Refactor the rqt libraries for spinal&neuron

aerial_robot_nerve/spinal/CMakeLists.txt

@@ -1,19 +1,20 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(spinal)
 
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+add_compile_options(-std=c++14)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_srvs
+  std_msgs
   message_generation
   rospy
   rqt_gui
   rqt_gui_py
 )
 
+catkin_python_setup()
+
 add_message_files(
   FILES
   PMatrixPseudoInverseUnit.msg
@@ -63,8 +64,7 @@ set(SPINAL_DIRS mcu_project/Jsk_Lib)
 catkin_package(
   INCLUDE_DIRS  ${SPINAL_DIRS}
   LIBRARIES spinal_flight_controller spinal_math
-  CATKIN_DEPENDS roscpp rospy rqt_gui rqt_gui_py
-#  DEPENDS system_lib
+  CATKIN_DEPENDS roscpp std_srvs std_msgs rospy rqt_gui rqt_gui_py message_runtime
 )
 
 include_directories(
@@ -87,3 +87,25 @@ add_library(spinal_flight_controller
   ${SPINAL_DIRS}/flight_control/attitude/attitude_control.cpp)
 target_link_libraries(spinal_flight_controller ${catkin_LIBRARIES} spinal_math)
 add_dependencies(spinal_flight_controller ${PROJECT_NAME}_generate_messages_cpp)
+
+install(DIRECTORY ${SPINAL_DIRS}
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(DIRECTORY bin
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+  )
+
+
+install(DIRECTORY scripts resource
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+  )
+
+install(FILES rqt_gui_plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+install(TARGETS spinal_math spinal_flight_controller
+  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)

aerial_robot_nerve/spinal/package.xml

@@ -17,6 +17,7 @@
   <build_depend>rospy</build_depend>
   <build_depend>rqt_gui</build_depend>
   <build_depend>rqt_gui_py</build_depend>
+
   <run_depend>roscpp</run_depend>
   <run_depend>std_srvs</run_depend>
   <run_depend>std_msgs</run_depend>

aerial_robot_nerve/spinal/rqt_gui_plugin.xml

@@ -1,5 +1,5 @@
 <library path="src">
-  <class name="BoardConfigurator" type="board_configurator.board_configurator.BoardConfigurator" base_class_type="rqt_gui_py::Plugin">
+  <class name="BoardConfigurator" type="spinal.board_configurator.BoardConfigurator" base_class_type="rqt_gui_py::Plugin">
     <description>
       Configurator for aerial robot boards
     </description>
@@ -13,7 +13,7 @@
       <statustip>Configurator for aerial robot boards</statustip>
     </qtgui>
     </class>
-  <class name="ServoMonitor" type="servo_monitor.servo_monitor.ServoMonitor" base_class_type="rqt_gui_py::Plugin">
+  <class name="ServoMonitor" type="spinal.servo_monitor.ServoMonitor" base_class_type="rqt_gui_py::Plugin">
     <description>
       Servo monitor for transformable aerial robot hardware
     </description>
@@ -28,7 +28,7 @@
     </qtgui>
   </class>
 
-  <class name="ImuCalibration" type="imu_calibration.imu_calibration.ImuCalibrator" base_class_type="rqt_gui_py::Plugin">
+  <class name="ImuCalibration" type="spinal.imu_calibration.ImuCalibrator" base_class_type="rqt_gui_py::Plugin">
     <description>
       IMU calibration
     </description>

aerial_robot_nerve/spinal/setup.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['spinal'],
+    package_dir={'': 'src'}
+)
+
+setup(**d)

aerial_robot_nerve/spinal/src/board_configurator/board_configurator.py → aerial_robot_nerve/spinal/src/spinal/board_configurator.py

@@ -50,7 +50,9 @@ def __init__(self, context):
 
         self._widget = QWidget()
 
-        ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'BoardConfigurator.ui')
+        rp = rospkg.RosPack()
+        ui_file = os.path.join(
+            rp.get_path('spinal'), 'resource', 'board_configurator.ui')
 
         loadUi(ui_file, self._widget)
 

aerial_robot_nerve/spinal/src/imu_calibration/imu_calibration.py → aerial_robot_nerve/spinal/src/spinal/imu_calibration.py

@@ -120,8 +120,8 @@ def __init__(self, limit=100, unit='[mG]'):
         self.setObjectName('ImuCalibWidget')
 
         rp = rospkg.RosPack()
-        #ui_file = os.path.join(rp.get_path('spinal'), '', 'plot3d.ui')
-        ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'imu_calib.ui')
+        ui_file = os.path.join(
+            rp.get_path('spinal'), 'resource', 'imu_calibration.ui')
 
         loadUi(ui_file, self)
         self.mag_data_plot = MatDataPlot3D(self, limit, unit)
@@ -307,7 +307,7 @@ def update_imu_calib_data(self):
             self.mag_table_data = []
             self.att_table_data = []
 
-            for i in range(len(res.data) / self.calib_data_len):
+            for i in range(len(res.data) // self.calib_data_len):
                 gyro_data = []
                 gyro_data.extend([None])
                 gyro_data.append("{0:.5f}".format(res.data[i * self.calib_data_len + 0]) + ', ' + "{0:.5f}".format(res.data[i * self.calib_data_len + 1]) + ', ' + "{0:.5f}".format(res.data[i * self.calib_data_len + 2])) # bias

aerial_robot_nerve/spinal/src/servo_monitor/servo_monitor.py → aerial_robot_nerve/spinal/src/spinal/servo_monitor.py

@@ -53,7 +53,8 @@ def __init__(self, context):
 
         self._widget = QWidget()
 
-        ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'ServoMonitor.ui')
+        rp = rospkg.RosPack()
+        ui_file = os.path.join(rp.get_path('spinal'), 'resource', 'servo_monitor.ui')
 
         loadUi(ui_file, self._widget)