mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 01:50:46 +02:00
Merge pull request #210 from ros-industrial/cleanup_kinetic_manifest
General cleanup of build script and package manifest
This commit is contained in:
G.A. vd. Hoorn
GitHub
221
CMakeLists.txt
221
CMakeLists.txt
@@ -1,137 +1,54 @@
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cmake_minimum_required(VERSION 2.8.12)
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project(ur_modern_driver)
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add_definitions( -DROS_BUILD )
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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hardware_interface
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controller_manager
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actionlib
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control_msgs
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geometry_msgs
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industrial_msgs
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roscpp
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sensor_msgs
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std_srvs
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trajectory_msgs
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ur_msgs
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tf
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find_package(catkin REQUIRED
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COMPONENTS
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actionlib
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control_msgs
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controller_manager
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geometry_msgs
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hardware_interface
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industrial_msgs
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roscpp
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sensor_msgs
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std_srvs
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tf
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trajectory_msgs
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ur_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# control_msgs# geometry_msgs# sensor_msgs# trajectory_msgs# ur_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ur_hardware_interface
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CATKIN_DEPENDS hardware_interface controller_manager actionlib control_msgs geometry_msgs roscpp sensor_msgs trajectory_msgs ur_msgs
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INCLUDE_DIRS
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include
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LIBRARIES
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ur_hardware_interface
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CATKIN_DEPENDS
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actionlib
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control_msgs
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controller_manager
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geometry_msgs
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hardware_interface
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industrial_msgs
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roscpp
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sensor_msgs
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trajectory_msgs
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ur_msgs
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)
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###########
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## Build ##
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###########
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# check c++11 / c++0x
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
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check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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add_compile_options(-std=c++11)
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add_compile_options(-std=c++11)
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elseif(COMPILER_SUPPORTS_CXX0X)
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add_compile_options(-std=c++0x)
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add_compile_options(-std=c++0x)
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else()
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message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
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message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
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endif()
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add_compile_options(-Wall)
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@@ -140,98 +57,66 @@ add_compile_options(-Wno-unused-parameter)
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# support indigo's ros_control - This can be removed upon EOL indigo
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if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0")
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add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
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add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
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endif()
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(include
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# Hardware Interface
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add_library(ur_hardware_interface
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src/ros/hardware_interface.cpp
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src/ros/controller.cpp)
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target_link_libraries(ur_hardware_interface
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${catkin_LIBRARIES}
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)
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src/ros/controller.cpp
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src/ros/hardware_interface.cpp)
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target_link_libraries(ur_hardware_interface ${catkin_LIBRARIES})
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(ur_modern_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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set(${PROJECT_NAME}_SOURCES
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src/ros/action_server.cpp
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src/ros/lowbandwidth_trajectory_follower.cpp
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src/ros/mb_publisher.cpp
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src/ros/rt_publisher.cpp
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src/ros/service_stopper.cpp
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src/ros/trajectory_follower.cpp
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src/ros/lowbandwidth_trajectory_follower.cpp
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src/ros/urscript_handler.cpp
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src/ur/stream.cpp
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src/ur/server.cpp
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src/tcp_socket.cpp
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src/ur/commander.cpp
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src/ur/robot_mode.cpp
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src/ur/master_board.cpp
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src/ur/rt_state.cpp
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src/ur/messages.cpp
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src/tcp_socket.cpp)
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src/ur/robot_mode.cpp
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src/ur/rt_state.cpp
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src/ur/server.cpp
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src/ur/stream.cpp)
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add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)
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## Add cmake target dependencies of the executable
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## same as for the library above
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add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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target_link_libraries(ur_driver
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ur_hardware_interface
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############
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install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
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install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
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install(DIRECTORY config launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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## Mark executables and/or libraries for installation
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install(TARGETS ur_driver ur_hardware_interface
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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set(${PROJECT_NAME}_TEST_SOURCES
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tests/ur/rt_state.cpp
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tests/ur/master_board.cpp
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tests/ur/robot_mode.cpp)
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if (CATKIN_ENABLE_TESTING)
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set(${PROJECT_NAME}_TEST_SOURCES
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tests/ur/master_board.cpp
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tests/ur/robot_mode.cpp
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tests/ur/rt_state.cpp)
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catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
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target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES})
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endif()
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101
package.xml
101
package.xml
@@ -1,80 +1,39 @@
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<?xml version="1.0"?>
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<package>
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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="2">
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<name>ur_modern_driver</name>
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<version>0.0.1</version>
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<description>The new driver for the UR3/UR5/UR10 robot arms from universal robots</description>
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<version>0.1.0</version>
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<description>The new driver for Universal Robots UR3, UR5 and UR10 robots with CB2 and CB3 controllers.</description>
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<author>Thomas Timm Andersen</author>
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<author>Simon Rasmussen</author>
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<maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
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<maintainer email="nhg@ipa.fhg.de">Nadia Hammoudeh Garcia</maintainer>
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<license>Apache 2.0</license>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="thomas.timm.dk@gmail.com">Thomas Timm Andersen</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>Beerware</license>
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<!-- Url tags are optional, but mutiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<url type="website">http://wiki.ros.org/ur_modern_driver</url>
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<url type="bugtracker">https://github.com/ros-industrial/ur_modern_driver/issues</url>
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<url type="repository">https://github.com/ros-industrial/ur_modern_driver</url>
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<!-- Author tags are optional, mutiple are allowed, one per tag -->
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<!-- Authors do not have to be maintianers, but could be -->
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<!-- Example: -->
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<author email="thomas.timm.dk@gmail.com">Thomas Timm Andersen</author>
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>hardware_interface</build_depend>
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<build_depend>controller_manager</build_depend>
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<build_depend>actionlib</build_depend>
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<build_depend>control_msgs</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>industrial_msgs</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>trajectory_msgs</build_depend>
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<build_depend>ur_msgs</build_depend>
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<build_depend>tf</build_depend>
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<build_depend>std_srvs</build_depend>
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<run_depend>hardware_interface</run_depend>
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<run_depend>controller_manager</run_depend>
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<run_depend>force_torque_sensor_controller</run_depend>
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<run_depend>joint_state_controller</run_depend>
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<run_depend>joint_trajectory_controller</run_depend>
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<run_depend>actionlib</run_depend>
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<run_depend>control_msgs</run_depend>
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<run_depend>geometry_msgs</run_depend>
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<run_depend>industrial_msgs</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>trajectory_msgs</run_depend>
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<run_depend>ur_msgs</run_depend>
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<run_depend>ur_description</run_depend>
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<run_depend>tf</run_depend>
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<run_depend>std_srvs</run_depend>
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<run_depend>robot_state_publisher</run_depend>
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<depend>hardware_interface</depend>
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<depend>controller_manager</depend>
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<depend>actionlib</depend>
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<depend>control_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>industrial_msgs</depend>
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<depend>roscpp</depend>
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<depend>sensor_msgs</depend>
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<depend>trajectory_msgs</depend>
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<depend>ur_msgs</depend>
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<depend>tf</depend>
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<depend>std_srvs</depend>
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<exec_depend>force_torque_sensor_controller</exec_depend>
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<exec_depend>joint_state_controller</exec_depend>
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<exec_depend>joint_trajectory_controller</exec_depend>
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<exec_depend>ur_description</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<test_depend>rosunit</test_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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