Humble (#54)

* fix nav2_sms_behavior for humble

* nav2_sms_behavior fix depend package

* add CMAKELIST to sam bot

* fix depend package

* fixed curl package

Author: Ryujiyasu

nav2_sms_recovery/CMakeLists.txt nav2_sms_behavior/CMakeLists.txtnav2_sms_recovery/CMakeLists.txt renamed to nav2_sms_behavior/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(nav2_sms_recovery)
+project(nav2_sms_behavior)
 
 # Default to C++14
 set(CMAKE_CXX_STANDARD 14)
@@ -19,8 +19,11 @@ find_package(builtin_interfaces REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
 find_package(nav2_core REQUIRED)
-find_package(nav2_recoveries REQUIRED)
+find_package(nav2_behaviors REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(CURL REQUIRED)
 
 include_directories(
   include
@@ -43,16 +46,17 @@ set(dependencies
   nav2_costmap_2d
   nav2_core
   pluginlib
-  nav2_recoveries
+  nav2_behaviors
+  CURL
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "action/SmsRecovery.action"
+  "action/SendSms.action"
   DEPENDENCIES builtin_interfaces std_msgs
 )
 
 add_library(${library_name} SHARED
-  src/sms_recovery.cpp
+  src/send_sms.cpp
   src/twilio.cpp
 )
 
@@ -62,9 +66,11 @@ ament_target_dependencies(${library_name}
   ${dependencies}
 )
 
-rosidl_target_interfaces(${library_name} ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(${library_name}  "${cpp_typesupport_target}")
 
-pluginlib_export_plugin_description_file(nav2_core recovery_plugin.xml)
+
+pluginlib_export_plugin_description_file(nav2_core behavior_plugin.xml)
 
 install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
@@ -76,7 +82,7 @@ install(DIRECTORY include/
   DESTINATION include/
 )
 
-install(FILES recovery_plugin.xml
+install(FILES behavior_plugin.xml
   DESTINATION share/${PROJECT_NAME}
 )
 

…2_sms_recovery/action/SmsRecovery.action nav2_sms_behavior/action/SendSms.actionnav2_sms_recovery/action/SmsRecovery.action renamed to nav2_sms_behavior/action/SendSms.action nav2_sms_recovery/action/SmsRecovery.action renamed to nav2_sms_behavior/action/SendSms.action

@@ -0,0 +1,5 @@
+<library path="nav2_sms_behavior_plugin">
+  <class name="nav2_sms_behavior/SendSms" type="nav2_sms_behavior::SendSms" base_class_type="nav2_core::Behavior">
+    <description>This is an example plugin which produces an SMS text message behavior.</description>
+  </class>
+</library>

nav2_sms_behavior/behavior_plugin.xml

@@ -8,21 +8,21 @@
 #include <string>
 #include <memory>
 
-#include "nav2_recoveries/recovery.hpp"
-#include "nav2_sms_recovery/action/sms_recovery.hpp"
-#include "nav2_sms_recovery/twilio.hpp"
+#include "nav2_behaviors/timed_behavior.hpp"
+#include "nav2_sms_behavior/action/send_sms.hpp"
+#include "nav2_sms_behavior/twilio.hpp"
 
-namespace nav2_sms_recovery
+namespace nav2_sms_behavior
 {
 
-using namespace nav2_recoveries;  // NOLINT
-using Action = nav2_sms_recovery::action::SmsRecovery;
+using namespace nav2_behaviors;  // NOLINT
+using Action = nav2_sms_behavior::action::SendSms;
 
-class SMSRecovery : public Recovery<Action>
+class SendSms : public TimedBehavior<Action>
 {
 public:
-  SMSRecovery();
-  ~SMSRecovery();
+  SendSms();
+  ~SendSms();
 
   Status onRun(const std::shared_ptr<const Action::Goal> command) override;
 

…clude/nav2_sms_recovery/sms_recovery.hpp …r/include/nav2_sms_behavior/send_sms.hppnav2_sms_recovery/include/nav2_sms_recovery/sms_recovery.hpp renamed to nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp nav2_sms_recovery/include/nav2_sms_recovery/sms_recovery.hpp renamed to nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>nav2_sms_recovery</name>
+  <name>nav2_sms_behavior</name>
   <version>1.0.0</version>
-  <description>Simple SMS recovery.</description>
+  <description>Simple SMS send behavior.</description>
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <license>MIT</license>
 
@@ -25,15 +25,17 @@
   <depend>builtin_interfaces</depend>
   <depend>tf2_ros</depend>
   <depend>nav2_costmap_2d</depend>
-  <depend>nav2_recoveries</depend>
+  <depend>nav2_behaviors</depend>
   <depend>nav2_core</depend>
   <depend>pluginlib</depend>
+  <depend>action_msgs</depend>
+  <depend>curl</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
-    <nav2_core plugin="${prefix}/recovery_plugin.xml" />
+    <nav2_core plugin="${prefix}/behavior_plugin.xml" />
   </export>
 </package>

…ery/include/nav2_sms_recovery/twilio.hpp …ior/include/nav2_sms_behavior/twilio.hppnav2_sms_recovery/include/nav2_sms_recovery/twilio.hpp renamed to nav2_sms_behavior/include/nav2_sms_behavior/twilio.hpp nav2_sms_recovery/include/nav2_sms_recovery/twilio.hpp renamed to nav2_sms_behavior/include/nav2_sms_behavior/twilio.hpp

@@ -5,35 +5,35 @@
 #include <chrono>
 #include <memory>
 
-#include "nav2_sms_recovery/sms_recovery.hpp"
+#include "nav2_sms_behavior/send_sms.hpp"
 
-namespace nav2_sms_recovery
+namespace nav2_sms_behavior
 {
 
-SMSRecovery::SMSRecovery()
-: Recovery<Action>()
+SendSms::SendSms()
+: TimedBehavior<Action>()
 {
 }
 
-SMSRecovery::~SMSRecovery()
+SendSms::~SendSms()
 {
 }
 
-void SMSRecovery::onConfigure()
+void SendSms::onConfigure()
 {
   auto node = node_.lock();
-  node->declare_parameter("account_sid");
+  node->declare_parameter("account_sid","");
   _account_sid = node->get_parameter("account_sid").as_string();
-  node->declare_parameter("auth_token");
+  node->declare_parameter("auth_token","");
   _auth_token = node->get_parameter("auth_token").as_string();
-  node->declare_parameter("from_number");
+  node->declare_parameter("from_number","");
   _from_number = node->get_parameter("from_number").as_string();
-  node->declare_parameter("to_number");
+  node->declare_parameter("to_number","");
   _to_number = node->get_parameter("to_number").as_string();
   _twilio = std::make_shared<twilio::Twilio>(_account_sid, _auth_token);
 }
 
-Status SMSRecovery::onRun(const std::shared_ptr<const Action::Goal> command)
+Status SendSms::onRun(const std::shared_ptr<const Action::Goal> command)
 {
   auto node = node_.lock();
   std::string response;
@@ -44,7 +44,6 @@ Status SMSRecovery::onRun(const std::shared_ptr<const Action::Goal> command)
     response,
     "",
     false);
-
   if (!message_success) {
     RCLCPP_INFO(node->get_logger(), "SMS send failed.");
     return Status::FAILED;
@@ -54,12 +53,12 @@ Status SMSRecovery::onRun(const std::shared_ptr<const Action::Goal> command)
   return Status::SUCCEEDED;
 }
 
-Status SMSRecovery::onCycleUpdate()
+Status SendSms::onCycleUpdate()
 {
   return Status::SUCCEEDED;
 }
 
-}  // namespace nav2_sms_recovery
+}  // namespace nav2_sms_behavior
 
 #include "pluginlib/class_list_macros.hpp"
-PLUGINLIB_EXPORT_CLASS(nav2_sms_recovery::SMSRecovery, nav2_core::Recovery)
+PLUGINLIB_EXPORT_CLASS(nav2_sms_behavior::SendSms, nav2_core::Behavior)

…de/nav2_sms_recovery/type_conversion.hpp …de/nav2_sms_behavior/type_conversion.hppnav2_sms_recovery/include/nav2_sms_recovery/type_conversion.hpp renamed to nav2_sms_behavior/include/nav2_sms_behavior/type_conversion.hpp nav2_sms_recovery/include/nav2_sms_recovery/type_conversion.hpp renamed to nav2_sms_behavior/include/nav2_sms_behavior/type_conversion.hpp

@@ -4,7 +4,7 @@
 #include <sstream>
 #include <curl/curl.h>
 
-#include "nav2_sms_recovery/twilio.hpp"
+#include "nav2_sms_behavior/twilio.hpp"
 
 
 namespace twilio {