ricompilazione e aggiornamento launch

2019-10-21 15:04:03 +02:00
parent 81d1a021c5
commit 2d65d12940
8 changed files with 230 additions and 4 deletions
--- a/devel/lib/libur_robot_driver.so
+++ b/devel/lib/libur_robot_driver.so
--- a/devel/lib/pkgconfig/ur_calibration.pc
+++ b/devel/lib/pkgconfig/ur_calibration.pc
@@ -5,4 +5,4 @@ Description: Description of ur_calibration
 Version: 0.0.2
 Cflags: 
 Libs: -L/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/devel/lib 
-Requires: roscpp ur_rtde_driver
+Requires: roscpp ur_robot_driver
--- a/devel/lib/pkgconfig/ur_robot_driver.pc
+++ b/devel/lib/pkgconfig/ur_robot_driver.pc
@@ -0,0 +1,8 @@
+prefix=/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/devel
+
+Name: ur_robot_driver
+Description: Description of ur_robot_driver
+Version: 0.0.3
+Cflags: -I/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robots_ros_driver/ur_robot_driver/include -I/usr/include
+Libs: -L/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/devel/lib -lur_robot_driver
+Requires: actionlib control_msgs controller_manager geometry_msgs hardware_interface industrial_msgs roscpp sensor_msgs tf tf2_geometry_msgs tf2_msgs trajectory_msgs ur_controllers ur_msgs std_srvs
--- a/devel/lib/ur_calibration/calibration_correction
+++ b/devel/lib/ur_calibration/calibration_correction
--- a/devel/share/ur_calibration/cmake/ur_calibrationConfig.cmake
+++ b/devel/share/ur_calibration/cmake/ur_calibrationConfig.cmake
@@ -162,7 +162,7 @@ foreach(t ${ur_calibration_EXPORTED_TARGETS})
  endif()
 endforeach()

-set(depends "roscpp;ur_rtde_driver")
+set(depends "roscpp;ur_robot_driver")
 foreach(depend ${depends})
  string(REPLACE " " ";" depend_list ${depend})
  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
--- a/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig-version.cmake
+++ b/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.3")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
--- a/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig.cmake
+++ b/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig.cmake
@@ -0,0 +1,200 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ur_robot_driver_CONFIG_INCLUDED)
+  return()
+endif()
+set(ur_robot_driver_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(ur_robot_driver_SOURCE_PREFIX /home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robots_ros_driver/ur_robot_driver)
+  set(ur_robot_driver_DEVEL_PREFIX /home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/devel)
+  set(ur_robot_driver_INSTALL_PREFIX "")
+  set(ur_robot_driver_PREFIX ${ur_robot_driver_DEVEL_PREFIX})
+else()
+  set(ur_robot_driver_SOURCE_PREFIX "")
+  set(ur_robot_driver_DEVEL_PREFIX "")
+  set(ur_robot_driver_INSTALL_PREFIX /home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/install)
+  set(ur_robot_driver_PREFIX ${ur_robot_driver_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ur_robot_driver' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ur_robot_driver_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robots_ros_driver/ur_robot_driver/include;/usr/include " STREQUAL " ")
+  set(ur_robot_driver_INCLUDE_DIRS "")
+  set(_include_dirs "/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robots_ros_driver/ur_robot_driver/include;/usr/include")
+  if(NOT "https://github.com/ros-industrial/ur_robot_driver/issues " STREQUAL " ")
+    set(_report "Check the issue tracker 'https://github.com/ros-industrial/ur_robot_driver/issues' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT "http://wiki.ros.org/ur_robot_driver " STREQUAL " ")
+    set(_report "Check the website 'http://wiki.ros.org/ur_robot_driver' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'Felix Mauch <mauch@fzi.de>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ur_robot_driver_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ur_robot_driver' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ur_robot_driver' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/universal_robots_ros_driver/ur_robot_driver/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ur_robot_driver_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "ur_robot_driver")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ur_robot_driver_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ur_robot_driver_LIBRARIES ${library})
+  elseif(TARGET ${library})
+    list(APPEND ur_robot_driver_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ur_robot_driver_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/devel/lib;/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/devel/lib;/opt/ros/kinetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ur_robot_driver_LIBRARY_DIRS ${lib_path})
+      list(APPEND ur_robot_driver_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ur_robot_driver'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ur_robot_driver_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ur_robot_driver_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ur_robot_driver_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "actionlib;control_msgs;controller_manager;geometry_msgs;hardware_interface;industrial_msgs;roscpp;sensor_msgs;tf;tf2_geometry_msgs;tf2_msgs;trajectory_msgs;ur_controllers;ur_msgs;std_srvs")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ur_robot_driver_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ur_robot_driver_dep}_FOUND)
+      find_package(${ur_robot_driver_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ur_robot_driver_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ur_robot_driver_INCLUDE_DIRS ${${ur_robot_driver_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ur_robot_driver_LIBRARIES ${ur_robot_driver_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ur_robot_driver_dep}_LIBRARIES})
+  _list_append_deduplicate(ur_robot_driver_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ur_robot_driver_LIBRARIES ${ur_robot_driver_LIBRARIES})
+
+  _list_append_unique(ur_robot_driver_LIBRARY_DIRS ${${ur_robot_driver_dep}_LIBRARY_DIRS})
+  list(APPEND ur_robot_driver_EXPORTED_TARGETS ${${ur_robot_driver_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ur_robot_driver_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
--- a/src/roboglue_ros/launch/roboglue_ros_urdriver.launch
+++ b/src/roboglue_ros/launch/roboglue_ros_urdriver.launch
@@ -3,13 +3,17 @@
    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}]: ${message}" />
    <!--    <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${node}] [${function}]: ${message}" />-->

-    <!-- Start ROS controller and moveit API interface-->
-    <include file="$(find ur_modern_driver)/launch/ur10e_ros_control.launch">
+    <!-- Start ROS official URobotics controller -->
+    <include file="$(find universal_robots_ros_driver)/ur_robot_driver/launch/ur10e_ros_bringup.launch">
        <arg name="robot_ip" value="10.0.0.5" />
    </include>
+
+    <!-- Start moveit API interface-->
    <include file="$(find ur10_e_moveit_config)/launch/ur10_e_moveit_planning_execution.launch">
        <!-- <arg name="robot_ip" value="10.0.0.5" /> -->
    </include>
+
+    <!-- Start rViz API interface-->
    <include file="$(find ur10_e_moveit_config)/launch/moveit_rviz.launch">
        <arg name="config" value="true" />
    </include>