Build spacenav_device along with main project

Author: PeterBowman

.github/workflows/ci.yml

@@ -83,7 +83,7 @@ jobs:
         path: .deps/swig
 
     - name: Install dependencies via apt
-      run: apt-get update && apt-get install -qq ccache make ${{matrix.system.compiler.apt}} libeigen3-dev bison googletest
+      run: apt-get update && apt-get install -qq ccache make ${{matrix.system.compiler.apt}} libeigen3-dev bison ros-${{matrix.system.ros}}-tf2 ros-${{matrix.system.ros}}-tf2-geometry-msgs googletest
 
     - name: Set up CMake
       uses: jwlawson/actions-setup-cmake@v2

CMakeLists.txt

@@ -68,6 +68,14 @@ add_subdirectory(bindings)
 add_subdirectory(doc)
 add_subdirectory(examples/cpp)
 
+# ROS workspace.
+cmake_dependent_option(ENABLE_ros2_ws_spacenav_device "Enable/disable spacenav_device ROS 2 package" ON
+                       rclcpp_FOUND OFF)
+
+if(ENABLE_ros2_ws_spacenav_device)
+    add_subdirectory(ros2_ws/src/spacenav_device)
+endif()
+
 # Collect public exported dependencies.
 get_property(_exported_dependencies GLOBAL PROPERTY _exported_dependencies)
 

ros2_ws/src/spacenav_device/CMakeLists.txt

@@ -22,14 +22,18 @@ find_package(geometry_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 
+if(NOT TARGET ROBOTICSLAB::KinematicsDynamicsInterfaces)
+  find_package(ROBOTICSLAB_KINEMATICS_DYNAMICS REQUIRED)
+endif()
+
 add_executable(spacenav_device src/spacenav_device.cpp)
 
+target_link_libraries(spacenav_device ROBOTICSLAB::KinematicsDynamicsInterfaces)
+
 ament_target_dependencies(spacenav_device rclcpp std_msgs sensor_msgs geometry_msgs tf2 tf2_geometry_msgs)
 
 install(TARGETS
   spacenav_device
   DESTINATION lib/${PROJECT_NAME})
 
 ament_package()
-
-

ros2_ws/src/spacenav_device/include/spacenav_device.hpp

@@ -4,8 +4,6 @@
 #include <string>
 #include <mutex>
 
-#include <ICartesianControl.h>
-
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/twist.hpp>
@@ -20,27 +18,33 @@
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/LinearMath/Vector3.h>
 
+#include <ICartesianControl.h>
+
 using SetParameters = rcl_interfaces::srv::SetParameters;
 using Parameter = rcl_interfaces::msg::Parameter;
 using ParameterValue = rcl_interfaces::msg::ParameterValue;
 using SetParametersResult = rcl_interfaces::msg::SetParametersResult;
 
+/**
+ * @ingroup kinematics-dynamics-programs
+ * @defgroup SpacenavSubscriber SpacenavSubscriber
+ * @brief Creates an instance of SpacenavSubscriber.
+ */
 class SpacenavSubscriber : public rclcpp::Node
 {
 public:
     SpacenavSubscriber();
-    ~SpacenavSubscriber();
 
 private:
     void spnav_callback(const sensor_msgs::msg::Joy::SharedPtr msg);
     void state_callback(const geometry_msgs::msg::PoseStamped::SharedPtr msg);
-    bool set_preset_streaming_cmd(const std::string &value); 
+    bool set_preset_streaming_cmd(const std::string &value);
     SetParametersResult parameter_callback(const std::vector<rclcpp::Parameter> &parameters);
     void timer_callback();
 
     rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr subscription_spnav_{nullptr};
     rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscription_state_pose_{nullptr};
-    
+
     rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_spnav_twist_{nullptr};
     rclcpp::Publisher<geometry_msgs::msg::Pose>::SharedPtr publisher_spnav_pose_{nullptr};
     rclcpp::Publisher<geometry_msgs::msg::Wrench>::SharedPtr publisher_spnav_wrench_{nullptr};
@@ -75,6 +79,4 @@ class SpacenavSubscriber : public rclcpp::Node
     /*Notice that order of gripper_state enum values matches the same order from CartesianControlServerROS2. If modify, please, update*/
     enum gripper_state { GRIPPER_NONE, GRIPPER_OPEN, GRIPPER_CLOSE, GRIPPER_STOP };
     gripper_state gripper_state_{GRIPPER_NONE};
-
 };
-