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Merge pull request #210 from ros-industrial/cleanup_kinetic_manifest

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General cleanup of build script and package manifest
This commit is contained in:
G.A. vd. Hoorn
2018-10-08 17:17:31 +02:00
committed by GitHub
parent 3f1a5faae3 e4c93964ee
commit c4b2c73d6f
2 changed files with 83 additions and 239 deletions
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221
CMakeLists.txt
View File

@@ -1,137 +1,54 @@
cmake_minimum_required(VERSION 2.8.12) cmake_minimum_required(VERSION 2.8.12)
project(ur_modern_driver) project(ur_modern_driver)
add_definitions( -DROS_BUILD ) add_definitions( -DROS_BUILD )
find_package(catkin REQUIRED
## Find catkin macros and libraries COMPONENTS
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) actionlib
## is used, also find other catkin packages control_msgs
find_package(catkin REQUIRED COMPONENTS controller_manager
hardware_interface geometry_msgs
controller_manager hardware_interface
actionlib industrial_msgs
control_msgs roscpp
geometry_msgs sensor_msgs
industrial_msgs std_srvs
roscpp tf
sensor_msgs trajectory_msgs
std_srvs ur_msgs
trajectory_msgs
ur_msgs
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( 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
actionlib
control_msgs
controller_manager
geometry_msgs
hardware_interface
industrial_msgs
roscpp
sensor_msgs
trajectory_msgs
ur_msgs
) )
###########
## Build ##
###########
# check c++11 / c++0x # check c++11 / c++0x
include(CheckCXXCompilerFlag) include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11) if(COMPILER_SUPPORTS_CXX11)
add_compile_options(-std=c++11) add_compile_options(-std=c++11)
elseif(COMPILER_SUPPORTS_CXX0X) elseif(COMPILER_SUPPORTS_CXX0X)
add_compile_options(-std=c++0x) add_compile_options(-std=c++0x)
else() else()
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 ") message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
endif() endif()
add_compile_options(-Wall) add_compile_options(-Wall)
@@ -140,98 +57,66 @@ add_compile_options(-Wno-unused-parameter)
# support indigo's ros_control - This can be removed upon EOL indigo # support indigo's ros_control - This can be removed upon EOL indigo
if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0") if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0")
add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL) add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
endif() 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} ${catkin_INCLUDE_DIRS}
) )
## Declare a C++ library
# Hardware Interface # Hardware Interface
add_library(ur_hardware_interface add_library(ur_hardware_interface
src/ros/hardware_interface.cpp src/ros/controller.cpp
src/ros/controller.cpp) src/ros/hardware_interface.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 set(${PROJECT_NAME}_SOURCES
src/ros/action_server.cpp src/ros/action_server.cpp
src/ros/lowbandwidth_trajectory_follower.cpp
src/ros/mb_publisher.cpp src/ros/mb_publisher.cpp
src/ros/rt_publisher.cpp src/ros/rt_publisher.cpp
src/ros/service_stopper.cpp src/ros/service_stopper.cpp
src/ros/trajectory_follower.cpp src/ros/trajectory_follower.cpp
src/ros/lowbandwidth_trajectory_follower.cpp
src/ros/urscript_handler.cpp src/ros/urscript_handler.cpp
src/ur/stream.cpp src/tcp_socket.cpp
src/ur/server.cpp
src/ur/commander.cpp src/ur/commander.cpp
src/ur/robot_mode.cpp
src/ur/master_board.cpp src/ur/master_board.cpp
src/ur/rt_state.cpp
src/ur/messages.cpp src/ur/messages.cpp
src/tcp_socket.cpp) src/ur/robot_mode.cpp
src/ur/rt_state.cpp
src/ur/server.cpp
src/ur/stream.cpp)
add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.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}) 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 target_link_libraries(ur_driver
ur_hardware_interface ur_hardware_interface
${catkin_LIBRARIES} ${catkin_LIBRARIES}
) )
#############
## Install ##
#############
install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) install(DIRECTORY config launch
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 install(TARGETS ur_driver ur_hardware_interface
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_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} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h" FILES_MATCHING PATTERN "*.h"
) )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
set(${PROJECT_NAME}_TEST_SOURCES
tests/ur/rt_state.cpp
tests/ur/master_board.cpp
tests/ur/robot_mode.cpp)
if (CATKIN_ENABLE_TESTING) if (CATKIN_ENABLE_TESTING)
set(${PROJECT_NAME}_TEST_SOURCES
tests/ur/master_board.cpp
tests/ur/robot_mode.cpp
tests/ur/rt_state.cpp)
catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp) 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}) target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES})
endif() endif()

101
package.xml
View File

@@ -1,80 +1,39 @@
<?xml version="1.0"?> <?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> <name>ur_modern_driver</name>
<version>0.0.1</version> <version>0.1.0</version>
<description>The new driver for the UR3/UR5/UR10 robot arms from universal robots</description> <description>The new driver for Universal Robots UR3, UR5 and UR10 robots with CB2 and CB3 controllers.</description>
<author>Thomas Timm Andersen</author>
<author>Simon Rasmussen</author>
<maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
<maintainer email="nhg@ipa.fhg.de">Nadia Hammoudeh Garcia</maintainer>
<license>Apache 2.0</license>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="thomas.timm.dk@gmail.com">Thomas Timm Andersen</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>Beerware</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<url type="website">http://wiki.ros.org/ur_modern_driver</url> <url type="website">http://wiki.ros.org/ur_modern_driver</url>
<url type="bugtracker">https://github.com/ros-industrial/ur_modern_driver/issues</url>
<url type="repository">https://github.com/ros-industrial/ur_modern_driver</url>
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<author email="thomas.timm.dk@gmail.com">Thomas Timm Andersen</author>
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<build_depend>hardware_interface</build_depend>
<build_depend>controller_manager</build_depend> <depend>hardware_interface</depend>
<build_depend>actionlib</build_depend> <depend>controller_manager</depend>
<build_depend>control_msgs</build_depend> <depend>actionlib</depend>
<build_depend>geometry_msgs</build_depend> <depend>control_msgs</depend>
<build_depend>industrial_msgs</build_depend> <depend>geometry_msgs</depend>
<build_depend>roscpp</build_depend> <depend>industrial_msgs</depend>
<build_depend>sensor_msgs</build_depend> <depend>roscpp</depend>
<build_depend>trajectory_msgs</build_depend> <depend>sensor_msgs</depend>
<build_depend>ur_msgs</build_depend> <depend>trajectory_msgs</depend>
<build_depend>tf</build_depend> <depend>ur_msgs</depend>
<build_depend>std_srvs</build_depend> <depend>tf</depend>
<run_depend>hardware_interface</run_depend> <depend>std_srvs</depend>
<run_depend>controller_manager</run_depend>
<run_depend>force_torque_sensor_controller</run_depend> <exec_depend>force_torque_sensor_controller</exec_depend>
<run_depend>joint_state_controller</run_depend> <exec_depend>joint_state_controller</exec_depend>
<run_depend>joint_trajectory_controller</run_depend> <exec_depend>joint_trajectory_controller</exec_depend>
<run_depend>actionlib</run_depend> <exec_depend>ur_description</exec_depend>
<run_depend>control_msgs</run_depend> <exec_depend>robot_state_publisher</exec_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> <test_depend>rosunit</test_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package> </package>