diff --git a/industrial_deprecated/CMakeLists.txt b/industrial_deprecated/CMakeLists.txt index af9ff096..1804e2d6 100644 --- a/industrial_deprecated/CMakeLists.txt +++ b/industrial_deprecated/CMakeLists.txt @@ -1,68 +1,10 @@ -# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html cmake_minimum_required(VERSION 2.8.3) -project(industrial_deprecated) -# Load catkin and all dependencies required for this package -find_package(catkin REQUIRED COMPONENTS rosgraph_msgs rospy) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) -find_package(Boost REQUIRED COMPONENTS system) - -# Python setup -#catkin_python_setup() - -#Add unit test to check roslaunch dependencies. -#rosbuild_add_roslaunch_check(launch) - - -####################################### -## Declare ROS messages and services ## -####################################### - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) +project(industrial_deprecated) +find_package(catkin REQUIRED COMPONENTS) -################################### -## 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 rosgraph_msgs rospy + CATKIN_DEPENDS ) -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html - -install(PROGRAMS scripts/fake_time.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) diff --git a/industrial_deprecated/launch/planning_environment_visualization_prerequisites.launch b/industrial_deprecated/launch/planning_environment_visualization_prerequisites.launch deleted file mode 100644 index f3593fb2..00000000 --- a/industrial_deprecated/launch/planning_environment_visualization_prerequisites.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/industrial_deprecated/package.xml b/industrial_deprecated/package.xml index 4999e911..6b32d01d 100644 --- a/industrial_deprecated/package.xml +++ b/industrial_deprecated/package.xml @@ -2,10 +2,10 @@ industrial_deprecated 1.0.0 - The Industrial deprecated package contains nodes, launch files, etc... that are slated for - deprecation. This package is the last place something will end up before being deleted. - If you are missing a package/node and find it's contents here, then you should consider - a replacement. + The Industrial deprecated package contains nodes, launch files, etc... that are slated for + deprecation. This package is the last place something will end up before being deleted. + If you are missing a package/node and find it's contents here, then you should consider + a replacement. Shaun Edwards BSD @@ -13,8 +13,4 @@ Shaun M. Edwards catkin - rosgraph_msgs - rospy - rosgraph_msgs - rospy diff --git a/industrial_deprecated/scripts/fake_time.py b/industrial_deprecated/scripts/fake_time.py deleted file mode 100755 index d52f35e0..00000000 --- a/industrial_deprecated/scripts/fake_time.py +++ /dev/null @@ -1,63 +0,0 @@ -#!/usr/bin/env python -# Software License Agreement (BSD License) -# -# Copyright (c) 2010, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Revision $Id: talker.py 5263 2009-07-17 23:30:38Z sfkwc $ - -""" -This publishes wall clock to the /clock topic to test simulated time routines -""" - -import roslib; - -import time -import rospy -from rosgraph_msgs.msg import Clock - -def faketime(): - rospy.set_param('/use_sim_time', True) - pub = rospy.Publisher('/clock', Clock) - rospy.init_node('fake_time') - c = Clock() - while not rospy.is_shutdown(): - float_secs = time.time() - secs = int(float_secs) - c.clock.nsecs = int((float_secs - secs) * 1000000000) - c.clock.secs = secs - pub.publish(c) - time.sleep(0.01) - -if __name__ == '__main__': - try: - faketime() - except rospy.ROSInterruptException: pass - diff --git a/industrial_msgs/CMakeLists.txt b/industrial_msgs/CMakeLists.txt index 95905b26..9c6523ee 100644 --- 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 -) - +) \ No newline at end of file diff --git a/industrial_robot_client/CMakeLists.txt b/industrial_robot_client/CMakeLists.txt index e9e26de8..c9970f74 100644 --- a/industrial_robot_client/CMakeLists.txt +++ b/industrial_robot_client/CMakeLists.txt @@ -1,76 +1,39 @@ -# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html cmake_minimum_required(VERSION 2.8.3) + project(industrial_robot_client) -# Load catkin and all dependencies required for this package -find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs control_msgs trajectory_msgs simple_message actionlib_msgs actionlib urdf industrial_msgs industrial_utils) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) +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) # The definition is copied from the CMakeList for the simple_message package. -add_definitions(-DROS=1) #build using ROS libraries +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) -####################################### -## Declare ROS messages and services ## -####################################### - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# 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 - # 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 - +# 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 ) -########### -## Build ## -########### -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories(include ${catkin_INCLUDE_DIRS} ) @@ -82,12 +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) @@ -95,7 +58,6 @@ target_link_libraries(industrial_robot_client simple_message) add_library(industrial_robot_client_bswap ${SRC_FILES}) target_link_libraries(industrial_robot_client_bswap simple_message_bswap) - # The following executables(nodes) are for applications where the robot # controller and pc have the same byte order (i.e. byte swapping NOT # required) @@ -175,9 +137,6 @@ target_link_libraries(utest_robot_client ##find_package(roslaunch) ##roslaunch_add_file_check(launch) -############# -## Install ## -############# install( TARGETS industrial_robot_client industrial_robot_client_bswap LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) diff --git a/industrial_robot_simulator/CMakeLists.txt b/industrial_robot_simulator/CMakeLists.txt index cef7ad24..cc4fc63c 100644 --- a/industrial_robot_simulator/CMakeLists.txt +++ b/industrial_robot_simulator/CMakeLists.txt @@ -1,20 +1,10 @@ -# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html cmake_minimum_required(VERSION 2.8.3) + project(industrial_robot_simulator) -# Load catkin and all dependencies required for this package -find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs control_msgs trajectory_msgs industrial_robot_client) - -# Python setup -#catkin_python_setup() - -################################### -## 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 + +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 ) @@ -33,8 +23,6 @@ catkin_package( ## Install ## ############# -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html install(PROGRAMS industrial_robot_simulator DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/industrial_trajectory_filters/CMakeLists.txt b/industrial_trajectory_filters/CMakeLists.txt index 7911f47d..88d77a3d 100644 --- a/industrial_trajectory_filters/CMakeLists.txt +++ b/industrial_trajectory_filters/CMakeLists.txt @@ -1,5 +1,5 @@ -# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html cmake_minimum_required(VERSION 2.8.3) + project(industrial_trajectory_filters) find_package(catkin REQUIRED COMPONENTS moveit_ros_planning trajectory_msgs) @@ -7,24 +7,18 @@ 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 ${catkin_INCLUDE_DIRS} ) -########### -## Build ## -########### add_library(${PROJECT_NAME} src/n_point_filter.cpp src/uniform_sample_filter.cpp) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) -############# -## Install ## -############# install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) diff --git a/industrial_utils/CMakeLists.txt b/industrial_utils/CMakeLists.txt index 6c1ea237..cac163fe 100644 --- a/industrial_utils/CMakeLists.txt +++ b/industrial_utils/CMakeLists.txt @@ -1,69 +1,30 @@ -# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html cmake_minimum_required(VERSION 2.8.3) + project(industrial_utils) -# Load catkin and all dependencies required for this package + find_package(catkin REQUIRED COMPONENTS roscpp urdf) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) find_package(Boost REQUIRED COMPONENTS system) -####################################### -## Declare ROS messages and services ## -####################################### - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# 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 roscpp urdf INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories(include ${catkin_INCLUDE_DIRS}) add_library(${PROJECT_NAME} src/utils.cpp src/param_utils.cpp) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + + catkin_add_gtest(utest_inds_utils test/utest.cpp) target_link_libraries(utest_inds_utils ${PROJECT_NAME} ${catkin_LIBRARIES}) -############# -## Install ## -############# + + install( TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) diff --git a/simple_message/CMakeLists.txt b/simple_message/CMakeLists.txt index 435e82e5..2efdbf5b 100644 --- a/simple_message/CMakeLists.txt +++ b/simple_message/CMakeLists.txt @@ -1,7 +1,7 @@ -# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html cmake_minimum_required(VERSION 2.8.3) + project(simple_message) -# Load catkin and all dependencies required for this package + find_package(catkin REQUIRED COMPONENTS roscpp industrial_msgs) # Build static libs, to reduce dependency-chaining for industrial_robot_client @@ -12,7 +12,7 @@ set(ROS_BUILD_SHARED_LIBS false) # and various robot controllers. This requires conditionally compiling # certain functions and headers. The definition below enables compiling # for a ROS node. -add_definitions(-DROS=1) #build using ROS libraries +add_definitions(-DROS=1) #build using ROS libraries add_definitions(-DLINUXSOCKETS=1) #use linux sockets for communication set(SRC_FILES src/byte_array.cpp @@ -61,15 +61,6 @@ set(UTEST_SRC_FILES test/utest.cpp test/utest_message.cpp) # controllers). This library performs byte swapping at the lowest load/unload # levels. -################################### -## 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 - # 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 @@ -81,12 +72,7 @@ catkin_package( INCLUDE_DIRS include ) -########### -## Build ## -########### -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories(include ${catkin_INCLUDE_DIRS} ) @@ -124,9 +110,7 @@ set_target_properties(utest_float64 PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BA target_link_libraries(utest_float64 simple_message_float64) -############# -## Install ## -############# + install( TARGETS simple_message simple_message_bswap simple_message_float64 LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) @@ -134,3 +118,4 @@ install( install( DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) +