diff --git a/devel/lib/libur_robot_driver.so b/devel/lib/libur_robot_driver.so new file mode 100755 index 0000000..c5d3f77 Binary files /dev/null and b/devel/lib/libur_robot_driver.so differ diff --git a/devel/lib/pkgconfig/ur_calibration.pc b/devel/lib/pkgconfig/ur_calibration.pc index 0ea3c2c..d835dcd 100644 --- 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 diff --git a/devel/lib/pkgconfig/ur_robot_driver.pc b/devel/lib/pkgconfig/ur_robot_driver.pc new file mode 100644 index 0000000..2890af1 --- /dev/null +++ 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 diff --git a/devel/lib/ur_calibration/calibration_correction b/devel/lib/ur_calibration/calibration_correction index 30572a0..5377be6 100755 Binary files a/devel/lib/ur_calibration/calibration_correction and b/devel/lib/ur_calibration/calibration_correction differ diff --git a/devel/share/ur_calibration/cmake/ur_calibrationConfig.cmake b/devel/share/ur_calibration/cmake/ur_calibrationConfig.cmake index 4e61b41..5831292 100644 --- 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 ${depend}) # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls diff --git a/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig-version.cmake b/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig-version.cmake new file mode 100644 index 0000000..f4f88f8 --- /dev/null +++ b/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.0.3") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig.cmake b/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig.cmake new file mode 100644 index 0000000..350d23b --- /dev/null +++ b/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig.cmake @@ -0,0 +1,200 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list and remove existing duplicates from the list +# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig +# self contained +macro(_list_append_deduplicate listname) + if(NOT "${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 ' 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() diff --git a/src/roboglue_ros/launch/roboglue_ros_urdriver.launch b/src/roboglue_ros/launch/roboglue_ros_urdriver.launch index c4a69b8..aee07ac 100644 --- a/src/roboglue_ros/launch/roboglue_ros_urdriver.launch +++ b/src/roboglue_ros/launch/roboglue_ros_urdriver.launch @@ -3,13 +3,17 @@ - - + + + + + +