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Merge pull request #3 from collaborative-robotics/rc-1.2.0
rc 1.2.0
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,211 +1,61 @@ | ||
| cmake_minimum_required(VERSION 3.1) | ||
| project(crtk_msgs VERSION 1.1.0) | ||
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| ## Compile as C++11, supported in ROS Kinetic and newer | ||
| # add_compile_options(-std=c++11) | ||
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| ## 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 | ||
| roscpp | ||
| rospy | ||
| message_generation | ||
| std_msgs | ||
| geometry_msgs | ||
| ) | ||
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| ## System dependencies are found with CMake's conventions | ||
| # find_package(Boost REQUIRED COMPONENTS system) | ||
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| ## 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() | ||
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| ################################################ | ||
| ## Declare ROS messages, services and actions ## | ||
| ################################################ | ||
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| ## 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 exec_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 exec_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 ...) | ||
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| ## Generate messages in the 'msg' folder | ||
| add_message_files( | ||
| FILES | ||
| OperatingState.msg | ||
| StringStamped.msg | ||
| CartesianImpedanceHalfPlaneGains.msg | ||
| CartesianImpedance.msg | ||
| ) | ||
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| ## Generate services in the 'srv' folder | ||
| add_service_files( | ||
| FILES | ||
| TriggerOperatingState.srv | ||
| QueryForwardKinematics.srv | ||
| QueryInverseKinematics.srv | ||
| ) | ||
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| ## Generate actions in the 'action' folder | ||
| # add_action_files( | ||
| # FILES | ||
| # Action1.action | ||
| # Action2.action | ||
| # ) | ||
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| ## Generate added messages and services with any dependencies listed here | ||
| generate_messages( | ||
| DEPENDENCIES | ||
| std_msgs | ||
| geometry_msgs | ||
| crtk_msgs | ||
| ) | ||
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| ################################################ | ||
| ## Declare ROS dynamic reconfigure parameters ## | ||
| ################################################ | ||
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| ## To declare and build dynamic reconfigure parameters within this | ||
| ## package, follow these steps: | ||
| ## * In the file package.xml: | ||
| ## * add a build_depend and a exec_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 | ||
|
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| ## Generate dynamic reconfigure parameters in the 'cfg' folder | ||
| # generate_dynamic_reconfigure_options( | ||
| # cfg/DynReconf1.cfg | ||
| # cfg/DynReconf2.cfg | ||
| # ) | ||
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| ################################### | ||
| ## 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 your 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 | ||
| # LIBRARIES crtk_state_test | ||
| CATKIN_DEPENDS message_runtime std_msgs | ||
| # DEPENDS system_lib | ||
| ) | ||
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| ########### | ||
| ## Build ## | ||
| ########### | ||
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| ## Specify additional locations of header files | ||
| ## Your package locations should be listed before other locations | ||
| # include_directories( | ||
| # include | ||
| # ${catkin_INCLUDE_DIRS} | ||
| # ) | ||
|
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| ## Declare a C++ library | ||
| # add_library(${PROJECT_NAME} | ||
| # src/${PROJECT_NAME}/crtk_msgs.cpp | ||
| # ) | ||
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| ## Add cmake target dependencies of the library | ||
| ## as an example, code may need to be generated before libraries | ||
| ## either from message generation or dynamic reconfigure | ||
| # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
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| ## Declare a C++ executable | ||
| ## With catkin_make all packages are built within a single CMake context | ||
| ## The recommended prefix ensures that target names across packages don't collide | ||
| # add_executable(${PROJECT_NAME}_node src/crtk_msgs_node.cpp) | ||
|
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| ## Rename C++ executable without prefix | ||
| ## The above recommended prefix causes long target names, the following renames the | ||
| ## target back to the shorter version for ease of user use | ||
| ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" | ||
| # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") | ||
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| ## Add cmake target dependencies of the executable | ||
| ## same as for the library above | ||
| # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
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| ## Specify libraries to link a library or executable target against | ||
| # target_link_libraries(${PROJECT_NAME}_node | ||
| # ${catkin_LIBRARIES} | ||
| # ) | ||
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| ############# | ||
| ## Install ## | ||
| ############# | ||
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| # all install targets should use catkin DESTINATION variables | ||
| # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | ||
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| ## Mark executable scripts (Python etc.) for installation | ||
| ## in contrast to setup.py, you can choose the destination | ||
| # install(PROGRAMS | ||
| # scripts/my_python_script | ||
| # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark executables and/or libraries for installation | ||
| # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node | ||
| # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | ||
| # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | ||
| # ) | ||
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| ## Mark cpp header files for installation | ||
| # install(DIRECTORY include/${PROJECT_NAME}/ | ||
| # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| # FILES_MATCHING PATTERN "*.h" | ||
| # PATTERN ".svn" EXCLUDE | ||
| # ) | ||
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| ## Mark other files for installation (e.g. launch and bag files, etc.) | ||
| # install(FILES | ||
| # # myfile1 | ||
| # # myfile2 | ||
| # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| # ) | ||
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| ############# | ||
| ## Testing ## | ||
| ############# | ||
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| ## Add gtest based cpp test target and link libraries | ||
| # catkin_add_gtest(${PROJECT_NAME}-test test/test_crtk_msgs.cpp) | ||
| # if(TARGET ${PROJECT_NAME}-test) | ||
| # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | ||
| # endif() | ||
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| ## Add folders to be run by python nosetests | ||
| # catkin_add_nosetests(test) | ||
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| # install(DIRECTORY include/crtk_msgs/ | ||
| # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | ||
| # PATTERN "*.h") | ||
| cmake_minimum_required(VERSION 3.10) | ||
| project(crtk_msgs VERSION 1.2.0) | ||
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| # first test for ROS1 | ||
| set (ROS1_depends std_msgs geometry_msgs) | ||
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| find_package (catkin QUIET | ||
| COMPONENTS message_generation ${ROS1_depends}) | ||
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| # ROS 1 | ||
| if (catkin_FOUND) | ||
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| ## Generate messages in the 'msg' folder | ||
| add_message_files (FILES | ||
| OperatingState.msg | ||
| StringStamped.msg | ||
| CartesianImpedanceHalfPlaneGains.msg | ||
| CartesianImpedance.msg | ||
| ) | ||
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| ## Generate services in the 'srv' folder | ||
| add_service_files ( | ||
| FILES | ||
| TriggerOperatingState.srv | ||
| QueryForwardKinematics.srv | ||
| QueryInverseKinematics.srv | ||
| ) | ||
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| ## Generate added messages and services with any dependencies listed here | ||
| generate_messages (DEPENDENCIES ${ROS1_depends}) | ||
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| catkin_package ( | ||
| CATKIN_DEPENDS message_runtime ${ROS1_depends} | ||
| ) | ||
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| else (catkin_FOUND) | ||
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| # look for ROS2 | ||
| find_package (ament_cmake QUIET) | ||
| if (ament_cmake_FOUND) | ||
| set (ROS2_depends ament_cmake rclcpp std_msgs geometry_msgs builtin_interfaces rosidl_default_generators) | ||
| foreach (_dep ${ROS2_depends}) | ||
| find_package (${_dep} REQUIRED) | ||
| endforeach () | ||
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| rosidl_generate_interfaces (crtk_msgs | ||
| msg/OperatingState.msg | ||
| msg/StringStamped.msg | ||
| msg/CartesianImpedanceHalfPlaneGains.msg | ||
| msg/CartesianImpedance.msg | ||
| srv/TriggerOperatingState.srv | ||
| srv/QueryForwardKinematics.srv | ||
| srv/QueryInverseKinematics.srv | ||
| DEPENDENCIES builtin_interfaces std_msgs geometry_msgs | ||
| ) | ||
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| ament_package () | ||
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| endif (ament_cmake_FOUND) | ||
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| endif (catkin_FOUND) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,4 @@ | ||
| Header header | ||
| std_msgs/Header header | ||
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| # vf pos & ori | ||
| geometry_msgs/Quaternion force_orientation | ||
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,2 +1,2 @@ | ||
| Header header | ||
| string string | ||
| std_msgs/Header header | ||
| string string |
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