Move joint_command_interface.h to the electrical_interface package.

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7d68652..8140799 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
   control_toolbox
   controller_interface
   dynamic_reconfigure
+  electrical_interface
   forward_command_controller
   realtime_tools
   urdf

diff --git a/include/voltage_controllers/joint_command_interface.h b/include/voltage_controllers/joint_command_interface.h
deleted file mode 100644 (file)
index 670afb0..0000000
--- a/include/voltage_controllers/joint_command_interface.h
+++ /dev/null
@@ -1,11 +0,0 @@
-#ifndef VOLTAGE_CONTROLLERS_JOINT_COMMAND_INTERFACE_H
-#define VOLTAGE_CONTROLLERS_JOINT_COMMAND_INTERFACE_H
-
-#include <hardware_interface/joint_command_interface.h>
-
-namespace hardware_interface
-{
-    class VoltageJointInterface: public hardware_interface::JointCommandInterface {};
-}
-
-#endif

diff --git a/include/voltage_controllers/joint_effort_controller.h b/include/voltage_controllers/joint_effort_controller.h
index 23bed46..b34aff9 100644 (file)
--- a/include/voltage_controllers/joint_effort_controller.h
+++ b/include/voltage_controllers/joint_effort_controller.h
@@ -75,15 +75,14 @@
 #include <boost/scoped_ptr.hpp>
 #include <boost/thread/condition.hpp>
 #include <realtime_tools/realtime_publisher.h>
-#include <hardware_interface/joint_command_interface.h>
+//#include <hardware_interface/joint_command_interface.h>
 #include <controller_interface/controller.h>
 #include <control_msgs/JointControllerState.h>
 #include <std_msgs/Float64.h>
 #include <control_msgs/JointControllerState.h>
 #include <realtime_tools/realtime_buffer.h>
 
-// fix this!
-#include <voltage_controllers/joint_command_interface.h>
+#include <electrical_interface/joint_command_interface.h>
 
 namespace voltage_controllers
 {

diff --git a/include/voltage_controllers/joint_group_effort_controller.h b/include/voltage_controllers/joint_group_effort_controller.h
index ebb3ad3..3a2d35e 100644 (file)
--- a/include/voltage_controllers/joint_group_effort_controller.h
+++ b/include/voltage_controllers/joint_group_effort_controller.h
@@ -41,8 +41,7 @@
 
 #include <forward_command_controller/forward_joint_group_command_controller.h>
 
-// fix this!
-#include <voltage_controllers/joint_command_interface.h>
+#include <electrical_interface/joint_command_interface.h>
 
 namespace voltage_controllers
 {

diff --git a/include/voltage_controllers/joint_group_voltage_controller.h b/include/voltage_controllers/joint_group_voltage_controller.h
index 2d6e8d1..b725580 100644 (file)
--- a/include/voltage_controllers/joint_group_voltage_controller.h
+++ b/include/voltage_controllers/joint_group_voltage_controller.h
@@ -49,8 +49,7 @@
 
 #include <forward_command_controller/forward_joint_group_command_controller.h>
 
-// fix this!
-#include <voltage_controllers/joint_command_interface.h>
+#include <electrical_interface/joint_command_interface.h>
 
 
 namespace voltage_controllers

diff --git a/include/voltage_controllers/joint_position_controller.h b/include/voltage_controllers/joint_position_controller.h
index 228def0..32fa010 100644 (file)
--- a/include/voltage_controllers/joint_position_controller.h
+++ b/include/voltage_controllers/joint_position_controller.h
@@ -74,15 +74,14 @@
 #include <boost/scoped_ptr.hpp>
 #include <boost/thread/condition.hpp>
 #include <realtime_tools/realtime_publisher.h>
-#include <hardware_interface/joint_command_interface.h>
+//#include <hardware_interface/joint_command_interface.h>
 #include <controller_interface/controller.h>
 #include <control_msgs/JointControllerState.h>
 #include <std_msgs/Float64.h>
 #include <control_msgs/JointControllerState.h>
 #include <realtime_tools/realtime_buffer.h>
 
-// fix this!
-#include <voltage_controllers/joint_command_interface.h>
+#include <electrical_interface/joint_command_interface.h>
 
 
 namespace voltage_controllers

diff --git a/include/voltage_controllers/joint_velocity_controller.h b/include/voltage_controllers/joint_velocity_controller.h
index 728a7bd..d6326d9 100644 (file)
--- a/include/voltage_controllers/joint_velocity_controller.h
+++ b/include/voltage_controllers/joint_velocity_controller.h
@@ -41,8 +41,7 @@
    developed based on effort_controllers/joint_effort_contoller.h
 */
 
-// fix this!
-#include <voltage_controllers/joint_command_interface.h>
+#include <electrical_interface/joint_command_interface.h>
 
 
 #ifndef VOLTAGE_CONTROLLERS_JOINT_VELOCITY_CONTROLLER_H

diff --git a/include/voltage_controllers/joint_voltage_controller.h b/include/voltage_controllers/joint_voltage_controller.h
index 44dca7a..3034f71 100644 (file)
--- a/include/voltage_controllers/joint_voltage_controller.h
+++ b/include/voltage_controllers/joint_voltage_controller.h
@@ -48,8 +48,7 @@
 
 #include <forward_command_controller/forward_command_controller.h>
 
-// fix this!
-#include <voltage_controllers/joint_command_interface.h>
+#include <electrical_interface/joint_command_interface.h>
 
 namespace voltage_controllers
 {

diff --git a/package.xml b/package.xml
index 3ebc850..da56e19 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -45,6 +45,7 @@
   <build_depend>control_toolbox</build_depend>
   <build_depend>controller_interface</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>electrical_interface</build_depend>
   <build_depend>forward_command_controller</build_depend>
   <build_depend>realtime_tools</build_depend>
   <build_depend>urdf</build_depend>