manifest: upgrade to version 2.

And clean build script.

CMakeLists.txt

@@ -1,13 +1,8 @@
 cmake_minimum_required(VERSION 2.8.12)
 project(ur_modern_driver)
 
-
 add_definitions( -DROS_BUILD )
 
-
-## 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
   hardware_interface
   controller_manager
@@ -23,104 +18,24 @@ find_package(catkin REQUIRED COMPONENTS
   tf
 )
 
-## 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 tag for "message_generation"
-##   * 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 dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * 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
-#   control_msgs#   geometry_msgs#   sensor_msgs#   trajectory_msgs#   ur_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 run_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
-## 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
+  INCLUDE_DIRS
-  LIBRARIES ur_hardware_interface
+    include
-  CATKIN_DEPENDS hardware_interface controller_manager actionlib control_msgs geometry_msgs roscpp sensor_msgs trajectory_msgs ur_msgs
+  LIBRARIES
+    ur_hardware_interface
+  CATKIN_DEPENDS
+    hardware_interface
+    controller_manager
+    actionlib
+    control_msgs
+    geometry_msgs
+    roscpp
+    sensor_msgs
+    trajectory_msgs
+    ur_msgs
 )
 
-###########
-## Build ##
-###########
 
 # check c++11 / c++0x
 include(CheckCXXCompilerFlag)
@@ -143,29 +58,18 @@ if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0")
     add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
 endif()
 
-## Specify additional locations of header files
+include_directories(
-## Your package locations should be listed before other locations
+  include
-# include_directories(include)
-include_directories(include
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
-
 # Hardware Interface
 add_library(ur_hardware_interface
   src/ros/hardware_interface.cpp
   src/ros/controller.cpp)
-target_link_libraries(ur_hardware_interface
+target_link_libraries(ur_hardware_interface ${catkin_LIBRARIES})
-  ${catkin_LIBRARIES}
-)
 
-## 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(ur_modern_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-## Declare a C++ executable
 set(${PROJECT_NAME}_SOURCES
     src/ros/action_server.cpp
     src/ros/mb_publisher.cpp
@@ -184,54 +88,33 @@ set(${PROJECT_NAME}_SOURCES
     src/tcp_socket.cpp)
 
 add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)
-
-## Add cmake target dependencies of the executable
-## same as for the library above
 add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
 target_link_libraries(ur_driver
   ur_hardware_interface
   ${catkin_LIBRARIES}
  )
 
-#############
-## Install ##
-#############
 
-install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+install(DIRECTORY launch config
-install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
-## Mark executables and/or libraries for installation
 install(TARGETS ur_driver ur_hardware_interface
   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"
 )
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
 
-#############
+if (CATKIN_ENABLE_TESTING)
-## Testing ##
+  set(${PROJECT_NAME}_TEST_SOURCES
-#############
-
-
-set(${PROJECT_NAME}_TEST_SOURCES
     tests/ur/rt_state.cpp
     tests/ur/master_board.cpp
     tests/ur/robot_mode.cpp)
 
-if (CATKIN_ENABLE_TESTING)
   catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
   target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES})
 endif()

package.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
   <name>ur_modern_driver</name>
   <version>0.1.0</version>
   <description>The new driver for Universal Robots UR3, UR5 and UR10 robots with CB2 and CB3 controllers.</description>
@@ -14,36 +15,24 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>hardware_interface</build_depend>
+  <depend>hardware_interface</depend>
-  <build_depend>controller_manager</build_depend>
+  <depend>controller_manager</depend>
-  <build_depend>actionlib</build_depend>
+  <depend>actionlib</depend>
-  <build_depend>control_msgs</build_depend>
+  <depend>control_msgs</depend>
-  <build_depend>geometry_msgs</build_depend>
+  <depend>geometry_msgs</depend>
-  <build_depend>industrial_msgs</build_depend>
+  <depend>industrial_msgs</depend>
-  <build_depend>roscpp</build_depend>
+  <depend>roscpp</depend>
-  <build_depend>sensor_msgs</build_depend>
+  <depend>sensor_msgs</depend>
-  <build_depend>trajectory_msgs</build_depend>
+  <depend>trajectory_msgs</depend>
-  <build_depend>ur_msgs</build_depend>
+  <depend>ur_msgs</depend>
-  <build_depend>tf</build_depend>
+  <depend>tf</depend>
-  <build_depend>std_srvs</build_depend>
+  <depend>std_srvs</depend>
 
-  <run_depend>hardware_interface</run_depend>
+  <exec_depend>force_torque_sensor_controller</exec_depend>
-  <run_depend>controller_manager</run_depend>
+  <exec_depend>joint_state_controller</exec_depend>
-  <run_depend>force_torque_sensor_controller</run_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
-  <run_depend>joint_state_controller</run_depend>
+  <exec_depend>ur_description</exec_depend>
-  <run_depend>joint_trajectory_controller</run_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
-  <run_depend>actionlib</run_depend>
-  <run_depend>control_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>industrial_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>ur_msgs</run_depend>
-  <run_depend>ur_description</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>std_srvs</run_depend>
-  <run_depend>robot_state_publisher</run_depend>
 
   <test_depend>rosunit</test_depend>
 </package>