<?xml version="1.0"?>
-<package>
+<package format="2">
<name>twil</name>
- <version>2.0.0</version>
+ <version>2.0.1</version>
<description>The twil package</description>
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- 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">Walter Fetter Lages</maintainer>
<license>GPLv3</license>
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/twil</url> -->
<url type="website">http://www.ece.ufrgs.br/~fetter/twil</url>
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
<!-- 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 -->
+
+ <!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <run_depend>twil_description</run_depend>
-<!--
- <run_depend>twil_gazebo_ros_control</run_depend>
--->
- <run_depend>twil_ident</run_depend>
+ <exec_depend>twil_bringup</exec_depend>
+ <exec_depend>twil_description</exec_depend>
+ <exec_depend>twil_gazebo_ros_control</exec_depend>
+ <exec_depend>twil_ident</exec_depend>
+
<!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- You can specify that this package is a metapackage here: -->
- <!-- <metapackage/> -->
- <metapackage/>
-
<!-- Other tools can request additional information be placed here -->
-
+ <metapackage/>
</export>
</package>
cmake_minimum_required(VERSION 2.8.3)
-project(twil_controllers)
+project(twil_bringup)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
## 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
- roscpp
- effort_controllers
-)
-find_package(cmake_modules REQUIRED)
+find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
-#find_package(Eigen REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependencies might have been
-## pulled in transitively but can be declared for certainty nonetheless:
-## * add a build_depend tag for "message_generation"
-## * add a run_depend tag for "message_runtime"
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
-#add_message_files(
+# add_message_files(
# FILES
# Message1.msg
# Message2.msg
-#)
+# )
## Generate services in the 'srv' folder
# add_service_files(
# std_msgs # Or other packages containing msgs
# )
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
+## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
-#catkin_package(
+catkin_package(
# INCLUDE_DIRS include
-# LIBRARIES ${PROJECT_NAME}
-# CATKIN_DEPENDS message_runtime
+# LIBRARIES twil_bringup
+# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
-#)
+)
###########
## Build ##
## Specify additional locations of header files
## Your package locations should be listed before other locations
-#include_directories(include
-# ${catkin_INCLUDE_DIRS}
-# ${Eigen_INCLUDE_DIRS}
-#)
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/twil_bringup.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-## Declare a cpp library
-#add_library(twil_controllers
-#)
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/twil_bringup_node.cpp)
-## Declare a cpp executable
-# add_executable(twil_controllers_node src/twil_controllers_node.cpp)
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-#add_dependencies(twil_controllers twil_controllers_generate_messages_cpp)
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
-#target_link_libraries(${PROJECT_NAME}
+# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
-#)
+# )
#############
## Install ##
# )
## Mark executables and/or libraries for installation
-#install(TARGETS ${PROJECT_NAME}
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-#)
+# )
## Mark cpp header files for installation
-#install(DIRECTORY include/${PROJECT_NAME}/
+# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
-#)
+# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#############
## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_twil_controllers.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_twil_bringup.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
--- /dev/null
+joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 100
+
+left_wheel_joint_effort_controller:
+ type: effort_controllers/JointEffortController
+ joint: left_wheel_joint
+
+right_wheel_joint_effort_controller:
+ type: effort_controllers/JointEffortController
+ joint: right_wheel_joint
--- /dev/null
+joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 100
+
+left_wheel_joint_velocity_controller:
+ type: effort_controllers/JointVelocityController
+ joint: left_wheel_joint
+ pid: {p: 0.0, i: 0.0, d: 0.0}
+
+right_wheel_joint_velocity_controller:
+ type: effort_controllers/JointVelocityController
+ joint: right_wheel_joint
+ pid: {p: 0.0, i: 0.0, d: 0.0}
<arg name="wam" value="$(arg wam)"/>
</include>
- <include file="$(find twil_controllers)/launch/joint_effort.launch" />
+ <include file="$(find twil_bringup)/launch/joint_effort.launch" />
</launch>
--- /dev/null
+<launch>
+ <rosparam file="$(find twil_bringup)/config/effort_control.yaml" command="load"/>
+
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+ output="screen" args="left_wheel_joint_effort_controller right_wheel_joint_effort_controller joint_state_controller"/>
+</launch>
--- /dev/null
+<launch>
+ <rosparam file="$(find twil_bringup)/config/velocity_control.yaml" command="load"/>
+
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+ output="screen" args="joint_state_controller left_wheel_joint_velocity_controller right_wheel_joint_velocity_controller"/>
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<package format="2">
+ <name>twil_bringup</name>
+ <version>2.0.1</version>
+ <description>The twil_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">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>GPLv3</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/twil_bringup</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- 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 -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>controller_manager</build_depend>
+ <build_depend>effort_controllers</build_depend>
+ <build_depend>joint_state_controller</build_depend>
+ <build_depend>twil_description</build_depend>
+ <build_export_depend>controller_manager</build_export_depend>
+ <build_export_depend>effort_controllers</build_export_depend>
+ <build_export_depend>joint_state_controller</build_export_depend>
+ <build_export_depend>twil_description</build_export_depend>
+ <exec_depend>controller_manager</exec_depend>
+ <exec_depend>effort_controllers</exec_depend>
+ <exec_depend>joint_state_controller</exec_depend>
+ <exec_depend>twil_description</exec_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+ </export>
+</package>
+++ /dev/null
-To publish with joint_effort_controller:
-
-rostopic pub /twil/left_wheel_joint_effort_controller/command std_msgs/Float64 "0.0"
-
-To get time and pose:
-
-rostopic echo -p /gazebo/model_states | awk '{FS=","; printf("%g %g %g %g\n",$1/1e9,$11,$12,2*atan2(sqrt($14^2+$15^2+$16^2),$17))}'
+++ /dev/null
-twil:
-
- joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
-
- left_wheel_joint_effort_controller:
- type: effort_controllers/JointEffortController
- joint: left_wheel_joint
-
- right_wheel_joint_effort_controller:
- type: effort_controllers/JointEffortController
- joint: right_wheel_joint
+++ /dev/null
-twil:
-
- joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
-
- left_wheel_joint_velocity_controller:
- type: effort_controllers/JointVelocityController
- joint: left_wheel_joint
- pid: {p: 0.0, i: 0.0, d: 0.0}
-
- right_wheel_joint_velocity_controller:
- type: effort_controllers/JointVelocityController
- joint: right_wheel_joint
- pid: {p: 0.0, i: 0.0, d: 0.0}
-
+++ /dev/null
-<launch>
- <rosparam file="$(find twil_controllers)/config/effort_control.yaml" command="load"/>
-
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" ns="twil" args="left_wheel_joint_effort_controller right_wheel_joint_effort_controller joint_state_controller"/>
-</launch>
+++ /dev/null
-<launch>
- <rosparam file="$(find twil_controllers)/config/velocity_control.yaml" command="load"/>
-
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" ns="twil" args="joint_state_controller left_wheel_joint_velocity_controller right_wheel_joint_velocity_controller"/>
-</launch>
+++ /dev/null
-<?xml version="1.0"?>
-<package>
- <name>twil_controllers</name>
- <version>2.0.0</version>
- <description>The twil_controllers 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">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>GPLv3</license>
-
-
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/twil_controllers</url> -->
-
-
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
- <!-- 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 -->
- <!-- Examples: -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
-
- <build_depend>effort_controllers</build_depend>
-
- <run_depend>controller_manager</run_depend>
- <run_depend>effort_controllers</run_depend>
- <run_depend>joint_state_controller</run_depend>
-
-
- <!-- The export tag contains other, unspecified, tags -->
- <export>
- <!-- You can specify that this package is a metapackage here: -->
- <!-- <metapackage/> -->
-
- <!-- Other tools can request additional information be placed here -->
- </export>
-</package>
cmake_minimum_required(VERSION 2.8.3)
project(twil_description)
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependencies might have been
-## pulled in transitively but can be declared for certainty nonetheless:
-## * add a build_depend tag for "message_generation"
-## * add a run_depend tag for "message_runtime"
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
# std_msgs # Or other packages containing msgs
# )
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
+## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
## Specify additional locations of header files
## Your package locations should be listed before other locations
-# include_directories(include)
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
-## Declare a cpp library
-# add_library(twil_description
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/twil_description.cpp
# )
-## Declare a cpp executable
-# add_executable(twil_description_node src/twil_description_node.cpp)
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/twil_description_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(twil_description_node twil_description_generate_messages_cpp)
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
-# target_link_libraries(twil_description_node
+# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
# )
## Mark executables and/or libraries for installation
-# install(TARGETS twil_description twil_description_node
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
<launch>
<arg name="wam" default="false"/>
- <param unless="$(arg wam)" name="robot_description" command="$(find xacro)/xacro.py '$(find twil_description)/xacro/twil.urdf.xacro'" />
- <param if="$(arg wam)" name="robot_description" command="$(find xacro)/xacro.py '$(find twil_description)/xacro/twil_wam.urdf.xacro'" />
+ <param unless="$(arg wam)" name="robot_description" command="$(find xacro)/xacro '$(find twil_description)/xacro/twil.urdf.xacro'" />
+ <param if="$(arg wam)" name="robot_description" command="$(find xacro)/xacro '$(find twil_description)/xacro/twil_wam.urdf.xacro'" />
</launch>
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>twil_description</name>
- <version>2.0.0</version>
+ <version>2.0.1</version>
<description>The twil_description package</description>
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="feter@ece.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 -->
<license>GPLv3</license>
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/twil_description</url> -->
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="feter@ece.ufrgs.br">Walter Fetter Lages</author>
+ <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
- <!-- The *_depend tags are used to specify dependencies -->
+ <!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- You can specify that this package is a metapackage here: -->
- <!-- <metapackage/> -->
-
<!-- Other tools can request additional information be placed here -->
</export>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
- <property name="M_PI" value="3.1415926535897931" />
+ <xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:macro name="fixed_wheel" params="name parent *origin">
<transmission name="${name}_transmission">
<type>transmission_interface/SimpleTransmission"</type>
<joint name="${name}_joint">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_motor">
- <!-- deprecated <hardwareInterface>EffortJointInterface</hardwareInterface> -->
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="twil">
- <property name="M_PI" value="3.1415926535897931" />
+ <xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:include filename="$(find twil_description)/xacro/chassis.urdf.xacro" />
<xacro:include filename="$(find twil_description)/xacro/fixed_wheel_support.urdf.xacro" />
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
<!-- <robotNamespace>/twil</robotNamespace> -->
<!-- Custom plugin -->
- <robotSimType>twil_gazebo_ros_control/TwilRobotHWSim</robotSimType>
+ <!--robotSimType>twil_gazebo_ros_control/TwilRobotHWSim</robotSimType-->
<!-- Default plugin -->
<!-- <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> -->
<controlPeriod>0.001</controlPeriod>
cmake_minimum_required(VERSION 2.8.3)
project(twil_gazebo_ros_control)
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
## 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
-# gazebo
+ control_toolbox
+ controller_manager
+ gazebo
gazebo_ros_control
+ pluginlib
+ roscpp
twil_description
- control_toolbox
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
-find_package(gazebo REQUIRED)
+
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependencies might have been
-## pulled in transitively but can be declared for certainty nonetheless:
-## * add a build_depend tag for "message_generation"
-## * add a run_depend tag for "message_runtime"
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
# std_msgs # Or other packages containing msgs
# )
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
+## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES twil_gazebo_ros_control
- CATKIN_DEPENDS controller_manager pluginlib gazebo_ros_control twil_description control_toolbox
- DEPENDS gazebo
+# CATKIN_DEPENDS control_toolbox controller_manager gazebo gazebo_ros_control pluginlib roscpp twil_description
+# DEPENDS system_lib
)
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
-include_directories(include
- ${GAZEBO_INCLUDE_DIRS}
-)
include_directories(
+# include
${catkin_INCLUDE_DIRS}
)
-## Declare a cpp library
-add_library(twil_gazebo_ros_control
- src/twil_robot_hw_sim.cpp
-)
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/twil_gazebo_ros_control.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-## Declare a cpp executable
-# add_executable(twil_gazebo_ros_control_node src/twil_gazebo_ros_control_node.cpp)
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/twil_gazebo_ros_control_node.cpp)
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(twil_gazebo_ros_control_node twil_gazebo_ros_control_generate_messages_cpp)
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}
- ${catkin_LIBRARIES}
- ${GAZEBO_LIBRARIES}
-)
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
#############
## Install ##
# )
## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>twil_gazebo_ros_control</name>
- <version>2.0.0</version>
+ <version>2.0.1</version>
<description>The twil_gazebo_ros_control package</description>
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- 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">Walter Fetter Lages</maintainer>
<license>GPLv3</license>
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/twil_gazebo_ros_control</url> -->
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
<!-- 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 -->
+ <!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
-
+ <build_depend>control_toolbox</build_depend>
+ <build_depend>controller_manager</build_depend>
<build_depend>gazebo</build_depend>
<build_depend>gazebo_ros_control</build_depend>
- <build_depend>controller_manager</build_depend>
<build_depend>pluginlib</build_depend>
+ <build_depend>roscpp</build_depend>
<build_depend>twil_description</build_depend>
- <build_depend>control_toolbox</build_depend>
-
- <run_depend>controller_manager</run_depend>
- <run_depend>pluginlib</run_depend>
- <!--run_depend>gazebo</run_depend-->
- <run_depend>gazebo_ros_control</run_depend>
- <run_depend>twil_description</run_depend>
- <run_depend>control_toolbox</run_depend>
+ <build_export_depend>control_toolbox</build_export_depend>
+ <build_export_depend>controller_manager</build_export_depend>
+ <build_export_depend>gazebo</build_export_depend>
+ <build_export_depend>gazebo_ros_control</build_export_depend>
+ <build_export_depend>pluginlib</build_export_depend>
+ <build_export_depend>roscpp</build_export_depend>
+ <build_export_depend>twil_description</build_export_depend>
+ <exec_depend>control_toolbox</exec_depend>
+ <exec_depend>controller_manager</exec_depend>
+ <exec_depend>gazebo</exec_depend>
+ <exec_depend>gazebo_ros_control</exec_depend>
+ <exec_depend>pluginlib</exec_depend>
+ <exec_depend>roscpp</exec_depend>
+ <exec_depend>twil_description</exec_depend>
+
<!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- You can specify that this package is a metapackage here: -->
- <!-- <metapackage/> -->
-
<!-- Other tools can request additional information be placed here -->
<gazebo_ros_control plugin="${prefix}/twil_gazebo_ros_control_plugins.xml" />
</export>
-</package>
\ No newline at end of file
+</package>
cmake_minimum_required(VERSION 2.8.3)
project(twil_ident)
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
## 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 roscpp kdl_parser)
+find_package(catkin REQUIRED COMPONENTS
+ kdl_parser
+ roscpp
+)
find_package(cmake_modules REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependencies might have been
-## pulled in transitively but can be declared for certainty nonetheless:
-## * add a build_depend tag for "message_generation"
-## * add a run_depend tag for "message_runtime"
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
# std_msgs # Or other packages containing msgs
# )
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
+## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES twil_ident
-# CATKIN_DEPENDS other_catkin_pkg
- DEPENDS eigen
+# CATKIN_DEPENDS kdl_parser roscpp
+# DEPENDS Eigen3
)
###########
## 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 (eigen)
- ${Eigen_INCLUDE_DIRS}
+# TODO: Check names of system library include directories (Eigen3)
+ ${Eigen3_INCLUDE_DIRS}
)
-## Declare a cpp library
-# add_library(twil_ident
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/twil_ident.cpp
# )
-## Declare a cpp executable
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
add_executable(ident src/ident.cpp)
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(twil_ident_node twil_ident_generate_messages_cpp)
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(ident
- ${catkin_LIBRARIES}
- ${eigen_LIBRARIES}
+ ${catkin_LIBRARIES}
+# ${Eigen3_LIBRARIES}
)
#############
<launch>
- <include file="$(find twil_controllers)/launch/joint_effort.launch" />
+ <include file="$(find twil_bringup)/launch/joint_effort.launch" />
<node name="ident" pkg="twil_ident" type="ident" output="screen" />
</launch>
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>twil_ident</name>
- <version>2.0.0</version>
+ <version>2.0.1</version>
<description>The twil_ident package</description>
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- 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">Walter Fetter Lages</maintainer>
<license>GPLv3</license>
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/twil_ident</url> -->
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
<!-- 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 -->
+ <!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
- <build_depend>eigen</build_depend>
+ <build_depend>Eigen3</build_depend>
<build_depend>kdl_parser</build_depend>
- <run_depend>eigen</run_depend>
- <run_depend>kdl_parser</run_depend>
+ <build_depend>roscpp</build_depend>
+ <build_export_depend>Eigen3</build_export_depend>
+ <build_export_depend>kdl_parser</build_export_depend>
+ <build_export_depend>roscpp</build_export_depend>
+ <exec_depend>Eigen3</exec_depend>
+ <exec_depend>kdl_parser</exec_depend>
+ <exec_depend>roscpp</exec_depend>
+
<!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- You can specify that this package is a metapackage here: -->
- <!-- <metapackage/> -->
-
<!-- Other tools can request additional information be placed here -->
</export>
projects / twil.git / commitdiff