ros2 port

CMakeLists.txt

@@ -1,18 +1,23 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(rqt_py_console)
-# Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED)
-catkin_package()
-catkin_python_setup()
+
+# Load ament and all dependencies required for this package
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME}
+    PACKAGE_DIR src/${PROJECT_NAME})
 
 install(FILES plugin.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION share/${PROJECT_NAME}
 )
 
 install(DIRECTORY resource
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION share/${PROJECT_NAME}
 )
 
 install(PROGRAMS scripts/rqt_py_console
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  DESTINATION lib/${PROJECT_NAME}
 )
+
+ament_package()

package.xml

@@ -1,4 +1,4 @@
-<package>
+<package format="2">
   <name>rqt_py_console</name>
   <version>0.4.8</version>
   <description>rqt_py_console is a Python GUI plugin providing an interactive Python console.</description>
@@ -12,18 +12,18 @@
 
   <author>Dorian Scholz</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <run_depend version_gte="0.2.19">python_qt_binding</run_depend>
-  <run_depend>python-rospkg</run_depend>
-  <run_depend>qt_gui</run_depend>
-  <run_depend>qt_gui_py_common</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>rqt_gui</run_depend>
-  <run_depend>rqt_gui_py</run_depend>
+  <exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>
+  <exec_depend>qt_gui</exec_depend>
+  <exec_depend>qt_gui_py_common</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>rqt_gui</exec_depend>
+  <exec_depend>rqt_gui_py</exec_depend>
 
   <export>
     <architecture_independent/>
     <qt_gui plugin="${prefix}/plugin.xml"/>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

scripts/rqt_py_console

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import sys
 

src/rqt_py_console/py_console_widget.py

@@ -31,7 +31,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 import os
-import rospkg
+from ament_index_python.resources import get_resource
 
 from python_qt_binding import loadUi
 from python_qt_binding.QtWidgets import QWidget
@@ -42,8 +42,11 @@ class PyConsoleWidget(QWidget):
 
     def __init__(self, context=None):
         super(PyConsoleWidget, self).__init__()
-        rp = rospkg.RosPack()
-        ui_file = os.path.join(rp.get_path('rqt_py_console'), 'resource', 'py_console_widget.ui')
+
+        _, package_path = get_resource('packages', 'rqt_py_console')
+        ui_file = os.path.join(
+            package_path, 'share', 'rqt_py_console', 'resource', 'py_console_widget.ui')
+
         loadUi(ui_file, self, {'PyConsoleTextEdit': PyConsoleTextEdit})
         self.setObjectName('PyConsoleWidget')