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sciurus17、sciurus17_toolsのROS 2対応 #145

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merged 7 commits into from
Nov 9, 2023
Merged

sciurus17、sciurus17_toolsのROS 2対応 #145

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63cf902
sciurus17パッケージROS 2対応
Kuwamai Nov 9, 2023
63df51c
sciurus17_bringup削除
Kuwamai Nov 9, 2023
c704988
sciurus17_msgs削除
Kuwamai Nov 9, 2023
58f875f
sciurus17_tools ROS 2対応
Kuwamai Nov 9, 2023
0a96db1
realsense_hwreset削除
Kuwamai Nov 9, 2023
17b4a73
package.xml修正
Kuwamai Nov 9, 2023
b0feb6e
シェルスクリプトのインストール
Kuwamai Nov 9, 2023
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6 changes: 3 additions & 3 deletions sciurus17/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -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()
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37 changes: 20 additions & 17 deletions sciurus17/package.xml
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@@ -1,31 +1,34 @@
<package>
<?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>sciurus17</name>
<version>2.0.0</version>
<description>
ROS package suite of Sciurus17
</description>
<description>ROS 2 package suite of Sciurus17</description>
<maintainer email="[email protected]">RT Corporation</maintainer>
<author email="[email protected]">Hiroyuki Nomura</author>
<author email="[email protected]">Shota Hirama</author>

<license>Apache License 2.0</license>

<author email="[email protected]">Hiroyuki Nomura</author>
<author email="[email protected]">Shota Hirama</author>
<author email="[email protected]">Atsushi Kuwagata</author>

<url type="website">http://wiki.ros.org/sciurus17_ros</url>
<url type="bugtracker">https://github.com/rt-net/sciurus17_ros/issues</url>
<url type="repository">https://github.com/rt-net/sciurus17_ros</url>

<buildtool_depend>catkin</buildtool_depend>
<run_depend>sciurus17_control</run_depend>
<run_depend>sciurus17_description</run_depend>
<run_depend>sciurus17_moveit_config</run_depend>
<run_depend>sciurus17_msgs</run_depend>
<run_depend>sciurus17_vision</run_depend>
<run_depend>sciurus17_bringup</run_depend>
<run_depend>sciurus17_examples</run_depend>
<run_depend>sciurus17_tools</run_depend>
<run_depend>sciurus17_gazebo</run_depend>
<buildtool_depend>ament_cmake</buildtool_depend>

<exec_depend>sciurus17_control</exec_depend>
<exec_depend>sciurus17_description</exec_depend>
<exec_depend>sciurus17_examples</exec_depend>
<exec_depend>sciurus17_gazebo</exec_depend>
<exec_depend>sciurus17_moveit_config</exec_depend>
<exec_depend>sciurus17_tools</exec_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<export>
<metapackage/>
<build_type>ament_cmake</build_type>
</export>
</package>
10 changes: 0 additions & 10 deletions sciurus17_bringup/CMakeLists.txt
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14 changes: 0 additions & 14 deletions sciurus17_bringup/launch/sciurus17_bringup.launch
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14 changes: 0 additions & 14 deletions sciurus17_bringup/package.xml
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35 changes: 0 additions & 35 deletions sciurus17_msgs/CMakeLists.txt
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25 changes: 0 additions & 25 deletions sciurus17_msgs/cfg/ServoParameter.cfg
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40 changes: 0 additions & 40 deletions sciurus17_msgs/package.xml
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39 changes: 7 additions & 32 deletions sciurus17_tools/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -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})
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lib以下にインストールすると、ros2 run sciurus17_tools create_udev_rulesでコマンド実行できます。
変更お願いします。

install(DIRECTORY
  scripts
  rules
  DESTINATION lib/${PROJECT_NAME}/
)


ament_package()
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19 changes: 12 additions & 7 deletions sciurus17_tools/package.xml
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@@ -1,18 +1,23 @@
<?xml version="1.0"?>
<package>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>sciurus17_tools</name>
<version>2.0.0</version>
<description>The sciurus17_tools package</description>

<maintainer email="[email protected]">RT Corporation</maintainer>

<license>Apache License 2.0</license>

<author email="[email protected]">Hiroyuki Nomura</author>
<author email="[email protected]">Shota Hirama</author>
<license>Apache License 2.0</license>
<author email="[email protected]">Atsushi Kuwagata</author>

<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>realsense2_camera</build_depend>
<buildtool_depend>ament_cmake</buildtool_depend>

<run_depend>roscpp</run_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
17 changes: 0 additions & 17 deletions sciurus17_tools/src/realsense_hwreset.cpp
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