Convert to ament_cmake_python package.

Dockerfile

@@ -15,6 +15,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-demo-nodes-py \
     ros-${ROS_DISTRO}-dynamixel-workbench-toolbox \
     ros-${ROS_DISTRO}-robot-state-publisher \
+    ros-${ROS_DISTRO}-joint-state-publisher \
     ros-${ROS_DISTRO}-xacro \
     ros-${ROS_DISTRO}-ros2-controllers \
     && rm -rf /var/lib/apt/lists/*

helix_bringup/CMakeLists.txt

@@ -11,7 +11,6 @@ ament_python_install_package(${PROJECT_NAME} SCRIPTS_DESTINATION lib/${PROJECT_N
 
 # Install launch and config files.
 install(DIRECTORY
-  config
   launch
   DESTINATION share/${PROJECT_NAME}/
 )

helix_bringup/launch/helix_bringup.launch.py

@@ -1,5 +1,8 @@
 import os
 
+import xacro
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
@@ -22,6 +25,7 @@ def generate_launch_description():
 
     robot_description = os.path.join(get_package_share_directory("helix_description"), "urdf", "helix.urdf.xacro")
     robot_description_config = xacro.process_file(robot_description)
+
     robot_state_publisher = Node(
             package="robot_state_publisher",
             executable="robot_state_publisher",
@@ -40,9 +44,12 @@ def generate_launch_description():
         }]
     )
 
+
+
+
     controller_config = os.path.join(
         get_package_share_directory(
-            "dynamixel_block_description"), "controllers", "controllers.yaml"
+            "helix_description"), "config", "controllers.yaml"
     )
 
     dynamixel_block_ros2_control_node = Node(
@@ -53,15 +60,11 @@ def generate_launch_description():
             output="screen",
         )
 
-    joint_publisher_config = os.path.join(
-        get_package_share_directory(
-            "helix_description"), "config", "params.yaml"
-        )
-
     dynamixel_block_joint_state_broadcaster_node =   Node(
             package="controller_manager",
             executable="spawner",
-            arguments=["dynamixel_joint_state_publisher", "--controller-manager", "/controller_manager", "-p", joint_publisher_config],
+            arguments=["dynamixel_joint_state_publisher", "--controller-manager", "/controller_manager"],
+            parameters=[controller_config],
             output="screen",
         )
 
@@ -75,8 +78,8 @@ def generate_launch_description():
 
 
 
-    ld.add_action(talker_node)
-    ld.add_action(listener_node)
+    # ld.add_action(talker_node)
+    # ld.add_action(listener_node)
     ld.add_action(robot_state_publisher)
     ld.add_action(joint_state_publisher_node)
     ld.add_action(dynamixel_block_ros2_control_node)

helix_bringup/package.xml

@@ -12,6 +12,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
+  <exec_depend>helix_description</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

helix_description/CMakeLists.txt

@@ -27,7 +27,7 @@ find_package(dynamixel_hardware REQUIRED)
 install(DIRECTORY
   meshes
   urdf
-  controllers
+  config
   DESTINATION share/${PROJECT_NAME}
 )
 

helix_description/controllers/controllers.yaml → helix_description/config/controllers.yaml

@@ -8,6 +8,7 @@ controller_manager:
     dynamixel_joint_state_publisher:
       type: joint_state_broadcaster/JointStateBroadcaster
 
+
 dynamixel_position_controller:
   ros__parameters:
     joints:
@@ -23,3 +24,7 @@ dynamixel_position_controller:
       - dynamixel9
       - dynamixel10
       - dynamixel11
+
+dynamixel_joint_state_publisher:
+  ros__parameters:
+    use_local_topics: True

helix_description/urdf/helix.xacro

@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <robot name="URDF_Hand" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<xacro:include filename="$(find helix_description)/urdf/helix_description.materials.xacro" />
+<xacro:include filename="$(find helix_description)/urdf/helix.materials.xacro" />
 
 <link name="base_link">
   <inertial>