rename kortex2 -> kortex (Kinovarobotics#144)

moriarty · web-flow · commit eb95d3f7e09a · 2023-07-06T09:08:35.000-06:00
This package was ported to ros2 an some these packages were named kortex2
The 2 belongs to ros not the kortex version.

remove all kortex2 in and replace with just kortex

Signed-off-by: Alexander Moriarty &lt;alex.moriarty@picknik.ai&gt;
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -18,8 +18,8 @@ jobs:
         distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
-          kortex2_bringup
-          kortex2_driver
+          kortex_bringup
+          kortex_driver
 
 
   ament_lint_100:
@@ -38,5 +38,5 @@ jobs:
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
-          kortex2_bringup
-          kortex2_driver
+          kortex_bringup
+          kortex_driver
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -29,8 +29,8 @@ jobs:
           import-token: ${{ secrets.GITHUB_TOKEN }}
           # build all packages listed in the meta package
           package-name:
-            kortex2_bringup
-            kortex2_driver
+            kortex_bringup
+            kortex_driver
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/${{ env.ROS_DISTRO }}/ros2.repos
             file://${{ github.workspace }}/ros2_kortex.${{ env.ROS_DISTRO }}.repos
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
@@ -25,8 +25,8 @@ jobs:
           import-token: ${{ secrets.GITHUB_TOKEN }}
           # build all packages listed in the meta package
           package-name:
-            kortex2_bringup
-            kortex2_driver
+            kortex_bringup
+            kortex_driver
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
             file://${{ github.workspace }}/ros2_kortex.repos
diff --git a/README.md b/README.md
@@ -89,7 +89,7 @@ ros2 launch kortex_description view_robot.launch.py
 To simulate the 7 DoF Kinova Gen3 robot arm with mock hardware:
 
 ```bash
-ros2 launch kortex2_bringup gen3.launch.py \
+ros2 launch kortex_bringup gen3.launch.py \
   robot_ip:=yyy.yyy.yyy.yyy \
   use_fake_hardware:=true
 ```
@@ -105,7 +105,7 @@ ros2 launch kinova_gen3_7dof_robotiq_2f_85_moveit_config robot.launch.py \
 Alternatively, if you wish to use the Kinova Gen3's 6 DoF variant:
 
 ```bash
-ros2 launch kortex2_bringup gen3.launch.py \
+ros2 launch kortex_bringup gen3.launch.py \
   robot_ip:=yyy.yyy.yyy.yyy \
   use_fake_hardware:=true \
   dof:=6
@@ -122,7 +122,7 @@ ros2 launch kinova_gen3_6dof_robotiq_2f_85_moveit_config robot.launch.py \
 To simulate the 7dof Kinova Gen3 robot with ignition run the following:
 
 ```bash
-ros2 launch kortex2_bringup kortex_sim_control.launch.py \
+ros2 launch kortex_bringup kortex_sim_control.launch.py \
   dof:=7 \
   use_sim_time:=true \
   launch_rviz:=false
diff --git a/kortex_bringup/CMakeLists.txt b/kortex_bringup/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(kortex2_bringup)
+project(kortex_bringup)
 
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
diff --git a/kortex_bringup/config/servo.yaml b/kortex_bringup/config/servo.yaml
diff --git a/kortex_bringup/config/test_huge_joint_space_jump_config.yaml b/kortex_bringup/config/test_huge_joint_space_jump_config.yaml
diff --git a/kortex_bringup/config/test_trajectory_goal_publishers_config.yaml b/kortex_bringup/config/test_trajectory_goal_publishers_config.yaml
diff --git a/kortex_bringup/kortex_bringup/__init__.py b/kortex_bringup/kortex_bringup/__init__.py
diff --git a/kortex_bringup/launch/gen3.launch.py b/kortex_bringup/launch/gen3.launch.py
diff --git a/kortex_bringup/launch/kortex_control.launch.py b/kortex_bringup/launch/kortex_control.launch.py
diff --git a/kortex_bringup/launch/kortex_sim_control.launch.py b/kortex_bringup/launch/kortex_sim_control.launch.py
diff --git a/kortex_bringup/launch/test_huge_joint_space_jump.launch.py b/kortex_bringup/launch/test_huge_joint_space_jump.launch.py
@@ -26,7 +26,7 @@ def generate_launch_description():
 
     test_params = PathJoinSubstitution(
         [
-            FindPackageShare("kortex2_bringup"),
+            FindPackageShare("kortex_bringup"),
             "config",
             "test_huge_joint_space_jump_config.yaml",
         ]
@@ -35,7 +35,7 @@ def generate_launch_description():
     return LaunchDescription(
         [
             Node(
-                package="kortex2_bringup",
+                package="kortex_bringup",
                 executable="test_huge_joint_space_jump.py",
                 name="test_huge_joint_space_jump",
                 parameters=[test_params],
diff --git a/kortex_bringup/launch/test_joint_trajectory_controller.launch.py b/kortex_bringup/launch/test_joint_trajectory_controller.launch.py
@@ -26,7 +26,7 @@ def generate_launch_description():
 
     position_goals = PathJoinSubstitution(
         [
-            FindPackageShare("kortex2_bringup"),
+            FindPackageShare("kortex_bringup"),
             "config",
             "test_trajectory_goal_publishers_config.yaml",
         ]
diff --git a/kortex_bringup/package.xml b/kortex_bringup/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>kortex2_bringup</name>
+  <name>kortex_bringup</name>
   <version>0.1.0</version>
   <description>Launch file and run-time configurations, e.g. controllers.</description>
 
diff --git a/kortex_bringup/scripts/test_huge_joint_space_jump.py b/kortex_bringup/scripts/test_huge_joint_space_jump.py
diff --git a/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/6dof/urdf/kortex.ros2_control.xacro
@@ -39,7 +39,7 @@
           <param name="state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition or sim_isaac}">
-          <plugin>kortex2_driver/KortexMultiInterfaceHardware</plugin>
+          <plugin>kortex_driver/KortexMultiInterfaceHardware</plugin>
           <param name="robot_ip">${robot_ip}</param>
           <param name="username">${username}</param>
           <param name="password">${password}</param>
diff --git a/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3/7dof/urdf/kortex.ros2_control.xacro
@@ -39,7 +39,7 @@
           <param name="state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition or sim_isaac}">
-          <plugin>kortex2_driver/KortexMultiInterfaceHardware</plugin>
+          <plugin>kortex_driver/KortexMultiInterfaceHardware</plugin>
           <param name="robot_ip">${robot_ip}</param>
           <param name="username">${username}</param>
           <param name="password">${password}</param>
diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/kortex.ros2_control.xacro
@@ -33,7 +33,7 @@
           <param name="state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_ignition}">
-          <plugin>kortex2_driver/KortexMultiInterfaceHardware</plugin>
+          <plugin>kortex_driver/KortexMultiInterfaceHardware</plugin>
           <param name="robot_ip">${robot_ip}</param>
           <param name="username">${username}</param>
           <param name="password">${password}</param>
diff --git a/kortex_driver/CMakeLists.txt b/kortex_driver/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(kortex2_driver)
+project(kortex_driver)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
diff --git a/kortex_driver/hardware_interface_plugin.xml b/kortex_driver/hardware_interface_plugin.xml
@@ -1,6 +1,6 @@
-<library path="kortex2_driver">
-  <class name="kortex2_driver/KortexMultiInterfaceHardware"
-         type="kortex2_driver::KortexMultiInterfaceHardware"
+<library path="kortex_driver">
+  <class name="kortex_driver/KortexMultiInterfaceHardware"
+         type="kortex_driver::KortexMultiInterfaceHardware"
          base_class_type="hardware_interface::SystemInterface">
     <description>
       The ROS2 Control for the Kinova Kortex robot protocol.
diff --git a/kortex_driver/include/kortex_driver/hardware_interface.hpp b/kortex_driver/include/kortex_driver/hardware_interface.hpp
@@ -21,8 +21,8 @@
  *
  */
 //----------------------------------------------------------------------
-#ifndef KORTEX2_DRIVER__HARDWARE_INTERFACE_HPP_
-#define KORTEX2_DRIVER__HARDWARE_INTERFACE_HPP_
+#ifndef KORTEX_DRIVER__HARDWARE_INTERFACE_HPP_
+#define KORTEX_DRIVER__HARDWARE_INTERFACE_HPP_
 
 #pragma once
 
@@ -41,7 +41,7 @@
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 
-#include "kortex2_driver/visibility_control.h"
+#include "kortex_driver/visibility_control.h"
 
 #include <BaseClientRpc.h>
 #include <BaseCyclicClientRpc.h>
@@ -62,7 +62,7 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 
 namespace k_api = Kinova::Api;
 
-namespace kortex2_driver
+namespace kortex_driver
 {
 enum class StopStartInterface
 {
@@ -83,34 +83,34 @@ class KortexMultiInterfaceHardware : public hardware_interface::SystemInterface
 
   RCLCPP_SHARED_PTR_DEFINITIONS(KortexMultiInterfaceHardware);
 
-  KORTEX2_DRIVER_PUBLIC
+  KORTEX_DRIVER_PUBLIC
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) final;
 
-  KORTEX2_DRIVER_PUBLIC
+  KORTEX_DRIVER_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() final;
 
-  KORTEX2_DRIVER_PUBLIC
+  KORTEX_DRIVER_PUBLIC
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() final;
 
-  KORTEX2_DRIVER_PUBLIC
+  KORTEX_DRIVER_PUBLIC
   return_type prepare_command_mode_switch(
     const std::vector<std::string> & start_interfaces,
     const std::vector<std::string> & stop_interfaces) final;
-  KORTEX2_DRIVER_PUBLIC
+  KORTEX_DRIVER_PUBLIC
   return_type perform_command_mode_switch(
     const std::vector<std::string> & /*start_interfaces*/,
     const std::vector<std::string> & /*stop_interfaces*/) final;
 
-  KORTEX2_DRIVER_PUBLIC
+  KORTEX_DRIVER_PUBLIC
   CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) final;
 
-  KORTEX2_DRIVER_PUBLIC
+  KORTEX_DRIVER_PUBLIC
   CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) final;
 
-  KORTEX2_DRIVER_PUBLIC
+  KORTEX_DRIVER_PUBLIC
   return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) final;
 
-  KORTEX2_DRIVER_PUBLIC
+  KORTEX_DRIVER_PUBLIC
   return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) final;
 
 private:
@@ -217,6 +217,6 @@ class KortexMultiInterfaceHardware : public hardware_interface::SystemInterface
   void readGripperPosition();
 };
 
-}  // namespace kortex2_driver
+}  // namespace kortex_driver
 
-#endif  // KORTEX2_DRIVER__HARDWARE_INTERFACE_HPP_
+#endif  // KORTEX_DRIVER__HARDWARE_INTERFACE_HPP_
diff --git a/kortex_driver/include/kortex_driver/kortex_math_util.hpp b/kortex_driver/include/kortex_driver/kortex_math_util.hpp
@@ -4,8 +4,8 @@
 // license that can be found in the LICENSE file or at
 // https://developers.google.com/open-source/licenses/bsd
 
-#ifndef KORTEX2_DRIVER__KORTEX_MATH_UTIL_HPP_
-#define KORTEX2_DRIVER__KORTEX_MATH_UTIL_HPP_
+#ifndef KORTEX_DRIVER__KORTEX_MATH_UTIL_HPP_
+#define KORTEX_DRIVER__KORTEX_MATH_UTIL_HPP_
 
 #include <cmath>
 
@@ -28,4 +28,4 @@ class KortexMathUtil
     double relative_position, double min_value, double max_value);
 };
 
-#endif  // KORTEX2_DRIVER__KORTEX_MATH_UTIL_HPP_
+#endif  // KORTEX_DRIVER__KORTEX_MATH_UTIL_HPP_
diff --git a/kortex_driver/include/kortex_driver/visibility_control.h b/kortex_driver/include/kortex_driver/visibility_control.h
@@ -19,38 +19,38 @@
  * library cannot have, but the consuming code must have inorder to link.
  */
 
-#ifndef KORTEX2_DRIVER__VISIBILITY_CONTROL_H_
-#define KORTEX2_DRIVER__VISIBILITY_CONTROL_H_
+#ifndef KORTEX_DRIVER__VISIBILITY_CONTROL_H_
+#define KORTEX_DRIVER__VISIBILITY_CONTROL_H_
 
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
 
 #if defined _WIN32 || defined __CYGWIN__
 #ifdef __GNUC__
-#define KORTEX2_DRIVER_EXPORT __attribute__((dllexport))
-#define KORTEX2_DRIVER_IMPORT __attribute__((dllimport))
+#define KORTEX_DRIVER_EXPORT __attribute__((dllexport))
+#define KORTEX_DRIVER_IMPORT __attribute__((dllimport))
 #else
-#define KORTEX2_DRIVER_EXPORT __declspec(dllexport)
-#define KORTEX2_DRIVER_IMPORT __declspec(dllimport)
+#define KORTEX_DRIVER_EXPORT __declspec(dllexport)
+#define KORTEX_DRIVER_IMPORT __declspec(dllimport)
 #endif
-#ifdef KORTEX2_DRIVER_BUILDING_DLL
-#define KORTEX2_DRIVER_PUBLIC KORTEX2_DRIVER_EXPORT
+#ifdef KORTEX_DRIVER_BUILDING_DLL
+#define KORTEX_DRIVER_PUBLIC KORTEX_DRIVER_EXPORT
 #else
-#define KORTEX2_DRIVER_PUBLIC KORTEX2_DRIVER_IMPORT
+#define KORTEX_DRIVER_PUBLIC KORTEX_DRIVER_IMPORT
 #endif
-#define KORTEX2_DRIVER_PUBLIC_TYPE KORTEX2_DRIVER_PUBLIC
-#define KORTEX2_DRIVER_LOCAL
+#define KORTEX_DRIVER_PUBLIC_TYPE KORTEX_DRIVER_PUBLIC
+#define KORTEX_DRIVER_LOCAL
 #else
-#define KORTEX2_DRIVER_EXPORT __attribute__((visibility("default")))
-#define KORTEX2_DRIVER_IMPORT
+#define KORTEX_DRIVER_EXPORT __attribute__((visibility("default")))
+#define KORTEX_DRIVER_IMPORT
 #if __GNUC__ >= 4
-#define KORTEX2_DRIVER_PUBLIC __attribute__((visibility("default")))
-#define KORTEX2_DRIVER_LOCAL __attribute__((visibility("hidden")))
+#define KORTEX_DRIVER_PUBLIC __attribute__((visibility("default")))
+#define KORTEX_DRIVER_LOCAL __attribute__((visibility("hidden")))
 #else
-#define KORTEX2_DRIVER_PUBLIC
-#define KORTEX2_DRIVER_LOCAL
+#define KORTEX_DRIVER_PUBLIC
+#define KORTEX_DRIVER_LOCAL
 #endif
-#define KORTEX2_DRIVER_PUBLIC_TYPE
+#define KORTEX_DRIVER_PUBLIC_TYPE
 #endif
 
-#endif  // KORTEX2_DRIVER__VISIBILITY_CONTROL_H_
+#endif  // KORTEX_DRIVER__VISIBILITY_CONTROL_H_
diff --git a/kortex_driver/package.xml b/kortex_driver/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>kortex2_driver</name>
+  <name>kortex_driver</name>
   <version>0.0.0</version>
   <description>ROS2 driver package for the Kinova Robot Hardware.</description>
   <maintainer email="marq.rasmussen@picknik.ai">Marq Rasmussen</maintainer>
diff --git a/kortex_driver/src/hardware_interface.cpp b/kortex_driver/src/hardware_interface.cpp
@@ -30,8 +30,8 @@
 #include <string>
 #include <vector>
 
-#include "kortex2_driver/hardware_interface.hpp"
-#include "kortex2_driver/kortex_math_util.hpp"
+#include "kortex_driver/hardware_interface.hpp"
+#include "kortex_driver/kortex_math_util.hpp"
 
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -41,7 +41,7 @@ namespace
 const rclcpp::Logger LOGGER = rclcpp::get_logger("KortexMultiInterfaceHardware");
 }
 
-namespace kortex2_driver
+namespace kortex_driver
 {
 KortexMultiInterfaceHardware::KortexMultiInterfaceHardware()
 : router_tcp_{
@@ -1014,9 +1014,9 @@ void KortexMultiInterfaceHardware::sendTwistCommand()
   base_.SendTwistCommand(k_api_twist_command_);
 }
 
-}  // namespace kortex2_driver
+}  // namespace kortex_driver
 
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  kortex2_driver::KortexMultiInterfaceHardware, hardware_interface::SystemInterface)
+  kortex_driver::KortexMultiInterfaceHardware, hardware_interface::SystemInterface)
diff --git a/kortex_driver/src/kortex_math_util.cpp b/kortex_driver/src/kortex_math_util.cpp
@@ -4,7 +4,7 @@
 // license that can be found in the LICENSE file or at
 // https://developers.google.com/open-source/licenses/bsd
 
-#include "kortex2_driver/kortex_math_util.hpp"
+#include <kortex_driver/kortex_math_util.hpp>
 
 double KortexMathUtil::toRad(double degree) { return degree * M_PI / 180.0; }
 
