From: Walter Fetter Lages Date: Wed, 12 Dec 2018 04:04:14 +0000 (-0200) Subject: Port to Melodic. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=28ad1e439edfaba049c284c10242a5cd5ae0bb53;p=ufrgs_wam.git Port to Melodic. --- diff --git a/bhand_bringup/CMakeLists.txt b/bhand_bringup/CMakeLists.txt index 65b7e88..4dc606c 100644 --- a/bhand_bringup/CMakeLists.txt +++ b/bhand_bringup/CMakeLists.txt @@ -34,10 +34,10 @@ find_package(catkin REQUIRED COMPONENTS ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). ## * In the file package.xml: ## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * 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 run_depend tag for "message_runtime" +## * 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 ...) @@ -82,7 +82,7 @@ find_package(catkin REQUIRED COMPONENTS ## To declare and build dynamic reconfigure parameters within this ## package, follow these steps: ## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * 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 ...) @@ -100,7 +100,7 @@ find_package(catkin REQUIRED COMPONENTS ################################### ## 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 diff --git a/bhand_bringup/package.xml b/bhand_bringup/package.xml index 2cfb651..a864ad6 100644 --- a/bhand_bringup/package.xml +++ b/bhand_bringup/package.xml @@ -1,13 +1,13 @@ - + bhand_bringup - 0.0.0 + 0.0.1 The bhand_bringup package - Walter Fetter Lages + Water Fetter Lages @@ -29,28 +29,42 @@ Walter Fetter Lages - + + + + + + + + - - + + + + catkin bhand_description control_msgs controller_manager position_controllers urdf - bhand_description - control_msgs - controller_manager - position_controllers - urdf + bhand_description + control_msgs + controller_manager + position_controllers + urdf + bhand_description + control_msgs + controller_manager + position_controllers + urdf diff --git a/bhand_description/CMakeLists.txt b/bhand_description/CMakeLists.txt index 3e0344e..b0072b7 100644 --- a/bhand_description/CMakeLists.txt +++ b/bhand_description/CMakeLists.txt @@ -28,10 +28,10 @@ find_package(catkin REQUIRED) ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). ## * In the file package.xml: ## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * 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 run_depend tag for "message_runtime" +## * 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 ...) @@ -76,7 +76,7 @@ find_package(catkin REQUIRED) ## To declare and build dynamic reconfigure parameters within this ## package, follow these steps: ## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * 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 ...) @@ -94,7 +94,7 @@ find_package(catkin REQUIRED) ################################### ## 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 diff --git a/bhand_description/package.xml b/bhand_description/package.xml index 2afaf38..77dacd3 100644 --- a/bhand_description/package.xml +++ b/bhand_description/package.xml @@ -1,20 +1,19 @@ - + bhand_description - 2.0.0 + 2.0.1

The bhand_description package

-

This package contains xacro files for the Barrett Hand gripper. It is based on the iri_wam_description package developed by the IRI Robotics Lab but with gripper parameters (mainly inertia parameters) adapted to the Barrett Hand model BH-280 available at UFRGS. -

+

- fetter@ece.ufrgs.br + Water Fetter Lages @@ -30,6 +29,7 @@ http://www.ece.ufrgs.br/~fetter/ufrgs_wam http://wiki.ros.org/iri_bhand_description + @@ -38,17 +38,26 @@ IRI Robotics Lab, Ivan Rojas (irojas@iri.upc.edu) - + + + + + + + + - - + + + + catkin diff --git a/ufrgs_wam/package.xml b/ufrgs_wam/package.xml index 1bcf585..4024e73 100644 --- a/ufrgs_wam/package.xml +++ b/ufrgs_wam/package.xml @@ -1,13 +1,13 @@ - + ufrgs_wam - 3.0.0 + 3.0.1 The ufrgs_wam package - + - Walter Fetter Lages + Walter Fetter Lages @@ -16,46 +16,63 @@ GPLv3 - + - http://www.ece.ufrgs.br/~fetter/ufrgs_wam - - + + Walter Fetter Lages - + + + + + + + + + - - + + + + catkin + bhand_bringup + bhand_description + wam_bringup + wam_description + wam_node_sim + wam_node_test + bhand_bringup + bhand_description + wam_bringup + wam_description + wam_node_sim + wam_node_test + bhand_bringup + bhand_description + wam_bringup + wam_description + wam_node_sim + wam_node_test + - wam_description - - pid_plus_gravity_controller - computed_torque_controller - wam_simulation - wam_node_sim - - - - - - + diff --git a/wam_bringup/CMakeLists.txt b/wam_bringup/CMakeLists.txt index b45cd2f..73dc253 100644 --- a/wam_bringup/CMakeLists.txt +++ b/wam_bringup/CMakeLists.txt @@ -1,10 +1,20 @@ cmake_minimum_required(VERSION 2.8.3) project(wam_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 + computed_torque_controller + control_msgs + controller_manager + joint_state_controller + pid_plus_gravity_controller + urdf + wam_description ) ## System dependencies are found with CMake's conventions @@ -25,11 +35,11 @@ find_package(catkin REQUIRED COMPONENTS ## * 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 ...) @@ -64,7 +74,27 @@ find_package(catkin REQUIRED COMPONENTS ## Generate added messages and services with any dependencies listed here # generate_messages( # DEPENDENCIES -# std_msgs # Or other packages containing msgs +# control_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 # ) ################################### @@ -72,14 +102,14 @@ find_package(catkin REQUIRED COMPONENTS ################################### ## 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 ${PROJECT_NAME} -# CATKIN_DEPENDS +# LIBRARIES wam_bringup +# CATKIN_DEPENDS computed_torque_controller control_msgs controller_manager joint_state_controller pid_plus_gravity_controller urdf wam_description # DEPENDS system_lib ) @@ -89,24 +119,40 @@ catkin_package( ## Specify additional locations of header files ## Your package locations should be listed before other locations -#include_directories(include -#) +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/wam_bringup.cpp +# ) -## Declare a cpp library -#add_library(wam_bringup -#) +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -## Declare a cpp executable -# add_executable(wam_bringup_node src/wam_bringup_node.cpp) +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/wam_bringup_node.cpp) -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(wam_bringup_node wam_bringup_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} -# ${catkin_LIBRARIES} -#) +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) ############# ## Install ## @@ -123,18 +169,18 @@ catkin_package( # ) ## 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 diff --git a/wam_bringup/package.xml b/wam_bringup/package.xml index 39e213a..069151d 100644 --- a/wam_bringup/package.xml +++ b/wam_bringup/package.xml @@ -1,13 +1,13 @@ - + wam_bringup - 1.0.0 + 1.0.1 The wam_bringup package - + - Walter Fetter Lages + Walte Fetter Lages @@ -16,45 +16,66 @@ GPLv3 - + - http://www.ece.ufrgs.br/ufrgs_wam - - + + Walter Fetter Lages - + + + + + + + + + - - + + + + catkin - - controller_manager - control_msgs - joint_state_controller - urdf - computed_torque_controller - pid_plus_gravity_controller - wam_description + computed_torque_controller + control_msgs + controller_manager + joint_state_controller + pid_plus_gravity_controller + urdf + wam_description + computed_torque_controller + control_msgs + controller_manager + joint_state_controller + pid_plus_gravity_controller + urdf + wam_description + computed_torque_controller + control_msgs + controller_manager + joint_state_controller + pid_plus_gravity_controller + urdf + wam_description + - - - + diff --git a/wam_description/CMakeLists.txt b/wam_description/CMakeLists.txt index 41e046d..603dfd3 100644 --- a/wam_description/CMakeLists.txt +++ b/wam_description/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 2.8.3) project(wam_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 @@ -24,11 +27,11 @@ find_package(catkin REQUIRED) ## * 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 ...) @@ -66,12 +69,32 @@ find_package(catkin REQUIRED) # 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 @@ -88,22 +111,38 @@ catkin_package( ## Specify additional locations of header files ## Your package locations should be listed before other locations -# include_directories(include) +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) -## Declare a cpp library -# add_library(wam_description +## Declare a C++ library +# add_library(${PROJECT_NAME} # src/${PROJECT_NAME}/wam_description.cpp # ) -## Declare a cpp executable -# add_executable(wam_description_node src/wam_description_node.cpp) +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/wam_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(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(wam_description_node wam_description_generate_messages_cpp) +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against -# target_link_libraries(wam_description_node +# target_link_libraries(${PROJECT_NAME}_node # ${catkin_LIBRARIES} # ) @@ -122,7 +161,7 @@ catkin_package( # ) ## Mark executables and/or libraries for installation -# install(TARGETS wam_description wam_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} diff --git a/wam_description/package.xml b/wam_description/package.xml index 9534e40..9d0df1d 100644 --- a/wam_description/package.xml +++ b/wam_description/package.xml @@ -1,8 +1,8 @@ - + wam_description - 2.1.0 -

The wam_description package

+ 2.1.1 + The wam_description package

This package contains xacro files for the Barrett WAM robot arm. It is based on the iri_wam_description package developed by the IRI Robotics Lab. However, coordinate frames were modified to follow @@ -10,10 +10,10 @@ and inertial parameters were included. Inertial parameters were obtained from Barrett Technology, Inc, WAM Arm Inertial Specifications, 2008, Document: D1005, Version: AC.02. -

+

- + Walter Fetter Lages @@ -25,7 +25,7 @@ LGPL - + @@ -33,32 +33,40 @@ http://ros.org/wiki/iri_wam_description - - + + Walter Fetter Lages IRI Robotics Lab, Sergi Foix (sfoix@iri.upc.edu) - + + + + + + + + + + - - + + + + catkin - - - diff --git a/wam_node_sim/CMakeLists.txt b/wam_node_sim/CMakeLists.txt index 5d100f8..da7e13d 100644 --- a/wam_node_sim/CMakeLists.txt +++ b/wam_node_sim/CMakeLists.txt @@ -2,31 +2,30 @@ cmake_minimum_required(VERSION 2.8.3) project(wam_node_sim) ## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +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 -# bullet geometry_msgs + kdl_parser +# orocos_kdl roscpp std_msgs std_srvs + trajectory_msgs wam_msgs wam_srvs - trajectory_msgs -# orocos_kdl - kdl_parser ) find_package(cmake_modules REQUIRED) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) - find_package(Eigen3 REQUIRED) + ## Uncomment this if the package has a setup.py. This macro ensures ## modules and global scripts declared therein get installed ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html @@ -42,10 +41,10 @@ find_package(Eigen3 REQUIRED) ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). ## * In the file package.xml: ## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * 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 run_depend tag for "message_runtime" +## * 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 ...) @@ -80,7 +79,7 @@ find_package(Eigen3 REQUIRED) ## Generate added messages and services with any dependencies listed here # generate_messages( # DEPENDENCIES -# geometry_msgs# std_msgs# wam_msgs +# geometry_msgs# std_msgs# trajectory_msgs# wam_msgs # ) ################################################ @@ -90,7 +89,7 @@ find_package(Eigen3 REQUIRED) ## To declare and build dynamic reconfigure parameters within this ## package, follow these steps: ## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * 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 ...) @@ -108,15 +107,15 @@ find_package(Eigen3 REQUIRED) ################################### ## 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 wam_node_sim -# CATKIN_DEPENDS bullet geometry_msgs roscpp std_msgs std_srvs wam_msgs wam_srvs geometry_msgs -# DEPENDS system_lib + CATKIN_DEPENDS geometry_msgs kdl_parser roscpp std_msgs std_srvs trajectory_msgs wam_msgs wam_srvs + DEPENDS Eigen3 ) ########### @@ -128,6 +127,7 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} +# TODO: Check names of system library include directories (Eigen3) ${Eigen3_INCLUDE_DIRS} ) @@ -159,6 +159,7 @@ add_executable(${PROJECT_NAME} src/wam_node_sim.cpp src/hand.cpp) ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} + ${Eigen3_LIBRARIES} ) ############# diff --git a/wam_node_sim/include/wam_node_sim/hand.h b/wam_node_sim/include/wam_node_sim/hand.h index a837d85..8497f29 100644 --- a/wam_node_sim/include/wam_node_sim/hand.h +++ b/wam_node_sim/include/wam_node_sim/hand.h @@ -160,10 +160,10 @@ private: void blockIf(bool blocking, unsigned int whichDigits) const; - static const double J2_RATIO = 125.0; - static const double J2_ENCODER_RATIO = 50.0; - static const double J3_RATIO = 375.0; - static const double SPREAD_RATIO = 17.5; + static constexpr double J2_RATIO = 125.0; + static constexpr double J2_ENCODER_RATIO = 50.0; + static constexpr double J3_RATIO = 375.0; + static constexpr double SPREAD_RATIO = 17.5; bool hasFtt; diff --git a/wam_node_sim/package.xml b/wam_node_sim/package.xml index 8b1d234..6bb308d 100644 --- a/wam_node_sim/package.xml +++ b/wam_node_sim/package.xml @@ -1,13 +1,16 @@ - + wam_node_sim - 0.0.0 - ROS node to simulate the wam_node, which runs the actual Barrett WAM. + 0.0.1 +

The wam_node_sim package

+ ROS node to simulate the wam_node, which runs the actual Barrett + WAM. + - Walter Fetter Lages + Water Fetter Lages @@ -29,41 +32,57 @@ Walter Fetter Lages - + + + + + + + + - - + + + + catkin Eigen3 - bullet geometry_msgs + kdl_parser + orodos_kdl roscpp std_msgs std_srvs + trajectory_msgs wam_msgs wam_srvs - trajetory_msgs - orocos_kdl - kdl_parser - Eigen3 - bullet - geometry_msgs - roscpp - std_msgs - std_srvs - wam_msgs - wam_srvs - trajetory_msgs - orocos_kdl - kdl_parser - + Eigen3 + geometry_msgs + kdl_parser + orodos_kdl + roscpp + std_msgs + std_srvs + trajectory_msgs + wam_msgs + wam_srvs + Eigen3 + geometry_msgs + kdl_parser + orodos_kdl + roscpp + std_msgs + std_srvs + trajectory_msgs + wam_msgs + wam_srvs diff --git a/wam_node_test/CMakeLists.txt b/wam_node_test/CMakeLists.txt index 42712a4..82461c7 100644 --- a/wam_node_test/CMakeLists.txt +++ b/wam_node_test/CMakeLists.txt @@ -9,7 +9,6 @@ add_compile_options(-std=c++11) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS roscpp -# wam_node wam_node_sim ) @@ -32,10 +31,10 @@ find_package(catkin REQUIRED COMPONENTS ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). ## * In the file package.xml: ## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * 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 run_depend tag for "message_runtime" +## * 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 ...) @@ -80,7 +79,7 @@ find_package(catkin REQUIRED COMPONENTS ## To declare and build dynamic reconfigure parameters within this ## package, follow these steps: ## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * 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 ...) @@ -98,14 +97,14 @@ find_package(catkin REQUIRED COMPONENTS ################################### ## 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 wam_node_test -# CATKIN_DEPENDS roscpp wam_node wam_node_sim +# CATKIN_DEPENDS roscpp wam_node_sim # DEPENDS system_lib ) diff --git a/wam_node_test/package.xml b/wam_node_test/package.xml index f1ba494..4db3482 100644 --- a/wam_node_test/package.xml +++ b/wam_node_test/package.xml @@ -1,13 +1,13 @@ - + wam_node_test - 0.0.0 + 0.0.1 The wam_node_test package - Walter Fetter Lages + Water Fetter Lages @@ -29,24 +29,33 @@ Walter Fetter Lages - + + + + + + + + - - + + + + catkin roscpp - wam_node_sim - roscpp - - wam_node_sim + roscpp + wam_node_sim + roscpp + wam_node_sim