Fixed formatting/spacing

OrebroUniversity · Jan 8, 2014 · 6175597 · 6175597
2 parents c02a208 + dadba2f
commit 6175597
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Showing 4 changed files with 46 additions and 27 deletions.
diff --git a/industrial_msgs/CMakeLists.txt b/industrial_msgs/CMakeLists.txt
@@ -1,14 +1,9 @@
-# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
 cmake_minimum_required(VERSION 2.8.3)
+
 project(industrial_msgs)
-# Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS std_msgs trajectory_msgs genmsg message_generation)
 
-#######################################
-## Declare ROS messages and services ##
-#######################################
+find_package(catkin REQUIRED COMPONENTS std_msgs trajectory_msgs genmsg message_generation)
 
-## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   DebugLevel.msg
@@ -18,7 +13,6 @@ add_message_files(
   ServiceReturnCode.msg
   TriState.msg)
 
-## Generate services in the 'srv' folder
 add_service_files(
   FILES
   CmdJointTrajectory.srv
@@ -28,21 +22,10 @@ add_service_files(
   StartMotion.srv
   StopMotion.srv)
 
-## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES trajectory_msgs std_msgs
 )
 
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
     CATKIN_DEPENDS message_runtime std_msgs trajectory_msgs genmsg
-)
-
+)
diff --git a/industrial_robot_client/CMakeLists.txt b/industrial_robot_client/CMakeLists.txt
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 2.8.3)
 
 project(industrial_robot_client)
 
-find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs control_msgs trajectory_msgs simple_message actionlib_msgs actionlib urdf industrial_msgs industrial_utils)
+find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs 
+  control_msgs trajectory_msgs simple_message actionlib_msgs actionlib 
+  urdf industrial_msgs industrial_utils)
 
 find_package(Boost REQUIRED COMPONENTS system thread)
 
@@ -11,15 +13,22 @@ add_definitions(-DROS=1)           #build using ROS libraries
 add_definitions(-DLINUXSOCKETS=1)  #build using LINUX SOCKETS libraries
 
 set(SRC_FILES src/joint_relay_handler.cpp
-	      src/robot_status_relay_handler.cpp
+              src/robot_status_relay_handler.cpp
               src/joint_trajectory_downloader.cpp
               src/joint_trajectory_streamer.cpp
               src/joint_trajectory_interface.cpp
               src/robot_state_interface.cpp
               src/utils.cpp)
 
+# NOTE: The libraries generated this package are not included in the catkin_package
+# macro because libraries must be explicitly linked in projects that depend on this
+# package.  If this is not done (and these libraries were exported), then multiple
+# library definitions (normal - industrial_robot_client and byteswapped.
+# industrial_robot_client_bswap) are both included (this is bad).
 catkin_package(
-    CATKIN_DEPENDS roscpp std_msgs sensor_msgs control_msgs trajectory_msgs simple_message actionlib_msgs actionlib urdf industrial_msgs industrial_utils
+    CATKIN_DEPENDS roscpp std_msgs sensor_msgs control_msgs trajectory_msgs
+      simple_message actionlib_msgs actionlib urdf industrial_msgs
+      industrial_utils
     INCLUDE_DIRS include
 )                
 
@@ -36,11 +45,12 @@ include_directories(include
 # passthrough of binary numeric data to the robot controller, and one that
 # uses byte-swapping to account for endian mis-matches.
 #
-# Due to rosmake dependency limitations, higher-level code must explicitly
-# link to the desired industrial_robot_client library:
+# Due to catkin dependency limitations, higher-level code must
+# explicitly link to the desired industrial_robot_client library:
 #    target_link_libraries(my_node industrial_robot_client)
 #      or
 #    target_link_libraries(my_node industrial_robot_client_bswap)
+#
 
 add_library(industrial_robot_client ${SRC_FILES})
 target_link_libraries(industrial_robot_client simple_message)
@@ -109,12 +119,23 @@ target_link_libraries(joint_trajectory_action
   industrial_robot_client ${catkin_LIBRARIES})
 add_dependencies(joint_trajectory_action industrial_robot_client_gencpp)
 
+##########
+## Test ##
+##########
 # Testing - Only performed on normal (non byte swapped library)
 catkin_add_gtest(utest_robot_client test/utest.cpp)
 target_link_libraries(utest_robot_client 
   industrial_robot_client 
   ${catkin_LIBRARIES})
 
+# ROS launch testing
+## ROS launch test should be enabled when launch parameters are supported,
+## see details below:
+## robot_interface_streaming.launch: 'robot_ip'
+## robot_state_visualize.launch]: 'urdf_path'
+## robot_interface_download.launch]: 'robot_ip'
+##find_package(roslaunch)
+##roslaunch_add_file_check(launch)
 
 install(
     TARGETS industrial_robot_client industrial_robot_client_bswap

diff --git a/industrial_robot_simulator/CMakeLists.txt b/industrial_robot_simulator/CMakeLists.txt
@@ -2,12 +2,27 @@ cmake_minimum_required(VERSION 2.8.3)
 
 project(industrial_robot_simulator)
 
-find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs control_msgs trajectory_msgs industrial_robot_client)
+find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs 
+  control_msgs trajectory_msgs industrial_robot_client)
 
 catkin_package(
     CATKIN_DEPENDS roscpp std_msgs sensor_msgs control_msgs trajectory_msgs industrial_robot_client
 )
 
+##########
+## Test ##
+##########
+
+# ROS launch testing
+## ROS launch testing should be re-enabled when the roslaunch script is officially
+## released (see https://github.com/ros/ros_comm/pull/333)
+##find_package(roslaunch)
+##roslaunch_add_file_check(launch)
+
+#############
+## Install ##
+#############
+
 
 install(PROGRAMS industrial_robot_simulator DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 

diff --git a/industrial_trajectory_filters/CMakeLists.txt b/industrial_trajectory_filters/CMakeLists.txt
@@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS moveit_ros_planning trajectory_msgs)
 catkin_package(
     CATKIN_DEPENDS moveit_ros_planning trajectory_msgs
     INCLUDE_DIRS include
-    LIBRARIES ${MOVEIT_LIB_NAME}
+    LIBRARIES ${PROJECT_NAME}
 )
 
 include_directories(include