--inorder'
+else
+    xacro_args=''
+fi
+
+for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do
     echo "Testing $x"
     xacro $xacro_args "$x" > /dev/null || status=1
 done

diff --git a/all_changes.patch b/all_changes.patch
@@ -0,0 +1,122 @@
+diff --git a/.ci.xacro_test.sh b/.ci.xacro_test.sh
+index d53f97b..a80e8a6 100644
+--- a/.ci.xacro_test.sh
++++ b/.ci.xacro_test.sh
+@@ -1,7 +1,13 @@
+ #!/bin/sh
+ status=0
+-[ "$ROS_DISTRO" \< "melodic" ] && xacro_args='--inorder'
+-for x in $(find "$TARGET_REPO_PATH" -name '*.xacro'|sort); do
++# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it.
++if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then
++    xacro_args='--inorder'
++else
++    xacro_args=''
++fi
++
++for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do
+     echo "Testing $x"
+     xacro $xacro_args "$x" > /dev/null || status=1
+ done
+diff --git a/cob_actions/package.xml b/cob_actions/package.xml
+index 47261e4..be05704 100644
+--- a/cob_actions/package.xml
++++ b/cob_actions/package.xml
+@@ -16,4 +16,5 @@
+   <depend>action_msgs</depend>
+
+   <exec_depend>rosidl_default_runtime</exec_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
+ </package>
+diff --git a/cob_common/CMakeLists.txt b/cob_common/CMakeLists.txt
+index edffff6..402eafb 100644
+--- a/cob_common/CMakeLists.txt
++++ b/cob_common/CMakeLists.txt
+@@ -1,5 +1,7 @@
+ cmake_minimum_required(VERSION 3.8)
+ project(cob_common)
+
++# Make the ament_metapackage() command available.
+ find_package(ament_cmake REQUIRED)
+-ament_metapackage()
++
++ament_package()
+diff --git a/cob_common/package.xml b/cob_common/package.xml
+index 9999397..63bbd3c 100644
+--- a/cob_common/package.xml
++++ b/cob_common/package.xml
+@@ -17,8 +17,6 @@
+   <exec_depend>cob_actions</exec_depend>
+   <exec_depend>cob_msgs</exec_depend>
+   <exec_depend>cob_srvs</exec_depend>
+-  
+-  <export>
+-    <metapackage/>
+-  </export>
++  <member_of_group>rosidl_interface_packages</member_of_group>
++
+ </package>
+diff --git a/cob_msgs/msg/AccessPoint.msg b/cob_msgs/msg/AccessPoint.msg
+index da7d9bd..84c5de9 100644
+--- a/cob_msgs/msg/AccessPoint.msg
++++ b/cob_msgs/msg/AccessPoint.msg
+@@ -1,5 +1,5 @@
+ # This message communicates the state of the PR2's wifi access point.
+-Header header
++std_msgs/Header header
+ string essid
+ string macaddr
+ int32 signal
+diff --git a/cob_msgs/msg/PowerState.msg b/cob_msgs/msg/PowerState.msg
+index 47cf00d..d15d711 100644
+--- a/cob_msgs/msg/PowerState.msg
++++ b/cob_msgs/msg/PowerState.msg
+@@ -1,5 +1,5 @@
+ # This message communicates the state of the power system.
+-Header header
++std_msgs/Header header   
+ float64 voltage                     # [V]
+ float64 current                     # [A]
+ float64 power_consumption           # [W] can only be calculated if not charging
+diff --git a/cob_msgs/msg/SafetyControllerState.msg b/cob_msgs/msg/SafetyControllerState.msg
+index 04a8e81..12b8d97 100644
+--- a/cob_msgs/msg/SafetyControllerState.msg
++++ b/cob_msgs/msg/SafetyControllerState.msg
+@@ -1,4 +1,4 @@
+-Header header
++std_msgs/Header header 
+ bool has_wireless_emstop
+ bool has_fall_sensors
+ bool has_magnetic_safety_switch
+diff --git a/cob_msgs/msg/SiteSurvey.msg b/cob_msgs/msg/SiteSurvey.msg
+index fadf87b..5d57c98 100644
+--- a/cob_msgs/msg/SiteSurvey.msg
++++ b/cob_msgs/msg/SiteSurvey.msg
+@@ -1,2 +1,2 @@
+-Header header
++std_msgs/Header header    
+ Network[] networks
+diff --git a/cob_msgs/package.xml b/cob_msgs/package.xml
+index 0575133..34a48cd 100644
+--- a/cob_msgs/package.xml
++++ b/cob_msgs/package.xml
+@@ -19,4 +19,5 @@
+   <depend>std_msgs</depend>
+
+   <exec_depend>rosidl_default_runtime</exec_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
+ </package>
+diff --git a/cob_srvs/package.xml b/cob_srvs/package.xml
+index a51c8a3..24be9a6 100644
+--- a/cob_srvs/package.xml
++++ b/cob_srvs/package.xml
+@@ -13,8 +13,7 @@
+
+   <buildtool_depend>ament_cmake</buildtool_depend>
+   <buildtool_depend>rosidl_default_generators</buildtool_depend>
+-
+   <depend>geometry_msgs</depend>
+-
+   <exec_depend>rosidl_default_runtime</exec_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
+ </package>
diff --git a/cob_actions/CMakeLists.txt b/cob_actions/CMakeLists.txt
@@ -1,20 +1,21 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(cob_actions)
 
-find_package(catkin REQUIRED COMPONENTS actionlib_msgs geometry_msgs message_generation)
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(action_msgs REQUIRED)  # ROS 2 uses built-in action types
 
-add_action_files(FILES
-  Dock.action
-  SetBool.action
-  SetFloat.action
-  SetInt.action
-  SetString.action
+# Generate action interfaces.
+# Make sure your action files are in the "action" directory.
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/Dock.action"
+  "action/SetBool.action"
+  "action/SetFloat.action"
+  "action/SetInt.action"
+  "action/SetString.action"
+  DEPENDENCIES geometry_msgs action_msgs
 )
 
-generate_messages(
-  DEPENDENCIES actionlib_msgs geometry_msgs
-)
-
-catkin_package(
-    CATKIN_DEPENDS actionlib_msgs geometry_msgs message_runtime
-)
+ament_package()
diff --git a/cob_actions/package.xml b/cob_actions/package.xml
@@ -1,23 +1,20 @@
-<package format="2">
+<?xml version="1.0"?>
+<package format="3">
   <name>cob_actions</name>
   <version>0.8.12</version>
-  <description>This Package contains Care-O-bot specific action definitions.</description>
-
-  <license>Apache 2.0</license>
-
+  <description>This package contains Care-O-bot specific action definitions.</description>
+  <license>Apache-2.0</license>
   <url type="website">http://ros.org/wiki/cob_actions</url>
-  <!-- <url type="bugtracker"></url> -->
-
   <maintainer email="[email protected]">Benjamin Maidel</maintainer>
   <maintainer email="[email protected]">Denis Lehmann</maintainer>
   <maintainer email="[email protected]">Felix Messmer</maintainer>
-  <author email="[email protected]">Felix Messmer</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <depend>actionlib_msgs</depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
   <depend>geometry_msgs</depend>
-
+  <depend>action_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
 </package>
diff --git a/cob_common/CMakeLists.txt b/cob_common/CMakeLists.txt
@@ -1,4 +1,7 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(cob_common)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+
+# Make the ament_metapackage() command available.
+find_package(ament_cmake REQUIRED)
+
+ament_package()
diff --git a/cob_common/package.xml b/cob_common/package.xml
@@ -1,23 +1,22 @@
-<package format="2">
+<?xml version="1.0"?>
+<package format="3">
   <name>cob_common</name>
   <version>0.8.12</version>
-  <description>The cob_common stack hosts common packages that are used within the Care-O-bot repository. E.g. utility packages or common message and service definitions etc. Also the urdf desciption of the robot is located in this stack.</description>
-  <license>Apache 2.0</license>
-
+  <description>
+    The cob_common stack hosts common packages used within the Care-O-bot repository, such as utility packages or common message and service definitions.
+  </description>
+  <license>Apache-2.0</license>
   <url type="website">http://ros.org/wiki/cob_common</url>
-  <!-- <url type="bugtracker"></url> -->
-
   <maintainer email="[email protected]">Benjamin Maidel</maintainer>
   <maintainer email="[email protected]">Denis Lehmann</maintainer>
   <maintainer email="[email protected]">Felix Messmer</maintainer>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <!-- List dependencies on the subpackages -->
   <exec_depend>cob_actions</exec_depend>
   <exec_depend>cob_msgs</exec_depend>
   <exec_depend>cob_srvs</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
-  <export>
-    <metapackage/>
-  </export>
 </package>
diff --git a/cob_msgs/CMakeLists.txt b/cob_msgs/CMakeLists.txt
@@ -1,17 +1,21 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(cob_msgs)
-find_package(catkin REQUIRED COMPONENTS diagnostic_msgs message_generation std_msgs)
 
-add_message_files(FILES
-  AccessPoint.msg
-  DashboardState.msg
-  EmergencyStopState.msg
-  Network.msg
-  PowerState.msg
-  SafetyControllerState.msg
-  SiteSurvey.msg
-)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 
-generate_messages(DEPENDENCIES diagnostic_msgs std_msgs)
+# Assuming your message files are now located in the "msg" directory.
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/AccessPoint.msg"
+  "msg/DashboardState.msg"
+  "msg/EmergencyStopState.msg"
+  "msg/Network.msg"
+  "msg/PowerState.msg"
+  "msg/SafetyControllerState.msg"
+  "msg/SiteSurvey.msg"
+  DEPENDENCIES diagnostic_msgs std_msgs
+)
 
-catkin_package(CATKIN_DEPENDS diagnostic_msgs message_runtime std_msgs)
+ament_package()
diff --git a/cob_msgs/msg/AccessPoint.msg b/cob_msgs/msg/AccessPoint.msg
@@ -1,5 +1,5 @@
 # This message communicates the state of the PR2's wifi access point.
-Header header
+std_msgs/Header header
 string essid
 string macaddr
 int32 signal

diff --git a/cob_msgs/msg/PowerState.msg b/cob_msgs/msg/PowerState.msg
@@ -1,5 +1,5 @@
 # This message communicates the state of the power system.
-Header header
+std_msgs/Header header   
 float64 voltage                     # [V]
 float64 current                     # [A]
 float64 power_consumption           # [W] can only be calculated if not charging

diff --git a/cob_msgs/msg/SafetyControllerState.msg b/cob_msgs/msg/SafetyControllerState.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header 
 bool has_wireless_emstop
 bool has_fall_sensors
 bool has_magnetic_safety_switch

diff --git a/cob_msgs/msg/SiteSurvey.msg b/cob_msgs/msg/SiteSurvey.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header    
 Network[] networks
diff --git a/cob_msgs/package.xml b/cob_msgs/package.xml
@@ -1,24 +1,23 @@
-<package format="2">
+<?xml version="1.0"?>
+<package format="3">
   <name>cob_msgs</name>
   <version>0.8.12</version>
   <description>
-    Messages for representing state information, such as battery information and emergency stop status.
+    Messages for representing state information, such as battery and emergency stop statuses.
   </description>
-
   <maintainer email="[email protected]">Benjamin Maidel</maintainer>
   <maintainer email="[email protected]">Denis Lehmann</maintainer>
   <maintainer email="[email protected]">Felix Messmer</maintainer>
   <maintainer email="[email protected]">Florian Weisshardt</maintainer>
   <author email="[email protected]">Florian Weisshardt</author>
+  <license>Apache-2.0</license>
 
-  <license>Apache 2.0</license>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>diagnostic_msgs</depend>
   <depend>std_msgs</depend>
 
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
 </package>
diff --git a/cob_srvs/CMakeLists.txt b/cob_srvs/CMakeLists.txt
@@ -1,19 +1,17 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(cob_srvs)
 
-find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
-add_service_files(FILES
-  Dock.srv
-  SetFloat.srv
-  SetInt.srv
-  SetString.srv
-)
-
-generate_messages(
+# Assuming your service files are now in the "srv" directory.
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/Dock.srv"
+  "srv/SetFloat.srv"
+  "srv/SetInt.srv"
+  "srv/SetString.srv"
   DEPENDENCIES geometry_msgs
 )
 
-catkin_package(
-    CATKIN_DEPENDS geometry_msgs message_runtime
-)
+ament_package()