Port to Noetic.

diff --git a/bhand_bringup/CMakeLists.txt b/bhand_bringup/CMakeLists.txt
index ad172f4..04f86a0 100644 (file)
--- a/bhand_bringup/CMakeLists.txt
+++ b/bhand_bringup/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(bhand_bringup)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -7,13 +7,7 @@ project(bhand_bringup)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-#  bhand_description
-#  control_msgs
-#  controller_manager
-#  position_controllers
-#  urdf
-)
+find_package(catkin REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -72,7 +66,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate added messages and services with any dependencies listed here
 # generate_messages(
 #   DEPENDENCIES
-#   control_msgs
+#   std_msgs  # Or other packages containing msgs
 # )
 
 ################################################
@@ -107,7 +101,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES bhand_bringup
-#  CATKIN_DEPENDS bhand_description control_msgs controller_manager position_controllers urdf
+#  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
 
@@ -119,7 +113,7 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(
 # include
-  ${catkin_INCLUDE_DIRS}
+# ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
@@ -161,16 +155,23 @@ include_directories(
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
+# catkin_install_python(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 # )
 
 ## Mark cpp header files for installation

diff --git a/bhand_bringup/package.xml b/bhand_bringup/package.xml
index 3275f63..f16f85f 100644 (file)
--- a/bhand_bringup/package.xml
+++ b/bhand_bringup/package.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>bhand_bringup</name>
-  <version>0.0.1</version>
+  <version>0.1.0</version>
   <description>The bhand_bringup package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="fetter@ece.ufrgs.br">Water Fetter Lages</maintainer>
+  <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -28,7 +28,6 @@
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
   <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
 
-
   <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
@@ -50,6 +49,7 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+
   <exec_depend>bhand_description</exec_depend>
   <exec_depend>control_msgs</exec_depend>
   <exec_depend>controller_manager</exec_depend>

diff --git a/bhand_description/CMakeLists.txt b/bhand_description/CMakeLists.txt
index b0072b7..54d2070 100644 (file)
--- a/bhand_description/CMakeLists.txt
+++ b/bhand_description/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(bhand_description)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -155,16 +155,23 @@ include_directories(
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
+# catkin_install_python(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 # )
 
 ## Mark cpp header files for installation

diff --git a/bhand_description/launch/display.launch b/bhand_description/launch/display.launch
index ee459a4..07a23ed 100644 (file)
--- a/bhand_description/launch/display.launch
+++ b/bhand_description/launch/display.launch
@@ -3,9 +3,9 @@
 
        <include file="$(find bhand_description)/launch/bhand.launch" />
 
-       <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=true" />
+       <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
 
-       <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+       <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find bhand_description)/rviz/urdf.rviz" required="true"/>
 </launch>

diff --git a/bhand_description/package.xml b/bhand_description/package.xml
index 6237985..b493b8e 100644 (file)
--- a/bhand_description/package.xml
+++ b/bhand_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>bhand_description</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description><p>The bhand_description package</p>
        <p>This package contains xacro files for the Barrett Hand gripper.
        It is based on the iri_wam_description package developed by the IRI
@@ -10,10 +10,11 @@
        </p>  
   </description>
 
+
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="fetter@ece.ufrgs.br">Water Fetter Lages</maintainer>
+  <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -61,7 +62,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <exec_depend>roboticsgroup_gazebo_plugins</exec_depend>
-  
+
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

diff --git a/ufrgs_wam/package.xml b/ufrgs_wam/package.xml
index 1957bed..1361426 100644 (file)
--- a/ufrgs_wam/package.xml
+++ b/ufrgs_wam/package.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ufrgs_wam</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>The ufrgs_wam package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="fetter@tece.ufrgs.br">Walter Fetter Lages</maintainer>
+  <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -27,7 +27,7 @@
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
   <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
-
+  
 
   <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
@@ -50,12 +50,14 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+
   <exec_depend>bhand_bringup</exec_depend>
   <exec_depend>bhand_description</exec_depend>
   <exec_depend>wam_bringup</exec_depend>
   <exec_depend>wam_description</exec_depend>
   <exec_depend>wam_node_sim</exec_depend>
   <exec_depend>wam_node_test</exec_depend>
+  <exec_depend>wam_teleoplib</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

diff --git a/wam_bringup/CMakeLists.txt b/wam_bringup/CMakeLists.txt
index 92eaff3..67ba7c6 100644 (file)
--- a/wam_bringup/CMakeLists.txt
+++ b/wam_bringup/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(wam_bringup)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -7,15 +7,7 @@ project(wam_bringup)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-#  computed_torque_controller
-#  control_msgs
-#  controller_manager
-#  joint_state_controller
-#  pid_plus_gravity_controller
-#  urdf
-#  wam_description
-)
+find_package(catkin REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -74,7 +66,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate added messages and services with any dependencies listed here
 # generate_messages(
 #   DEPENDENCIES
-#   control_msgs
+#   std_msgs  # Or other packages containing msgs
 # )
 
 ################################################
@@ -109,7 +101,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES wam_bringup
-#  CATKIN_DEPENDS computed_torque_controller control_msgs controller_manager joint_state_controller pid_plus_gravity_controller urdf wam_description
+#  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
 
@@ -121,7 +113,7 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(
 # include
-  ${catkin_INCLUDE_DIRS}
+# ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
@@ -163,16 +155,23 @@ include_directories(
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
+# catkin_install_python(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 # )
 
 ## Mark cpp header files for installation

diff --git a/wam_bringup/package.xml b/wam_bringup/package.xml
index f7da0a6..1ed22d3 100644 (file)
--- a/wam_bringup/package.xml
+++ b/wam_bringup/package.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>wam_bringup</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>The wam_bringup package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="fetter@ece.ufrgs.br">Walte Fetter Lages</maintainer>
+  <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -50,6 +50,7 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+
   <exec_depend>computed_torque_controller</exec_depend>
   <exec_depend>control_msgs</exec_depend>
   <exec_depend>controller_manager</exec_depend>

diff --git a/wam_description/CMakeLists.txt b/wam_description/CMakeLists.txt
index 603dfd3..4d67c4a 100644 (file)
--- a/wam_description/CMakeLists.txt
+++ b/wam_description/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(wam_description)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -155,16 +155,23 @@ include_directories(
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
+# catkin_install_python(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 # )
 
 ## Mark cpp header files for installation
@@ -174,13 +181,6 @@ include_directories(
 #   PATTERN ".svn" EXCLUDE
 # )
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
 install(DIRECTORY launch
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
@@ -190,6 +190,14 @@ install(DIRECTORY meshes
 install(DIRECTORY xacro
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
 #############
 ## Testing ##
 #############

diff --git a/wam_description/launch/display.launch b/wam_description/launch/display.launch
index 7f17b9d..1b2acda 100644 (file)
--- a/wam_description/launch/display.launch
+++ b/wam_description/launch/display.launch
@@ -8,12 +8,16 @@
                <arg name="bhand" value="$(arg bhand)" />
        </include>
 
-       <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" args="_use_gui:=$(arg use_gui)" >
+       <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" >
+               <param name="rate" value="250" />
+       </node>
+
+       <node unless="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
                <rosparam param="source_list">["/wam/joint_states","/bhand/joint_states"]</rosparam>
                <param name="rate" value="250" />
        </node>
 
-       <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+       <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
        <node unless="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/display.rviz" required="true"/>
        <node if="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/display.rviz -f world" required="true"/>

diff --git a/wam_description/package.xml b/wam_description/package.xml
index 52e8818..144a687 100644 (file)
--- a/wam_description/package.xml
+++ b/wam_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>wam_description</name>
-  <version>2.1.1</version>
+  <version>2.2.0</version>
   <description><p>The wam_description package</p>
        <p>This package contains xacro files for the Barrett WAM robot arm. 
        It is based on the iri_wam_description package developed by the IRI
@@ -13,6 +13,7 @@
        </p>  
   </description>
 
+
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
@@ -41,7 +42,6 @@
   <author>IRI Robotics Lab, Sergi Foix (sfoix@iri.upc.edu)</author>
 
 
-
   <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->

diff --git a/wam_node_sim/CMakeLists.txt b/wam_node_sim/CMakeLists.txt
index e3fb4c2..dbe4224 100644 (file)
--- a/wam_node_sim/CMakeLists.txt
+++ b/wam_node_sim/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(wam_node_sim)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -8,23 +8,21 @@ add_compile_options(-std=c++11)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  eigen_conversions
   geometry_msgs
   kdl_parser
-#  orocos_kdl
   roscpp
   std_msgs
   std_srvs
   trajectory_msgs
   wam_msgs
   wam_srvs
-  eigen_conversions
 )
 
-find_package(cmake_modules REQUIRED)
-
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 find_package(Eigen3 REQUIRED)
+find_package(orocos_kdl REQUIRED)
 
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -115,8 +113,8 @@ find_package(Eigen3 REQUIRED)
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES wam_node_sim
-  CATKIN_DEPENDS geometry_msgs kdl_parser roscpp std_msgs std_srvs trajectory_msgs wam_msgs wam_srvs eigen_conversions
-#  DEPENDS Eigen3
+  CATKIN_DEPENDS eigen_conversions geometry_msgs kdl_parser roscpp std_msgs std_srvs trajectory_msgs wam_msgs wam_srvs
+#  DEPENDS Eigen3 orocos_kdl
 )
 
 ###########
@@ -126,10 +124,11 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-  include
+ include
   ${catkin_INCLUDE_DIRS}
-# TODO: Check names of system library include directories (Eigen3)
-  ${Eigen3_INCLUDE_DIRS}
+# TODO: Check names of system library include directories (Eigen3, orocos_kdl)
+  ${EIGEN3_INCLUDE_DIRS}
+  ${orocos_kdl_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
@@ -160,7 +159,8 @@ add_executable(${PROJECT_NAME} src/wam_node_sim.cpp src/hand.cpp)
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
    ${catkin_LIBRARIES}
-   ${Eigen3_LIBRARIES}
+#   ${EIGEN3_LIBRARIES}
+   ${orocos_kdl_LIBRARIES}
 )
 
 #############
@@ -172,16 +172,23 @@ target_link_libraries(${PROJECT_NAME}
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
+# catkin_install_python(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 # )
 
 ## Mark cpp header files for installation

diff --git a/wam_node_sim/package.xml b/wam_node_sim/package.xml
index b7d7f45..91f3dea 100644 (file)
--- a/wam_node_sim/package.xml
+++ b/wam_node_sim/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>wam_node_sim</name>
-  <version>0.0.1</version>
+  <version>0.1.0</version>
   <description><p>The wam_node_sim package</p>
        ROS node to simulate the wam_node, which runs the actual Barrett
        WAM.
@@ -10,13 +10,13 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="fetter@ece.ufrgs.br">Water Fetter Lages</maintainer>
+  <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>GPLv2</license>
+  <license>GPLv3</license>
 
 
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
@@ -54,38 +54,38 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>Eigen3</build_depend>
+  <build_depend>eigen_conversions</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>kdl_parser</build_depend>
-  <build_depend>orodos_kdl</build_depend>
+  <build_depend>orocos_kdl</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
   <build_depend>trajectory_msgs</build_depend>
   <build_depend>wam_msgs</build_depend>
   <build_depend>wam_srvs</build_depend>
-  <build_depend>eigen_conversions</build_depend>
   <build_export_depend>Eigen3</build_export_depend>
+  <build_export_depend>eigen_conversions</build_export_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>kdl_parser</build_export_depend>
-  <build_export_depend>orodos_kdl</build_export_depend>
+  <build_export_depend>orocos_kdl</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>std_srvs</build_export_depend>
   <build_export_depend>trajectory_msgs</build_export_depend>
   <build_export_depend>wam_msgs</build_export_depend>
   <build_export_depend>wam_srvs</build_export_depend>
-  <build_export_depend>eigen_conversions</build_export_depend>
   <exec_depend>Eigen3</exec_depend>
+  <exec_depend>eigen_conversions</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>kdl_parser</exec_depend>
-  <exec_depend>orodos_kdl</exec_depend>
+  <exec_depend>orocos_kdl</exec_depend>
   <exec_depend>roscpp</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>std_srvs</exec_depend>
   <exec_depend>trajectory_msgs</exec_depend>
   <exec_depend>wam_msgs</exec_depend>
   <exec_depend>wam_srvs</exec_depend>
-  <exec_depend>eigen_conversions</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

diff --git a/wam_node_test/CMakeLists.txt b/wam_node_test/CMakeLists.txt
index 43f5c4c..5a0d2e1 100644 (file)
--- a/wam_node_test/CMakeLists.txt
+++ b/wam_node_test/CMakeLists.txt
@@ -1,8 +1,7 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(wam_node_test)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+## Compile as C++11, supported in ROS Kinetic and neweradd_compile_options(-std=c++11)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -158,16 +157,23 @@ target_link_libraries(${PROJECT_NAME}
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
+# catkin_install_python(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 # )
 
 ## Mark cpp header files for installation

diff --git a/wam_node_test/package.xml b/wam_node_test/package.xml
index 6fc9bea..f8e1e19 100644 (file)
--- a/wam_node_test/package.xml
+++ b/wam_node_test/package.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>wam_node_test</name>
-  <version>0.0.1</version>
+  <version>0.1.0</version>
   <description>The wam_node_test package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="fetter@ece.ufrgs.br">Water Fetter Lages</maintainer>
+  <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->

diff --git a/wam_teleoplib/CMakeLists.txt b/wam_teleoplib/CMakeLists.txt
index bfda9ea..d136381 100644 (file)
--- a/wam_teleoplib/CMakeLists.txt
+++ b/wam_teleoplib/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(wam_teleoplib)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -8,17 +8,17 @@ add_compile_options(-std=c++11)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  eigen_conversions
   roscpp
   wam_msgs
   wam_srvs
-  eigen_conversions
 )
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-
 find_package(Eigen3 REQUIRED)
 
+
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
@@ -70,11 +70,10 @@ find_package(Eigen3 REQUIRED)
 # )
 
 ## Generate added messages and services with any dependencies listed here
-#generate_messages(
+# generate_messages(
 #   DEPENDENCIES
 #   wam_msgs
-#   wam_srvs
-#)
+# )
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -108,7 +107,7 @@ find_package(Eigen3 REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES wam_teleoplib
-#  CATKIN_DEPENDS roscpp wam_msgs wam_srvs
+#  CATKIN_DEPENDS eigen_conversions roscpp wam_msgs wam_srvs
   DEPENDS EIGEN3
 )
 
@@ -121,6 +120,7 @@ catkin_package(
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
+# TODO: Check names of system library include directories (Eigen3)
   ${EIGEN3_INCLUDE_DIRS}
 )
 
@@ -152,7 +152,7 @@ add_library(${PROJECT_NAME}
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
    ${catkin_LIBRARIES}
-#  ${Eigen3_LIBRARIES}
+#   ${Eigen3_LIBRARIES}
 )
 
 #############
@@ -164,20 +164,27 @@ target_link_libraries(${PROJECT_NAME}
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
+# catkin_install_python(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
- install(TARGETS ${PROJECT_NAME} #${PROJECT_NAME}_node
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+install(TARGETS ${PROJECT_NAME}
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
 
 ## Mark cpp header files for installation
- install(DIRECTORY include/${PROJECT_NAME}/
+install(DIRECTORY include/${PROJECT_NAME}/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.h"
    PATTERN ".svn" EXCLUDE

diff --git a/wam_teleoplib/package.xml b/wam_teleoplib/package.xml
index 1b6508a..e11df64 100644 (file)
--- a/wam_teleoplib/package.xml
+++ b/wam_teleoplib/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>wam_teleoplib</name>
-  <version>0.0.0</version>
+  <version>0.1.0</version>
   <description>The wam_teleoplib package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -51,20 +51,20 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>Eigen3</build_depend>
+  <build_depend>eigen_conversions</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>wam_msgs</build_depend>
   <build_depend>wam_srvs</build_depend>
-  <build_depend>eigen_conversions</build_depend>
   <build_export_depend>Eigen3</build_export_depend>
+  <build_export_depend>eigen_conversions</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>wam_msgs</build_export_depend>
   <build_export_depend>wam_srvs</build_export_depend>
-  <build_export_depend>eigen_conversions</build_export_depend>
   <exec_depend>Eigen3</exec_depend>
+  <exec_depend>eigen_conversions</exec_depend>
   <exec_depend>roscpp</exec_depend>
   <exec_depend>wam_msgs</exec_depend>
   <exec_depend>wam_srvs</exec_depend>
-  <exec_depend>eigen_conversions</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->