Make the gripper dummy a ROS2 package

That's easier for installation and usage in the driver's test
repository.
The idea is, still, to keep the dummy ROS2-free in case we want to
ship it separately.

schunk_egu_egk_gripper_dummy/README.md

@@ -1,27 +1,24 @@
 # Schunk EGU/EGK Dummy
 A minimalist protocol simulator for system tests.
 
-## Install
-Use a virtual environment and
+## Dependencies
+
 ```bash
 pip install fastapi uvicorn
 ```
 
 ## Getting started
-1. In a new terminal, start the dummy
+1. Start the dummy standalone with
     ```bash
-    uvicorn main:server --port 8000 --reload
+    uvicorn schunk_egu_egk_gripper_dummy.main:server --port 8000 --reload
     ```
 
 ## Run tests locally
 
-Inside a virtual environment (.venv)
-
 ```bash
 pip install pytest coverage
 ```
 
-And then inside this repository
 ```bash
 coverage run -m pytest tests/
 coverage report

schunk_egu_egk_gripper_dummy/package.xml

@@ -0,0 +1,13 @@
+<?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>schunk_egu_egk_gripper_dummy</name>
+  <version>0.0.0</version>
+  <description>A minimalist dummy for simulating the gripper's communication</description>
+  <maintainer email="[email protected]">Stefan Scherzinger</maintainer>
+  <license>GPL-3.0-or-later</license>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

schunk_egu_egk_gripper_dummy/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/schunk_egu_egk_gripper_dummy
+[install]
+install_scripts=$base/lib/schunk_egu_egk_gripper_dummy

schunk_egu_egk_gripper_dummy/setup.py

@@ -0,0 +1,27 @@
+from setuptools import find_packages, setup
+import os
+from glob import glob
+
+package_name = "schunk_egu_egk_gripper_dummy"
+
+setup(
+    name=package_name,
+    version="0.0.0",
+    packages=find_packages(exclude=["tests"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        (os.path.join("share", package_name), [package_name + "/main.py"]),
+        (os.path.join("share", package_name, "src"), glob("src/*.py")),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="Stefan Scherzinger",
+    maintainer_email="[email protected]",
+    description="A minimalist dummy for simulating the gripper's communication",
+    license="GPL-3.0-or-later",
+    tests_require=["pytest", "coverage"],
+    entry_points={
+        "console_scripts": [],
+    },
+)

schunk_egu_egk_gripper_tests/test/conftest.py

@@ -6,6 +6,8 @@
 from launch_ros.substitutions import FindPackageShare
 import launch_pytest
 import subprocess
+from ament_index_python.packages import get_package_share_directory
+
 
 # We avoid black's F811, F401 linting warnings
 # by using pytest's special conftest.py file.
@@ -22,7 +24,8 @@ def isolated():
 
 @pytest.fixture()
 def gripper_dummy():
-    dummy_dir = "/home/stefan/src/ros2_workspaces/egu-egk/src/schunk_egu_egk_gripper/schunk_egu_egk_gripper_dummy"  # noqa: E501
+    package_name = "schunk_egu_egk_gripper_dummy"
+    dummy_dir = get_package_share_directory(package_name)
     start_cmd = " uvicorn main:server --port 8000"
     p = subprocess.Popen(
         "exec" + start_cmd, stdin=subprocess.PIPE, cwd=dummy_dir, shell=True