Merge pull request #8 from RonaldsonBellande/main

latest changes
2023-10-03 23:43:34 -04:00
parent 6cc33c656c ed1800f078
commit 7d1d4d8abe
20 changed files with 471 additions and 379 deletions
--- a/2
+++ b/2
@ -186,7 +186,7 @@
      same "printed page" as the copyright notice for easier
      identification within third-party archives.

-   Copyright {yyyy} {name of copyright owner}
+   Copyright 2023 Ronaldson Bellande

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
--- a/README.md
+++ b/README.md
@ -14,6 +14,11 @@ the new commits and codes are under New License
 Latest versions and Maintainer is on organization https://github.com/Robotics-Sensors


+# USE CASE
+--------------------------------------------------------------------------------------------------------
+* Every repository within our organization is a valuable resource that can be utilized for educational purposes by individuals who actively contribute to the repository or choose to become sponsors of the organization. For those who wish to use our services conversationally, the acquisition of a license and subscription from our company website is mandatory. This ensures that the services are appropriately compensated for their use. Additionally, for the 90% of services designated as private, acquiring a license and subscription can be facilitated through our company website. We encourage interested parties to visit our website to explore and procure the necessary licenses and subscriptions for the diverse range of services and products we offer. Your support and commitment enable us to maintain and enhance the quality of our offerings, contributing to a thriving collaborative environment.
+--------------------------------------------------------------------------------------------------------
+
 ### Maintainer
 * Ronaldson Bellande

--- a/humanoid_msgs/CMakeLists.txt
+++ b/humanoid_msgs/CMakeLists.txt
@ -1,4 +1,17 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_msgs)
-find_package(catkin REQUIRED)
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED)
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package()
+else()
+  ament_package()
+endif()
+
 catkin_metapackage()
--- a/humanoid_msgs/package.xml
+++ b/humanoid_msgs/package.xml
@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="3">
  <name>humanoid_msgs</name>
  <version>0.3.0</version>
  <description>
@ -8,7 +9,10 @@
  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
  <license>Apache 2.0</license>

-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+
  <export>
    <metapackage />
  </export>
--- a/humanoid_nav_msgs/CMakeLists.txt
+++ b/humanoid_nav_msgs/CMakeLists.txt
@ -1,29 +1,43 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_nav_msgs)

 #List to make rest of code more readable
 set(MESSAGE_DEPENDENCIES std_msgs geometry_msgs actionlib_msgs)

-#Declare build dependencies
-find_package(
-  catkin REQUIRED
-  COMPONENTS
-  message_generation
-  ${MESSAGE_DEPENDENCIES}
-)

-#Add message files
-add_message_files(DIRECTORY msg FILES StepTarget.msg)
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED
+    COMPONENTS
+    message_generation
+    ${MESSAGE_DEPENDENCIES}
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  add_service_files(
+    DIRECTORY srv
+    FILES
+    ClipFootstep.srv
+    PlanFootsteps.srv
+    PlanFootstepsBetweenFeet.srv
+    StepTargetService.srv
+  )
+else()
+  ament_package()
+endif()
+
+
+add_message_files(
+  DIRECTORY 
+  msg 
+  FILES 
+  StepTarget.msg
+  )

-#Add service files
-add_service_files(
-  DIRECTORY srv
-  FILES
-  ClipFootstep.srv
-  PlanFootsteps.srv
-  PlanFootstepsBetweenFeet.srv
-  StepTargetService.srv
-)

 #Add action files
 add_action_files(
--- a/humanoid_nav_msgs/package.xml
+++ b/humanoid_nav_msgs/package.xml
@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="3">
  <name>humanoid_nav_msgs</name>
  <version>0.3.0</version>
  <description>
@ -8,15 +9,34 @@
  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
  <license>Apache 2.0</license>

-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+
+  <condition if="$ROS_VERSION == 1">
+    <build_depend>message_generation</build_depend>
+    <build_depend>std_msgs</build_depend>
+    <build_depend>geometry_msgs</build_depend>
+    <build_depend>actionlib_msgs</build_depend>
+
+    <run_depend>message_runtime</run_depend>
+    <run_depend>std_msgs</run_depend>
+    <run_depend>geometry_msgs</run_depend>
+    <run_depend>actionlib_msgs</run_depend>
+  </condition>
+
+
+  <condition if="$ROS_VERSION == 2">
+    <build_depend>message_generation</build_depend>
+    <build_depend>std_msgs</build_depend>
+    <build_depend>geometry_msgs</build_depend>
+    <build_depend>actionlib_msgs</build_depend>
+
+    <run_depend>message_runtime</run_depend>
+    <run_depend>std_msgs</run_depend>
+    <run_depend>geometry_msgs</run_depend>
+    <run_depend>actionlib_msgs</run_depend>
+  </condition>

-  <build_depend>message_generation</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>actionlib_msgs</build_depend>

-  <run_depend>message_runtime</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>actionlib_msgs</run_depend>
 </package>
--- a/humanoid_robot_action_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_action_module_msgs/CMakeLists.txt
@ -1,25 +1,18 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_action_module_msgs)

-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  message_generation
-)

-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+

-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
  FILES
  StartAction.msg
@ -35,27 +28,13 @@ generate_messages(
  std_msgs
 )

-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################

-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    std_msgs
+    message_runtime
+  )
+else()
+  ament_package()
+endif()
--- a/humanoid_robot_action_module_msgs/package.xml
+++ b/humanoid_robot_action_module_msgs/package.xml
@ -1,23 +1,43 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
  <name>humanoid_robot_action_module_msgs</name>
  <version>0.3.0</version>
  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
  <license>Apache 2.0</license>
  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>

-  <build_depend>std_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>

-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>message_generation</build_export_depend>
-  <build_export_depend>message_runtime</build_export_depend>
+  <condition if="$ROS_VERSION == 1">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>
+
+
+  <condition if="$ROS_VERSION == 2">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>

-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_depend>

 </package>
--- a/humanoid_robot_controller_msgs/CMakeLists.txt
+++ b/humanoid_robot_controller_msgs/CMakeLists.txt
@ -1,26 +1,19 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_controller_msgs)

-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  sensor_msgs
-  message_generation
-)

-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    sensor_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+

-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
  FILES
  SyncWriteItem.msg
@ -43,28 +36,13 @@ generate_messages(
  sensor_msgs
 )

-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################
-
-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  sensor_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    std_msgs
+    sensor_msgs
+    message_runtime
+  )
+else()
+  ament_package()
+endif()
--- a/humanoid_robot_controller_msgs/package.xml
+++ b/humanoid_robot_controller_msgs/package.xml
@ -1,27 +1,49 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
  <name>humanoid_robot_controller_msgs</name>
  <version>0.3.0</version>
  <description>This package includes ROS messages and services for humanoid_robot_framework packages</description>
  <license>Apache 2.0</license>
  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>

-  <build_depend>std_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>

-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>message_generation</build_export_depend>
-  <build_export_depend>message_runtime</build_export_depend>
+  <condition if="$ROS_VERSION == 1">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>

-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>sensor_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>sensor_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>
+
+
+  <condition if="$ROS_VERSION == 2">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>sensor_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>sensor_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>


 </package>
--- a/humanoid_robot_msgs/CMakeLists.txt
+++ b/humanoid_robot_msgs/CMakeLists.txt
@ -1,4 +1,17 @@
-cmake_minimum_required(VERSION 0.3.0)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_msgs)
-find_package(catkin REQUIRED)
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED)
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package()
+else()
+  ament_package()
+endif()
+
 catkin_metapackage()
--- a/humanoid_robot_msgs/package.xml
+++ b/humanoid_robot_msgs/package.xml
@ -1,27 +1,50 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
  <name>humanoid_robot_msgs</name>
  <version>0.3.0</version>
  <description>ROS messages packages for the ROBOTIS HUMANOID_ROBOT (meta package)</description>
  <license>Apache 2.0</license>
  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>

-  <build_depend>humanoid_robot_action_module_msgs</build_depend>
-  <build_depend>humanoid_robot_offset_tuner_msgs</build_depend>
-  <build_depend>humanoid_robot_online_walking_module_msgs</build_depend>
-  <build_depend>humanoid_robot_walking_module_msgs</build_depend>

-  <build_export_depend>humanoid_robot_action_module_msgs</build_export_depend>
-  <build_export_depend>humanoid_robot_offset_tuner_msgs</build_export_depend>
-  <build_export_depend>humanoid_robot_online_walking_module_msgs</build_export_depend>
-  <build_export_depend>humanoid_robot_walking_module_msgs</build_export_depend>
+  <condition if="$ROS_VERSION == 1">
+    <build_depend>humanoid_robot_action_module_msgs</build_depend>
+    <build_depend>humanoid_robot_offset_tuner_msgs</build_depend>
+    <build_depend>humanoid_robot_online_walking_module_msgs</build_depend>
+    <build_depend>humanoid_robot_walking_module_msgs</build_depend>
+
+    <build_export_depend>humanoid_robot_action_module_msgs</build_export_depend>
+    <build_export_depend>humanoid_robot_offset_tuner_msgs</build_export_depend>
+    <build_export_depend>humanoid_robot_online_walking_module_msgs</build_export_depend>
+    <build_export_depend>humanoid_robot_walking_module_msgs</build_export_depend>
+
+    <exec_depend>humanoid_robot_action_module_msgs</exec_depend>
+    <exec_depend>humanoid_robot_offset_tuner_msgs</exec_depend>
+    <exec_depend>humanoid_robot_online_walking_module_msgs</exec_depend>
+    <exec_depend>humanoid_robot_walking_module_msgs</exec_depend>
+  </condition>
+
+
+  <condition if="$ROS_VERSION == 2">
+    <build_depend>humanoid_robot_action_module_msgs</build_depend>
+    <build_depend>humanoid_robot_offset_tuner_msgs</build_depend>
+    <build_depend>humanoid_robot_online_walking_module_msgs</build_depend>
+    <build_depend>humanoid_robot_walking_module_msgs</build_depend>
+
+    <build_export_depend>humanoid_robot_action_module_msgs</build_export_depend>
+    <build_export_depend>humanoid_robot_offset_tuner_msgs</build_export_depend>
+    <build_export_depend>humanoid_robot_online_walking_module_msgs</build_export_depend>
+    <build_export_depend>humanoid_robot_walking_module_msgs</build_export_depend>
+
+    <exec_depend>humanoid_robot_action_module_msgs</exec_depend>
+    <exec_depend>humanoid_robot_offset_tuner_msgs</exec_depend>
+    <exec_depend>humanoid_robot_online_walking_module_msgs</exec_depend>
+    <exec_depend>humanoid_robot_walking_module_msgs</exec_depend>
+  </condition>

-  <exec_depend>humanoid_robot_action_module_msgs</exec_depend>
-  <exec_depend>humanoid_robot_offset_tuner_msgs</exec_depend>
-  <exec_depend>humanoid_robot_online_walking_module_msgs</exec_depend>
-  <exec_depend>humanoid_robot_walking_module_msgs</exec_depend>

  <export>
    <metapackage />
--- a/humanoid_robot_offset_tuner_msgs/CMakeLists.txt
+++ b/humanoid_robot_offset_tuner_msgs/CMakeLists.txt
@ -1,25 +1,18 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_offset_tuner_msgs)

-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  message_generation
-)

-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+

-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
  FILES
  JointOffsetData.msg
@ -38,27 +31,13 @@ generate_messages(
  std_msgs
 )

-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################

-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    std_msgs
+    message_runtime
+  )
+else()
+  ament_package()
+endif()
--- a/humanoid_robot_offset_tuner_msgs/package.xml
+++ b/humanoid_robot_offset_tuner_msgs/package.xml
@ -1,23 +1,43 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
  <name>humanoid_robot_offset_tuner_msgs</name>
  <version>0.3.0</version>
  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
  <license>Apache 2.0</license>
  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>

-  <build_depend>std_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>

-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>message_generation</build_export_depend>
-  <build_export_depend>message_runtime</build_export_depend>
+  <condition if="$ROS_VERSION == 1">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>
+
+
+  <condition if="$ROS_VERSION == 2">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>

-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_depend>

 </package>
--- a/humanoid_robot_online_walking_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_online_walking_module_msgs/CMakeLists.txt
@ -1,27 +1,20 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_online_walking_module_msgs)

-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  sensor_msgs
-  geometry_msgs
-  message_generation
-)

-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    sensor_msgs
+    geometry_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+

-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
  FILES
  JointPose.msg
@ -49,29 +42,14 @@ generate_messages(
  geometry_msgs
 )

-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################
-
-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  sensor_msgs
-  geometry_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    std_msgs
+    sensor_msgs
+    geometry_msgs
+    message_runtime
+  )
+else()
+  ament_package()
+endif()
--- a/humanoid_robot_online_walking_module_msgs/package.xml
+++ b/humanoid_robot_online_walking_module_msgs/package.xml
@ -1,29 +1,55 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
  <name>humanoid_robot_online_walking_module_msgs</name>
  <version>0.3.0</version>
  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
  <license>Apache 2.0</license>
  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>

-  <build_depend>std_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>

-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>message_generation</build_export_depend>
-  <build_export_depend>message_runtime</build_export_depend>
+  <condition if="$ROS_VERSION == 1">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>geometry_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>sensor_msgs</build_export_depend>
+    <build_export_depend>geometry_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>sensor_msgs</exec_depend>
+    <exec_depend>geometry_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>
+
+
+  <condition if="$ROS_VERSION == 2">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>geometry_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>sensor_msgs</build_export_depend>
+    <build_export_depend>geometry_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>sensor_msgs</exec_depend>
+    <exec_depend>geometry_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>

-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_depend>

 </package>
--- a/humanoid_robot_tuning_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_tuning_module_msgs/CMakeLists.txt
@ -1,25 +1,18 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 0.3.0)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_tuning_module_msgs)

-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  message_generation
-)

-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+

-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
  FILES
  JointOffsetData.msg
@ -38,27 +31,13 @@ generate_messages(
  std_msgs
 )

-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    std_msgs
+    message_runtime
+  )
+else()
+  ament_package()
+endif()

-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
--- a/humanoid_robot_tuning_module_msgs/package.xml
+++ b/humanoid_robot_tuning_module_msgs/package.xml
@ -1,23 +1,43 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
  <name>humanoid_robot_tuning_module_msgs</name>
  <version>0.3.0</version>
  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
  <license>Apache 2.0</license>
  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>

-  <build_depend>std_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>

-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>message_generation</build_export_depend>
-  <build_export_depend>message_runtime</build_export_depend>
+  <condition if="$ROS_VERSION == 1">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>
+
+
+  <condition if="$ROS_VERSION == 2">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>

-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_depend>

 </package>
--- a/humanoid_robot_walking_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_walking_module_msgs/CMakeLists.txt
@ -1,25 +1,18 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_walking_module_msgs)

-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  message_generation
-)

-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+

-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
  FILES
  WalkingParam.msg
@ -36,27 +29,13 @@ generate_messages(
  std_msgs
 )

-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################

-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    std_msgs
+    message_runtime
+  )
+else()
+  ament_package()
+endif()
--- a/humanoid_robot_walking_module_msgs/package.xml
+++ b/humanoid_robot_walking_module_msgs/package.xml
@ -1,23 +1,43 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
  <name>humanoid_robot_walking_module_msgs</name>
  <version>0.3.0</version>
  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
  <license>Apache 2.0</license>
  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>

-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>

-  <build_depend>std_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>

-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>message_generation</build_export_depend>
-  <build_export_depend>message_runtime</build_export_depend>
+  <condition if="$ROS_VERSION == 1">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>
+
+
+  <condition if="$ROS_VERSION == 2">
+    <build_depend>std_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>message_runtime</build_depend>
+
+    <build_export_depend>std_msgs</build_export_depend>
+    <build_export_depend>message_generation</build_export_depend>
+    <build_export_depend>message_runtime</build_export_depend>
+
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>message_generation</exec_depend>
+    <exec_depend>message_runtime</exec_depend>
+  </condition>

-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_depend>

 </package>