+++ /dev/null
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
-# directories (or patterns, but directories should suffice) that should
-# be excluded from the distro. This is not the place to put things that
-# should be ignored everywhere, like "build" directories; that happens in
-# rosbuild/rosbuild.cmake. Here should be listed packages that aren't
-# ready for inclusion in a distro.
-#
-# This list is combined with the list in rosbuild/rosbuild.cmake. Note
-# that CMake 2.6 may be required to ensure that the two lists are combined
-# properly. CMake 2.4 seems to have unpredictable scoping rules for such
-# variables.
-#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
-
-rosbuild_make_distribution(0.1.0)
+++ /dev/null
-include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file
+++ /dev/null
-<stack>
- <description brief="twil">TWIL</description>
- <author>Maintained by Taiser Barros</author>
- <license>GPL</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/twil</url>
- <depend stack="ros" />
-
-</stack>
--- /dev/null
+cmake_minimum_required(VERSION 2.8.3)
+project(twil)
+find_package(catkin REQUIRED)
+catkin_metapackage()
--- /dev/null
+<?xml version="1.0"?>
+<package>
+ <name>twil</name>
+ <version>2.0.0</version>
+ <description>The twil 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</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 -->
+ <!-- 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>
+
+ <run_depend>twil_description</run_depend>
+ <run_depend>twil_gazebo_ros_control</run_depend>
+ <run_depend>twil_ident</run_depend>
+ <run_depend>twil_controllers</run_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 -->
+
+ </export>
+</package>
\ No newline at end of file
+++ /dev/null
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-
-# Build RobotSim Interface
-rosbuild_add_library(twil_control_gazebo src/robot_sim_twil.cpp)
+++ /dev/null
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
+++ /dev/null
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b twil_control_gazebo
-
-<!--
-Provide an overview of your package.
--->
-
--->
-
-
-*/
+++ /dev/null
-<package>
- <description brief="twil_control_gazebo">
-
- twil_control_gazebo
-
- </description>
- <author>Walter Fetter Lages</author>
- <license>GPL</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/twil_control_gazebo</url>
-
- <depend package="ros_control_gazebo"/>
- <depend package="ros_control_gazebo_plugin"/>
-
- <depend package="twil_description"/>
-
- <depend package="gazebo"/>
-
- <export>
- <ros_control_gazebo plugin="${prefix}/robot_sim_plugins.xml" />
- </export>
-
-</package>
+++ /dev/null
-<library path="lib/libtwil_control_gazebo">
-
- <class
- name="twil_control_gazebo/RobotSimTwil"
- type="twil_control_gazebo::RobotSimTwil"
- base_class_type="ros_control_gazebo::RobotSim">
- <description>
- A ROS/Gazebo interface Twil, exporting a joint_state_interface and a
- joint_effort_interface.
- </description>
- </class>
-</library>
+++ /dev/null
-#include <pluginlib/class_list_macros.h>
-
-#include <hardware_interface/joint_command_interface.h>
-#include <hardware_interface/robot_hw.h>
-
-#include <ros_control_gazebo/robot_sim.h>
-
-#include <angles/angles.h>
-
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
-#include <gazebo/common/common.hh>
-
-namespace twil_control_gazebo
-{
-
- class RobotSimTwil:public ros_control_gazebo::RobotSim
- {
-
- unsigned int n_dof_;
-
- hardware_interface::JointStateInterface js_interface_;
- hardware_interface::EffortJointInterface ej_interface_;
-
- std::vector<std::string> joint_name_;
- std::vector<double> joint_position_;
- std::vector<double> joint_velocity_;
- std::vector<double> joint_effort_;
- std::vector<double> joint_effort_command_;
-
- std::vector<gazebo::physics::JointPtr> sim_joints_;
-
- public:
-
- RobotSimTwil(void):n_dof_(2),joint_name_(n_dof_),joint_position_(n_dof_),
- joint_velocity_(n_dof_),joint_effort_(n_dof_),joint_effort_command_(n_dof_)
- {
-
- joint_name_[0]="left_wheel_joint";
- joint_name_[1]="right_wheel_joint";
-
- for(unsigned int j=0;j < n_dof_;j++)
- {
- joint_position_[j]=0.0;
- joint_velocity_[j]=0.0;
- joint_effort_[j]=0.0;
-
- joint_effort_command_[j] = 0.0;
-
- js_interface_.registerJoint(joint_name_[j],&joint_position_[j],&joint_velocity_[j],&joint_effort_[j]);
- ej_interface_.registerJoint(js_interface_.getJointStateHandle(joint_name_[j]),&joint_effort_command_[j]);
- }
-
- registerInterface(&js_interface_);
- registerInterface(&ej_interface_);
- }
-
-
- bool initSim(ros::NodeHandle nh,gazebo::physics::ModelPtr model)
- {
- for(unsigned int j=0;j < n_dof_;j++)
- {
- ROS_INFO_STREAM("Getting pointer to gazebo joint: " << joint_name_[j]);
- gazebo::physics::JointPtr joint=model->GetJoint(joint_name_[j]);
- if(joint) sim_joints_.push_back(joint);
- else
- {
- ROS_ERROR_STREAM("This robot has a joint named \"" << joint_name_[j]
- <<"\" which is not in the gazebo model.");
- return false;
- }
- }
- return true;
- }
-
- void readSim(ros::Time time,ros::Duration period)
- {
- for(unsigned int j=0; j < n_dof_;j++)
- {
-// joint_position_[j]+=angles::shortest_angular_distance
-// (joint_position_[j],sim_joints_[j]->GetAngle(0).GetAsRadian());
- joint_position_[j]=sim_joints_[j]->GetAngle(0).GetAsRadian();
- joint_velocity_[j]=sim_joints_[j]->GetVelocity(0);
-// joint_effort_[j]=sim_joints_[j]->GetForce(0);
- joint_effort_[j]=joint_effort_command_[j];
- }
- }
-
- void writeSim(ros::Time time,ros::Duration period)
- {
- for(unsigned int j=0;j < n_dof_;j++) sim_joints_[j]->SetForce(0,joint_effort_command_[j]);
- }
-
- };
-}
-
-PLUGINLIB_DECLARE_CLASS(twil_control_gazebo,RobotSimTwil,twil_control_gazebo::RobotSimTwil,ros_control_gazebo::RobotSim)
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-rosbuild_add_library(${PROJECT_NAME} src/cart_linearizing_controller.cpp)
-rosbuild_add_library(${PROJECT_NAME} src/cart_linearizing_controller_rne.cpp)
-rosbuild_add_library(${PROJECT_NAME} src/nonsmooth_backstep_controller.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
+cmake_minimum_required(VERSION 2.8.3)
+project(twil_controllers)
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ controller_interface
+ effort_controllers
+)
+find_package(cmake_modules REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
find_package(Eigen REQUIRED)
-include_directories(${Eigen_INCLUDE_DIRS})
+
+## 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
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * 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"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+###################################
+## 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
+## 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 ${PROJECT_NAME}
+ CATKIN_DEPENDS controller_interface
+# DEPENDS system_lib
+ DEPENDS eigen
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include
+ ${catkin_INCLUDE_DIRS}
+ ${Eigen_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+add_library(twil_controllers
+ src/cart_linearizing_controller.cpp
+ src/cart_linearizing_controller_rne.cpp
+ src/nonsmooth_backstep_controller.cpp
+)
+
+## Declare a cpp executable
+# add_executable(twil_controllers_node src/twil_controllers_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(twil_controllers_node twil_controllers_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}
+ ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+ 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}/
+ 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
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_twil_controllers.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+++ /dev/null
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
bool init(hardware_interface::EffortJointInterface *robot, ros::NodeHandle &n);
void starting(const ros::Time& time);
- void update(const ros::Time& time);
+ void update(const ros::Time& time,const ros::Duration& duration);
private:
ros::NodeHandle node_;
- ros::Time last_time_;
hardware_interface::EffortJointInterface *robot_;
std::vector<hardware_interface::JointHandle> joints_;
bool init(hardware_interface::EffortJointInterface *robot, ros::NodeHandle &n);
void starting(const ros::Time& time);
- void update(const ros::Time& time);
+ void update(const ros::Time& time,const ros::Duration& duration);
private:
ros::NodeHandle node_;
- ros::Time last_time_;
hardware_interface::EffortJointInterface *robot_;
std::vector<hardware_interface::JointHandle> joints_;
bool init(hardware_interface::EffortJointInterface *robot, ros::NodeHandle &n);
void starting(const ros::Time& time);
- void update(const ros::Time& time);
+ void update(const ros::Time& time,const ros::Duration& duration);
private:
ros::NodeHandle node_;
- ros::Time last_time_;
hardware_interface::EffortJointInterface *robot_;
std::vector<hardware_interface::JointHandle> joints_;
+++ /dev/null
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b twil_controllers
-
-<!--
-Provide an overview of your package.
--->
-
--->
-
-
-*/
+++ /dev/null
-<package>
- <description brief="twil_controllers">
-
- twil_controllers
-
- </description>
- <author>Walter Fetter Lages</author>
- <license>GPL</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/twil_controllers</url>
- <depend package="joint_state_controller"/>
- <depend package="effort_controllers"/>
- <depend package="twil_control_gazebo"/>
- <depend package="controller_interface"/>
- <depend package="orocos_kdl"/>
- <depend package="kdl_parser"/>
-
- <export>
- <controller_interface plugin="${prefix}/twil_controllers_plugins.xml"/>
- </export>
-
-</package>
-
-
--- /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>controller_interface</build_depend>
+ <build_depend>effort_controllers</build_depend>
+ <build_depend>kdl_parser</build_depend>
+ <build_depend>orocos_kdl</build_depend>
+ <build_depend>twil_gazebo_ros_control</build_depend>
+
+ <run_depend>controller_interface</run_depend>
+ <run_depend>controller_manager</run_depend>
+ <run_depend>effort_controllers</run_depend>
+ <run_depend>joint_state_controller</run_depend>
+ <run_depend>kdl_parser</run_depend>
+ <run_depend>orocos_kdl</run_depend>
+ <run_depend>twil_gazebo_ros_control</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 -->
+ <controller_interface plugin="${prefix}/twil_controllers_plugins.xml"/>
+ </export>
+</package>
\ No newline at end of file
return false;
}
- hardware_interface::JointHandle j=robot->getJointHandle((std::string)name_value);
+ hardware_interface::JointHandle j=robot->getHandle((std::string)name_value);
joints_.push_back(j);
}
sub_command_ = node_.subscribe("command",1000,&CartLinearizingController::commandCB,this);
void CartLinearizingController::starting(const ros::Time& time)
{
- last_time_=time;
v.setZero();
}
- void CartLinearizingController::update(const ros::Time& time)
+ void CartLinearizingController::update(const ros::Time& time,
+ const ros::Duration& duration)
{
- ros::Duration dt=time-last_time_;
- last_time_=time;
for(unsigned int i=0;i < joints_.size();i++)
{
for(unsigned int i=0;i < command->data.size();i++) v[i]=command->data[i];
}
}
-PLUGINLIB_DECLARE_CLASS(twil_controllers,CartLinearizingController,twil_controllers::CartLinearizingController,controller_interface::ControllerBase)
+PLUGINLIB_EXPORT_CLASS(twil_controllers::CartLinearizingController,controller_interface::ControllerBase)
return false;
}
- hardware_interface::JointHandle j=robot->getJointHandle((std::string)name_value);
+ hardware_interface::JointHandle j=robot->getHandle((std::string)name_value);
joints_.push_back(j);
v.push_back(0);
}
void CartLinearizingController_RNE::starting(const ros::Time& time)
{
- last_time_=time;
for(unsigned int i=0; i < joints_.size();i++) v[i]=0.0;
}
- void CartLinearizingController_RNE::update(const ros::Time& time)
+ void CartLinearizingController_RNE::update(const ros::Time& time,
+ const ros::Duration& duration)
{
- ros::Duration dt=time-last_time_;
- last_time_=time;
-
for(unsigned int i=0;i < joints_.size();i++)
{
phi(i)=joints_[i].getPosition();
for(unsigned int i=0;i < command->data.size();i++) v[i]=command->data[i];
}
}
-PLUGINLIB_DECLARE_CLASS(twil_controllers,CartLinearizingController_RNE,twil_controllers::CartLinearizingController_RNE,controller_interface::ControllerBase)
+PLUGINLIB_EXPORT_CLASS(twil_controllers::CartLinearizingController_RNE,controller_interface::ControllerBase)
return false;
}
- hardware_interface::JointHandle j=robot->getJointHandle((std::string)name_value);
+ hardware_interface::JointHandle j=robot->getHandle((std::string)name_value);
joints_.push_back(j);
}
sub_command_=node_.subscribe("command",1000,&NonSmoothBackstepController::commandCB,this);
void NonSmoothBackstepController::starting(const ros::Time& time)
{
- last_time_=time;
xi.setZero();
xiRef.setZero();
eta.setZero();
}
- void NonSmoothBackstepController::update(const ros::Time& time)
+ void NonSmoothBackstepController::update(const ros::Time& time,
+ const ros::Duration& duration)
{
- ros::Duration dt=time-last_time_;
- if(dt.toSec() < 0.01) return;
- last_time_=time;
+ if(duration.toSec() < 0.01) return;
Eigen::Vector2d nu;
for(unsigned int i=0;i < joints_.size();i++)
// Estimate pose by odometry
Eigen::MatrixXd B(3,2);
- B << cos(xi[2]+u[1]*dt.toSec()/2.0), 0.0,
- sin(xi[2]+u[1]*dt.toSec()/2.0), 0.0,
+ B << cos(xi[2]+u[1]*duration.toSec()/2.0), 0.0,
+ sin(xi[2]+u[1]*duration.toSec()/2.0), 0.0,
0.0, 1.0;
- xi+=B*u*dt.toSec();
+ xi+=B*u*duration.toSec();
// Change of coordinates
Eigen::Matrix3d R;
+sqr(GAMMA1*LAMBDA3/LAMBDA2*cos(alpha)*sin(alpha)*psi)/cub(alpha);
#else
deta+=eta;
- deta/=dt.toSec();
+ deta/=duration.toSec();
#endif
Eigen::Vector2d v=vBar+deta;
}
-PLUGINLIB_DECLARE_CLASS(twil_controllers,NonSmoothBackstepController,twil_controllers::NonSmoothBackstepController,controller_interface::ControllerBase)
+PLUGINLIB_EXPORT_CLASS(twil_controllers::NonSmoothBackstepController,controller_interface::ControllerBase)
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
+cmake_minimum_required(VERSION 2.8.3)
+project(twil_description)
+
+## 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)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## 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
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * 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"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+###################################
+## 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
+## 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_description
+# 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)
+
+## Declare a cpp library
+# add_library(twil_description
+# 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 executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(twil_description_node twil_description_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(twil_description_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS twil_description twil_description_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}/
+# 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
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_twil_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+++ /dev/null
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find twil_description)/xacro/twil.urdf.xacro'" />
- <node name="spawn_twil_object" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model twil" respawn="false" output="screen" />
+ <node name="twil_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model twil" respawn="false" output="screen" />
</launch>
<arg name="paused" default="false"/>
<!-- Start Gazebo -->
- <include file="$(find gazebo_worlds)/launch/empty_world.launch">
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="$(arg paused)"/>
+ <arg name="world_name" value="worlds/empty_sky.world" />
</include>
<include file="$(find twil_description)/launch/twil.launch"/>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find twil_description)/xacro/twil_wam.urdf.xacro'" />
- <node name="spawn_twil_object" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model twil" respawn="false" output="screen" />
+ <node name="twil_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model twil" respawn="false" output="screen" />
</launch>
<arg name="paused" default="false"/>
<!-- Start Gazebo -->
- <include file="$(find gazebo_worlds)/launch/empty_world.launch">
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="$(arg paused)"/>
+ <arg name="world_name" value="worlds/empty_sky.world" />
</include>
<include file="$(find twil_description)/launch/twil_wam.launch"/>
+++ /dev/null
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b twil_description
-
-<!--
-Provide an overview of your package.
--->
-
--->
-
-
-*/
+++ /dev/null
-<package>
- <description brief="twil_description">
-
- twil_description
-
- </description>
- <author>Walter Fetter Lages</author>
- <license>GPL</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/twil_description</url>
-
-</package>
-
-
--- /dev/null
+<?xml version="1.0"?>
+<package>
+ <name>twil_description</name>
+ <version>2.0.0</version>
+ <description>The twil_description package</description>
+
+ <!-- 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>
+
+
+ <!-- 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_description</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="feter@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>
+
+
+ <!-- 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>
<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- name="twil">
-
-<!--robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:xacro="http://ros.org/wiki/xacro"
- name="twil"-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="twil">
<property name="M_PI" value="3.1415926535897931" />
- <include filename="$(find twil_description)/xacro/chassis.urdf.xacro" />
- <include filename="$(find twil_description)/xacro/fixed_wheel_support.urdf.xacro" />
- <include filename="$(find twil_description)/xacro/fixed_wheel.urdf.xacro" />
- <include filename="$(find twil_description)/xacro/castor_support.urdf.xacro" />
- <include filename="$(find twil_description)/xacro/castor_base.urdf.xacro" />
- <include filename="$(find twil_description)/xacro/castor_wheel.urdf.xacro" />
- <include filename="$(find twil_description)/xacro/battery_bosch_12v.urdf.xacro" />
- <include filename="$(find twil_description)/xacro/cpu.urdf.xacro" />
- <include filename="$(find twil_description)/xacro/eurocard.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/chassis.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/fixed_wheel_support.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/fixed_wheel.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/castor_support.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/castor_base.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/castor_wheel.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/battery_bosch_12v.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/cpu.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/eurocard.urdf.xacro" />
<link name="twil_origin" />
</joint>
<gazebo>
- <controller:ros_control_gazebo_plugin
- name="ros_control"
- plugin="$(find ros_control_gazebo_plugin)/lib/libros_control_gazebo_plugin.so">
- <ns>twil</ns>
- <robotSimType>twil_control_gazebo/RobotSimTwil</robotSimType>
+ <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
+ <robotNamespace>/twil</robotNamespace>
+
+ <!-- Custom plugin -->
+ <!-- robotSimType>twil_gazebo_ros_control/TwilRobotHWSim</robotSimType -->
+
+ <!-- Default plugin -->
+ <!-- robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType -->
+
<controlPeriod>0.001</controlPeriod>
- </controller:ros_control_gazebo_plugin>
+ </plugin>
</gazebo>
+
</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="twil">
- <include filename="$(find twil_description)/xacro/twil.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/twil.urdf.xacro" />
- <include filename="$(find wam_description)/xacro/wam_bhand.urdf.xacro" />
+ <xacro:include filename="$(find wam_description)/xacro/wam_bhand.urdf.xacro" />
<joint name="twil_wam" type="fixed">
</joint>
- <include filename="$(find twil_description)/xacro/castor_support.urdf.xacro" />
+ <xacro:include filename="$(find twil_description)/xacro/castor_support.urdf.xacro" />
<xacro:castor_support name="castor_support_front" parent="chassis">
<origin xyz="0.2 0 -0.002" rpy="0 0 0" />
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
+cmake_minimum_required(VERSION 2.8.3)
+project(twil_ident)
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+find_package(cmake_modules REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
find_package(Eigen REQUIRED)
-include_directories(${Eigen_INCLUDE_DIRS})
-#include_directories(${EIGEN_INCLUDE_DIRS})
-rosbuild_add_executable(ident src/ident.cpp)
+## 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
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * 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"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+###################################
+## 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
+## 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
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+# TODO: Check names of system library include directories (eigen)
+include_directories(
+ ${Eigen_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(twil_ident
+# src/${PROJECT_NAME}/twil_ident.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(twil_ident_node src/twil_ident_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_ident_node twil_ident_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(twil_ident_node
+# ${catkin_LIBRARIES}
+# ${eigen_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS twil_ident twil_ident_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}/
+# 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
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_twil_ident.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+++ /dev/null
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
+++ /dev/null
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b twil_ident
-
-<!--
-Provide an overview of your package.
--->
-
--->
-
-
-*/
+++ /dev/null
-<package>
- <description brief="twil_ident">
-
- twil_ident
-
- </description>
- <author>Walter Fetter Lages</author>
- <license>GPL</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/twil_ident</url>
-
- <depend package="roscpp"/>
-
- <rosdep name="eigen"/>
-
-</package>
-
-
--- /dev/null
+<?xml version="1.0"?>
+<package>
+ <name>twil_ident</name>
+ <version>2.0.0</version>
+ <description>The twil_ident 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@eceufrgs.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_ident</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>eigen</build_depend>
+ <run_depend>eigen</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>
projects / twil.git / commitdiff