upgrade to catkinization complete. The segway_rmpX rosbuild package h…

…as been catkinized and promoted to segway_rmp. (closes segwayrmp#10)

CMakeLists.txt

@@ -1,30 +1,54 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(segway_rmp)
+# Load catkin and all dependencies required for this package
+find_package(catkin REQUIRED COMPONENTS roscpp tf message_generation geometry_msgs nav_msgs serial)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
+# libsegwyarmp provides segwayrmp and ftd2xx
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(LIBSEGWAYRMP REQUIRED libsegwayrmp)
+find_library(LIBSEGWAYRMP_LIBRARY
+  NAMES segwayrmp
+  PATHS ${LIBSEGWAYRMP_LIBRARY_DIRS}
+)
+find_library(LIBFTD2XX_LIBRARY
+  NAMES ftd2xx
+  PATHS ${LIBSEGWAYRMP_LIBRARY_DIRS}
+)
 
 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 #uncomment if you have defined messages
-rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-rosbuild_add_boost_directories()
-rosbuild_add_executable(segway_rmp_node src/segway_rmp_node.cpp)
-rosbuild_link_boost(segway_rmp_node system thread)
-#target_link_libraries(example ${PROJECT_NAME})
+add_message_files(
+  DIRECTORY msg
+  FILES SegwayStatus.msg SegwayStatusStamped.msg
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES std_msgs
+)
+
+include_directories(${Boost_INCLUDE_DIRS} ${LIBSEGWAYRMP_INCLUDE_DIRS})
+
+add_executable(segway_rmp_node src/segway_rmp_node.cpp)
+find_package(Boost REQUIRED COMPONENTS system thread)
+
+target_link_libraries(
+  segway_rmp_node 
+  ${Boost_LIBRARIES} 
+  ${LIBSEGWAYRMP_LIBRARY} 
+  ${LIBFTD2XX_LIBRARY} 
+  ${catkin_LIBRARIES}
+)
+
+## DEPENDS: system dependencies of this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## INCLUDE_DIRS: 
+## LIBRARIES: libraries you create in this project that dependent projects also need
+catkin_package(
+    DEPENDS libsegwayrmp
+    CATKIN_DEPENDS roscpp tf geometry_msgs nav_msgs std_msgs serial
+)

package.xml

@@ -0,0 +1,36 @@
+<package>
+  <name>segway_rmp</name>
+  <version>0.1.0</version>
+  <description>segway_rmp</description>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/segway_rmp</url>
+  <url type="bugtracker">https://github.com/segwayrmp/segway-rmp-ros-pkg/issues</url>
+
+  <maintainer email="[email protected]">William Woodall</maintainer>
+  <maintainer email="[email protected]">Piyush Khandelwal</maintainer>
+  <author>William Woodall</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>libsegwayrmp</build_depend>
+  <build_depend>serial</build_depend>
+
+  <run_depend>roscpp</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>libsegwayrmp</run_depend>
+  <run_depend>serial</run_depend>
+
+  <export>
+
+  </export>
+</package>

src/segway_rmp_node.cpp

@@ -29,7 +29,7 @@
 #include <tf/transform_broadcaster.h>
 #include "geometry_msgs/Twist.h"
 #include "nav_msgs/Odometry.h"
-#include "segway_rmpX/SegwayStatusStamped.h"
+#include "segway_rmp/SegwayStatusStamped.h"
 
 #include "segwayrmp/segwayrmp.h"
 
@@ -387,7 +387,7 @@ class SegwayRMPNode {
         // Subscribe to command velocities
         this->cmd_velSubscriber = n->subscribe("cmd_vel", 1000, &SegwayRMPNode::cmd_velCallback, this);
         // Advertise the SegwayStatusStamped
-        this->segway_status_pub = n->advertise<segway_rmpX::SegwayStatusStamped>("segway_status", 1000);
+        this->segway_status_pub = n->advertise<segway_rmp::SegwayStatusStamped>("segway_status", 1000);
         // Advertise the Odometry Msg
         this->odom_pub = n->advertise<nav_msgs::Odometry>("odom", 50);
     }
@@ -606,7 +606,7 @@ class SegwayRMPNode {
 
     bool connected;
 
-    segway_rmpX::SegwayStatusStamped sss_msg;
+    segway_rmp::SegwayStatusStamped sss_msg;
     geometry_msgs::TransformStamped odom_trans;
     nav_msgs::Odometry odom_msg;