diff --git a/sciurus17/CMakeLists.txt b/sciurus17/CMakeLists.txt index 7778c290..37adbf4b 100644 --- a/sciurus17/CMakeLists.txt +++ b/sciurus17/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(sciurus17) -find_package(catkin REQUIRED) -catkin_metapackage() +find_package(ament_cmake REQUIRED) +ament_package() diff --git a/sciurus17/COLCON_IGNORE b/sciurus17/COLCON_IGNORE deleted file mode 100644 index e69de29b..00000000 diff --git a/sciurus17/package.xml b/sciurus17/package.xml index 5519e619..01603a69 100644 --- a/sciurus17/package.xml +++ b/sciurus17/package.xml @@ -1,31 +1,34 @@ - + + + sciurus17 2.0.0 - - ROS package suite of Sciurus17 - + ROS 2 package suite of Sciurus17 RT Corporation - Hiroyuki Nomura - Shota Hirama Apache License 2.0 + Hiroyuki Nomura + Shota Hirama + Atsushi Kuwagata + http://wiki.ros.org/sciurus17_ros https://github.com/rt-net/sciurus17_ros/issues https://github.com/rt-net/sciurus17_ros - catkin - sciurus17_control - sciurus17_description - sciurus17_moveit_config - sciurus17_msgs - sciurus17_vision - sciurus17_bringup - sciurus17_examples - sciurus17_tools - sciurus17_gazebo + ament_cmake + + sciurus17_control + sciurus17_description + sciurus17_examples + sciurus17_gazebo + sciurus17_moveit_config + sciurus17_tools + + ament_lint_auto + ament_lint_common - + ament_cmake diff --git a/sciurus17_bringup/CMakeLists.txt b/sciurus17_bringup/CMakeLists.txt deleted file mode 100644 index 4b35d55b..00000000 --- a/sciurus17_bringup/CMakeLists.txt +++ /dev/null @@ -1,10 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(sciurus17_bringup) - -find_package(catkin REQUIRED) - -catkin_package() - -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) \ No newline at end of file diff --git a/sciurus17_bringup/COLCON_IGNORE b/sciurus17_bringup/COLCON_IGNORE deleted file mode 100644 index e69de29b..00000000 diff --git a/sciurus17_bringup/launch/sciurus17_bringup.launch b/sciurus17_bringup/launch/sciurus17_bringup.launch deleted file mode 100644 index 2bcc8e77..00000000 --- a/sciurus17_bringup/launch/sciurus17_bringup.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/sciurus17_bringup/package.xml b/sciurus17_bringup/package.xml deleted file mode 100644 index 24f23161..00000000 --- a/sciurus17_bringup/package.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - sciurus17_bringup - 2.0.0 - The sciurus17_bringup package - - RT Corporation - Hiroyuki Nomura - Shota Hirama - Apache License 2.0 - - catkin - - diff --git a/sciurus17_msgs/CMakeLists.txt b/sciurus17_msgs/CMakeLists.txt deleted file mode 100644 index 6cf21d03..00000000 --- a/sciurus17_msgs/CMakeLists.txt +++ /dev/null @@ -1,35 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(sciurus17_msgs) - -find_package(catkin REQUIRED COMPONENTS - actionlib_msgs - geometry_msgs - roscpp - rospy - sensor_msgs - std_msgs - dynamic_reconfigure - message_generation -) - - -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - geometry_msgs - std_msgs - actionlib_msgs -# actionlib_msgs# geometry_msgs# sensor_msgs# std_msgs -) - -generate_dynamic_reconfigure_options( - cfg/ServoParameter.cfg -) - -catkin_package( -) - -include_directories( - ${catkin_INCLUDE_DIRS} -) - diff --git a/sciurus17_msgs/COLCON_IGNORE b/sciurus17_msgs/COLCON_IGNORE deleted file mode 100644 index e69de29b..00000000 diff --git a/sciurus17_msgs/cfg/ServoParameter.cfg b/sciurus17_msgs/cfg/ServoParameter.cfg deleted file mode 100755 index 15e6ef4b..00000000 --- a/sciurus17_msgs/cfg/ServoParameter.cfg +++ /dev/null @@ -1,25 +0,0 @@ -#!/usr/bin/env python - -PACKAGE = "sciurus17_msgs" - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("return_delay_time", int_t, 0, "Return Delay time", 0, 0, 254) -gen.add("drive_mode", int_t, 0, "Drive Mode", 0, 0, 1) -gen.add("operation_mode", int_t, 0, "Operating Mode", 3, 0, 5) -gen.add("moving_threshold", int_t, 0, "Moving Threshold", 0, 10, 1023) -gen.add("homing_offset", int_t, 0, "Homing Offset", 0, -1044479, 1044479) -gen.add("temprature_limit", int_t, 0, "Temprature Limit", 80, 0, 100) -gen.add("max_vol_limit", int_t, 0, "Max Voltage Limit", 160, 95, 160) -gen.add("min_vol_limit", int_t, 0, "Min Voltage Limit", 95, 95, 160) -gen.add("current_limit", int_t, 0, "Current Limit", 1193, 0, 1193) -gen.add("torque_enable", bool_t, 0, "Torque Enable", True) -gen.add("velocity_i_gain", int_t, 0, "Velocity I Gain", 1920, 0, 16383) -gen.add("velocity_p_gain", int_t, 0, "Velocity P Gain", 100, 0, 16383) -gen.add("position_d_gain", int_t, 0, "Position D Gain", 0, 0, 16383) -gen.add("position_i_gain", int_t, 0, "Position I Gain", 0, 0, 16383) -gen.add("position_p_gain", int_t, 0, "Position P Gain", 800, 0, 16383) - -exit(gen.generate(PACKAGE, PACKAGE, "ServoParameter")) diff --git a/sciurus17_msgs/package.xml b/sciurus17_msgs/package.xml deleted file mode 100644 index 8de8018e..00000000 --- a/sciurus17_msgs/package.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - sciurus17_msgs - 2.0.0 - The sciurus17_msgs package - - RT Corporation - Hiroyuki Nomura - Shota Hirama - Apache License 2.0 - - message_generation - message_generation - message_runtime - catkin - actionlib_msgs - geometry_msgs - roscpp - rospy - sensor_msgs - std_msgs - actionlib_msgs - geometry_msgs - roscpp - rospy - sensor_msgs - std_msgs - actionlib_msgs - geometry_msgs - roscpp - rospy - sensor_msgs - std_msgs - - dynamic_reconfigure - - - - - diff --git a/sciurus17_tools/CMakeLists.txt b/sciurus17_tools/CMakeLists.txt index 074d8949..24a3faa0 100644 --- a/sciurus17_tools/CMakeLists.txt +++ b/sciurus17_tools/CMakeLists.txt @@ -1,37 +1,12 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(sciurus17_tools) -add_compile_options(-std=c++11) +find_package(ament_cmake REQUIRED) -find_package(catkin REQUIRED COMPONENTS - roscpp +install(DIRECTORY + scripts + rules + DESTINATION lib/${PROJECT_NAME}/ ) -find_package(realsense2) -if(NOT realsense2_FOUND) - message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n") -endif() - -catkin_package( - CATKIN_DEPENDS - roscpp -) - -include_directories( - ${catkin_INCLUDE_DIRS} - ${realsense_INCLUDE_DIR} -) - -add_executable(realsense_hwreset src/realsense_hwreset.cpp) -target_link_libraries(realsense_hwreset - ${realsense2_LIBRARY} - ${catkin_LIBRARIES} - ${CMAKE_THREAD_LIBS_INIT} - ) - -install(TARGETS realsense_hwreset - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(DIRECTORY scripts rules DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - +ament_package() diff --git a/sciurus17_tools/COLCON_IGNORE b/sciurus17_tools/COLCON_IGNORE deleted file mode 100644 index e69de29b..00000000 diff --git a/sciurus17_tools/package.xml b/sciurus17_tools/package.xml index 4bbf6857..c0e31ef1 100644 --- a/sciurus17_tools/package.xml +++ b/sciurus17_tools/package.xml @@ -1,18 +1,23 @@ - + + sciurus17_tools 2.0.0 The sciurus17_tools package - RT Corporation + + Apache License 2.0 + Hiroyuki Nomura Shota Hirama - Apache License 2.0 + Atsushi Kuwagata - catkin - roscpp - realsense2_camera + ament_cmake - roscpp + ament_lint_auto + ament_lint_common + + ament_cmake + diff --git a/sciurus17_tools/src/realsense_hwreset.cpp b/sciurus17_tools/src/realsense_hwreset.cpp deleted file mode 100644 index 0d7e93d9..00000000 --- a/sciurus17_tools/src/realsense_hwreset.cpp +++ /dev/null @@ -1,17 +0,0 @@ -#include -#include -#include -#include - - -/* メイン処理 */ -int main(int argc, char **argv) -{ - rs2::context ctx; - - for( auto&& dev : ctx.query_devices() ){ - // 取得したすべてのデバイスにリセットを発行する - dev.hardware_reset(); - sleep( 1 );// 再接続待ち - } -}