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some cleanup, switched to catkin_simple, fixed get joints #13

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some cleanup, switched to catkin_simple, fixed get joints #13

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1570004
cleanup and switch to catkin_simple
ffurrer Aug 28, 2017
fdd4bfc
adding yumi configuration backup
ffurrer Aug 28, 2017
914f1d0
Merge pull request #2 from ethz-asl/feature/configuration_backup
ffurrer Aug 28, 2017
4466eeb
Fixed reading out states in getstate
ffurrer Nov 10, 2017
8d70234
fixed indentations
ffurrer Nov 10, 2017
24620f7
Merge pull request #3 from ethz-asl/fix/module_files
ffurrer Nov 10, 2017
f68e0cf
added joint state publisher to yumi_arm_service.py
ffurrer Nov 10, 2017
6a10655
Merge pull request #4 from ethz-asl/feature/joint_state_publisher
ffurrer Nov 10, 2017
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182 changes: 4 additions & 178 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,187 +1,13 @@
cmake_minimum_required(VERSION 2.8.3)
project(yumipy)

## 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
rospy
std_msgs
message_generation
)
find_package(catkin_simple REQUIRED)
catkin_simple(ALL_DEPS_REQUIRED)

## 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
ROSYumiArm.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
std_msgs # Or other packages containing 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
# LIBRARIES yumipy
# CATKIN_DEPENDS rospy
# DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(yumipy
# src/${PROJECT_NAME}/yumipy.cpp
# )

## 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(yumipy ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
# add_executable(yumipy_node src/yumipy_node.cpp)

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(yumipy_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(yumipy_node
# ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## 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}
# )

## Mark executables and/or libraries for installation
# install(TARGETS yumipy yumipy_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# 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"
# PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_yumipy.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
cs_install()
cs_export()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
20 changes: 10 additions & 10 deletions RAPID/Constants.mod
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Original file line number Diff line number Diff line change
@@ -1,27 +1,27 @@
MODULE Constants
PERS string IP:="192.168.125.1";

PERS num PORT_JOINTS_LOGGER_L:= 5010;
PERS num PORT_JOINTS_LOGGER_R:= 5011;
PERS num PORT_POSES_LOGGER_L:= 5012;
PERS num PORT_POSES_LOGGER_R:= 5013;
PERS num PORT_TORQUES_LOGGER_L:= 5014;
PERS num PORT_TORQUES_LOGGER_R:= 5015;
PERS num PORT_TORQUES_LOGGER_R:= 5015;

PERS num PORT_SERVER_L:= 5000;
PERS num PORT_SERVER_R:= 5001;

PERS num LOGGER_PERIOD:= 0.01;

PERS bool TP_ENABLED:=FALSE;
!Robot configuration

!Robot configuration
PERS tooldata currentTool:=[TRUE,[[0,0,0],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];
PERS wobjdata currentWobj:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

PROC main()
WHILE TRUE DO
ENDWHILE
ENDPROC
ENDMODULE

ENDMODULE
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