Using ROS 2 dependencies

[marcbone]

With this PR you can compile xbot2_interface with ROS 2 dependencies.

Install instructions:

sudo apt install -y libboost-all-dev ros-humble-srdfdom ros-humble-pinocchio ros-humble-tf2-eigen-kdl ros-humble-hpp-fcl ros-humble-geometric-shapes ros-humble-moveit-core

mkdir build
cd build
source /opt/ros/humble/setup.bash
cmake .. -DCMAKE_BUILD_TYPE=Release 
make -j16
cpack -G DEB
sudo dpkg -i *.deb

[Pouya-moh]

If I run this I get cmake warnings for pinocchio

CMake Warning at pinocchio/CMakeLists.txt:3 (add_library):
  Cannot generate a safe runtime search path for target modelinterface2_pin
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [liburdfdom_sensor.so.3.0] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /opt/ros/humble/lib/x86_64-linux-gnu
    runtime library [liburdfdom_model_state.so.3.0] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /opt/ros/humble/lib/x86_64-linux-gnu
    runtime library [liburdfdom_model.so.3.0] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /opt/ros/humble/lib/x86_64-linux-gnu
    runtime library [liburdfdom_world.so.3.0] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /opt/ros/humble/lib/x86_64-linux-gnu

  Some of these libraries may not be found correctly.

But bigger problem is as follows:

• I ignore the cmake warning and made the package
• now if I run the camke again or try to do make install this raise an error.

I this normal behaviour?

[Pouya-moh]

The PR seems to be working, however, there is one issue which we need to tackle in some point in the future. See the comment made in this PR for reference. Please do NOT delete the branch after merge.

[Pouya-moh]

There seems to be a bug related to cmake, python or our PR. To replicate, simply do the following:

cd /tmp
git clone -b ros2-deps https://github.com/Gauss-Robotics/xbot2_interface.git
cd xbot2_interface
mkdir build && cd build
cmake .. 

This will work with some warnings, however, if you try

cmake ..

again, it will fail. See this gist.