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change the License and package format to version 2
1 parent 82765b7 commit 74fd344

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23 files changed

+264
-501
lines changed

23 files changed

+264
-501
lines changed

‎robotis_controller/CMakeLists.txt‎

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -12,16 +12,17 @@ set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
1212
find_package(catkin REQUIRED COMPONENTS
1313
roscpp
1414
roslib
15-
sensor_msgs
1615
std_msgs
16+
sensor_msgs
1717
robotis_controller_msgs
18+
dynamixel_sdk
19+
robotis_device
1820
robotis_framework_common
1921
cmake_modules
2022
)
2123

22-
set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${CATKIN_DEVEL_PREFIX}/lib/pkgconfig")
23-
find_package(PkgConfig)
24-
pkg_check_modules(yaml_cpp yaml-cpp REQUIRED)
24+
find_package(PkgConfig REQUIRED)
25+
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
2526

2627
################################################################################
2728
# Declare ROS messages, services and actions
@@ -37,7 +38,7 @@ pkg_check_modules(yaml_cpp yaml-cpp REQUIRED)
3738
catkin_package(
3839
INCLUDE_DIRS include
3940
LIBRARIES robotis_controller
40-
CATKIN_DEPENDS roscpp roslib sensor_msgs std_msgs robotis_framework_common
41+
CATKIN_DEPENDS roscpp roslib std_msgs sensor_msgs robotis_controller_msgs dynamixel_sdk robotis_device robotis_framework_common cmake_modules
4142
)
4243

4344
################################################################################

‎robotis_controller/include/robotis_controller/robotis_controller.h‎

Lines changed: 14 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -1,32 +1,18 @@
11
/*******************************************************************************
2-
* Copyright (c) 2016, ROBOTIS CO., LTD.
3-
* All rights reserved.
4-
*
5-
* Redistribution and use in source and binary forms, with or without
6-
* modification, are permitted provided that the following conditions are met:
7-
*
8-
* * Redistributions of source code must retain the above copyright notice, this
9-
* list of conditions and the following disclaimer.
10-
*
11-
* * Redistributions in binary form must reproduce the above copyright notice,
12-
* this list of conditions and the following disclaimer in the documentation
13-
* and/or other materials provided with the distribution.
14-
*
15-
* * Neither the name of ROBOTIS nor the names of its
16-
* contributors may be used to endorse or promote products derived from
17-
* this software without specific prior written permission.
18-
*
19-
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20-
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21-
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22-
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
23-
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
24-
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
25-
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
26-
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
27-
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28-
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29-
*******************************************************************************/
2+
* Copyright 2018 ROBOTIS CO., LTD.
3+
*
4+
* Licensed under the Apache License, Version 2.0 (the "License");
5+
* you may not use this file except in compliance with the License.
6+
* You may obtain a copy of the License at
7+
*
8+
* http://www.apache.org/licenses/LICENSE-2.0
9+
*
10+
* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
12+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
* See the License for the specific language governing permissions and
14+
* limitations under the License.
15+
*******************************************************************************/
3016

3117
/*
3218
* robotis_controller.h

‎robotis_controller/package.xml‎

Lines changed: 13 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -1,36 +1,25 @@
11
<?xml version="1.0"?>
2-
<package>
2+
<package format="2">
33
<name>robotis_controller</name>
44
<version>0.2.6</version>
55
<description>
6-
The main package that controls THORMANG3.
6+
robotis_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series
77
</description>
8-
<license>BSD</license>
8+
<license>Apache 2.0</license>
99
<author email="[email protected]">Zerom</author>
1010
<maintainer email="[email protected]">Pyo</maintainer>
1111
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
1212
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
1313
<url type="website">http://wiki.ros.org/robotis_controller</url>
1414
<buildtool_depend>catkin</buildtool_depend>
15-
<build_depend>roscpp</build_depend>
16-
<build_depend>roslib</build_depend>
17-
<build_depend>std_msgs</build_depend>
18-
<build_depend>sensor_msgs</build_depend>
19-
<build_depend>dynamixel_sdk</build_depend>
20-
<build_depend>robotis_device</build_depend>
21-
<build_depend>robotis_controller_msgs</build_depend>
22-
<build_depend>robotis_framework_common</build_depend>
23-
<build_depend>cmake_modules</build_depend>
24-
<build_depend>yaml-cpp</build_depend>
25-
<run_depend>roscpp</run_depend>
26-
<run_depend>roslib</run_depend>
27-
<run_depend>std_msgs</run_depend>
28-
<run_depend>sensor_msgs</run_depend>
29-
<run_depend>dynamixel_sdk</run_depend>
30-
<run_depend>robotis_device</run_depend>
31-
<run_depend>robotis_controller_msgs</run_depend>
32-
<run_depend>robotis_framework_common</run_depend>
33-
<run_depend>cmake_modules</run_depend>
34-
<run_depend>yaml-cpp</run_depend>
35-
<export></export>
15+
<depend>roscpp</depend>
16+
<depend>roslib</depend>
17+
<depend>std_msgs</depend>
18+
<depend>sensor_msgs</depend>
19+
<depend>robotis_controller_msgs</depend>
20+
<depend>dynamixel_sdk</depend>
21+
<depend>robotis_device</depend>
22+
<depend>robotis_framework_common</depend>
23+
<depend>cmake_modules</depend>
24+
<depend>yaml-cpp</depend>
3625
</package>

‎robotis_controller/src/robotis_controller/robotis_controller.cpp‎

Lines changed: 14 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -1,32 +1,18 @@
11
/*******************************************************************************
2-
* Copyright (c) 2016, ROBOTIS CO., LTD.
3-
* All rights reserved.
4-
*
5-
* Redistribution and use in source and binary forms, with or without
6-
* modification, are permitted provided that the following conditions are met:
7-
*
8-
* * Redistributions of source code must retain the above copyright notice, this
9-
* list of conditions and the following disclaimer.
10-
*
11-
* * Redistributions in binary form must reproduce the above copyright notice,
12-
* this list of conditions and the following disclaimer in the documentation
13-
* and/or other materials provided with the distribution.
14-
*
15-
* * Neither the name of ROBOTIS nor the names of its
16-
* contributors may be used to endorse or promote products derived from
17-
* this software without specific prior written permission.
18-
*
19-
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20-
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21-
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22-
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
23-
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
24-
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
25-
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
26-
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
27-
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28-
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29-
*******************************************************************************/
2+
* Copyright 2018 ROBOTIS CO., LTD.
3+
*
4+
* Licensed under the Apache License, Version 2.0 (the "License");
5+
* you may not use this file except in compliance with the License.
6+
* You may obtain a copy of the License at
7+
*
8+
* http://www.apache.org/licenses/LICENSE-2.0
9+
*
10+
* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
12+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
* See the License for the specific language governing permissions and
14+
* limitations under the License.
15+
*******************************************************************************/
3016

3117
/*
3218
* robotis_controller.cpp

‎robotis_device/CMakeLists.txt‎

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,6 @@ project(robotis_device)
99
################################################################################
1010
find_package(catkin REQUIRED COMPONENTS
1111
roscpp
12-
rospy
1312
dynamixel_sdk
1413
)
1514

@@ -27,7 +26,7 @@ find_package(catkin REQUIRED COMPONENTS
2726
catkin_package(
2827
INCLUDE_DIRS include
2928
LIBRARIES robotis_device
30-
CATKIN_DEPENDS roscpp rospy dynamixel_sdk
29+
CATKIN_DEPENDS roscpp dynamixel_sdk
3130
)
3231

3332
################################################################################
@@ -59,8 +58,8 @@ install(DIRECTORY include/${PROJECT_NAME}/
5958
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
6059
)
6160

62-
install(DIRECTORY devices/
63-
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
61+
install(DIRECTORY devices
62+
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
6463
)
6564

6665
################################################################################

‎robotis_device/include/robotis_device/control_table_item.h‎

Lines changed: 14 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -1,32 +1,18 @@
11
/*******************************************************************************
2-
* Copyright (c) 2016, ROBOTIS CO., LTD.
3-
* All rights reserved.
4-
*
5-
* Redistribution and use in source and binary forms, with or without
6-
* modification, are permitted provided that the following conditions are met:
7-
*
8-
* * Redistributions of source code must retain the above copyright notice, this
9-
* list of conditions and the following disclaimer.
10-
*
11-
* * Redistributions in binary form must reproduce the above copyright notice,
12-
* this list of conditions and the following disclaimer in the documentation
13-
* and/or other materials provided with the distribution.
14-
*
15-
* * Neither the name of ROBOTIS nor the names of its
16-
* contributors may be used to endorse or promote products derived from
17-
* this software without specific prior written permission.
18-
*
19-
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20-
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21-
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22-
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
23-
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
24-
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
25-
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
26-
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
27-
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28-
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29-
*******************************************************************************/
2+
* Copyright 2018 ROBOTIS CO., LTD.
3+
*
4+
* Licensed under the Apache License, Version 2.0 (the "License");
5+
* you may not use this file except in compliance with the License.
6+
* You may obtain a copy of the License at
7+
*
8+
* http://www.apache.org/licenses/LICENSE-2.0
9+
*
10+
* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
12+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
* See the License for the specific language governing permissions and
14+
* limitations under the License.
15+
*******************************************************************************/
3016

3117
/*
3218
* control_table_item.h

‎robotis_device/include/robotis_device/device.h‎

Lines changed: 14 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -1,32 +1,18 @@
11
/*******************************************************************************
2-
* Copyright (c) 2016, ROBOTIS CO., LTD.
3-
* All rights reserved.
4-
*
5-
* Redistribution and use in source and binary forms, with or without
6-
* modification, are permitted provided that the following conditions are met:
7-
*
8-
* * Redistributions of source code must retain the above copyright notice, this
9-
* list of conditions and the following disclaimer.
10-
*
11-
* * Redistributions in binary form must reproduce the above copyright notice,
12-
* this list of conditions and the following disclaimer in the documentation
13-
* and/or other materials provided with the distribution.
14-
*
15-
* * Neither the name of ROBOTIS nor the names of its
16-
* contributors may be used to endorse or promote products derived from
17-
* this software without specific prior written permission.
18-
*
19-
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20-
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21-
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22-
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
23-
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
24-
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
25-
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
26-
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
27-
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28-
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29-
*******************************************************************************/
2+
* Copyright 2018 ROBOTIS CO., LTD.
3+
*
4+
* Licensed under the Apache License, Version 2.0 (the "License");
5+
* you may not use this file except in compliance with the License.
6+
* You may obtain a copy of the License at
7+
*
8+
* http://www.apache.org/licenses/LICENSE-2.0
9+
*
10+
* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
12+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
* See the License for the specific language governing permissions and
14+
* limitations under the License.
15+
*******************************************************************************/
3016

3117
/*
3218
* device.h

‎robotis_device/include/robotis_device/dynamixel.h‎

Lines changed: 14 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -1,32 +1,18 @@
11
/*******************************************************************************
2-
* Copyright (c) 2016, ROBOTIS CO., LTD.
3-
* All rights reserved.
4-
*
5-
* Redistribution and use in source and binary forms, with or without
6-
* modification, are permitted provided that the following conditions are met:
7-
*
8-
* * Redistributions of source code must retain the above copyright notice, this
9-
* list of conditions and the following disclaimer.
10-
*
11-
* * Redistributions in binary form must reproduce the above copyright notice,
12-
* this list of conditions and the following disclaimer in the documentation
13-
* and/or other materials provided with the distribution.
14-
*
15-
* * Neither the name of ROBOTIS nor the names of its
16-
* contributors may be used to endorse or promote products derived from
17-
* this software without specific prior written permission.
18-
*
19-
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20-
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21-
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22-
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
23-
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
24-
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
25-
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
26-
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
27-
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28-
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29-
*******************************************************************************/
2+
* Copyright 2018 ROBOTIS CO., LTD.
3+
*
4+
* Licensed under the Apache License, Version 2.0 (the "License");
5+
* you may not use this file except in compliance with the License.
6+
* You may obtain a copy of the License at
7+
*
8+
* http://www.apache.org/licenses/LICENSE-2.0
9+
*
10+
* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
12+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
* See the License for the specific language governing permissions and
14+
* limitations under the License.
15+
*******************************************************************************/
3016

3117
/*
3218
* dynamixel.h

‎robotis_device/include/robotis_device/dynamixel_state.h‎

Lines changed: 14 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -1,32 +1,18 @@
11
/*******************************************************************************
2-
* Copyright (c) 2016, ROBOTIS CO., LTD.
3-
* All rights reserved.
4-
*
5-
* Redistribution and use in source and binary forms, with or without
6-
* modification, are permitted provided that the following conditions are met:
7-
*
8-
* * Redistributions of source code must retain the above copyright notice, this
9-
* list of conditions and the following disclaimer.
10-
*
11-
* * Redistributions in binary form must reproduce the above copyright notice,
12-
* this list of conditions and the following disclaimer in the documentation
13-
* and/or other materials provided with the distribution.
14-
*
15-
* * Neither the name of ROBOTIS nor the names of its
16-
* contributors may be used to endorse or promote products derived from
17-
* this software without specific prior written permission.
18-
*
19-
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20-
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21-
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22-
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
23-
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
24-
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
25-
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
26-
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
27-
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28-
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
29-
*******************************************************************************/
2+
* Copyright 2018 ROBOTIS CO., LTD.
3+
*
4+
* Licensed under the Apache License, Version 2.0 (the "License");
5+
* you may not use this file except in compliance with the License.
6+
* You may obtain a copy of the License at
7+
*
8+
* http://www.apache.org/licenses/LICENSE-2.0
9+
*
10+
* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
12+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
* See the License for the specific language governing permissions and
14+
* limitations under the License.
15+
*******************************************************************************/
3016

3117
/*
3218
* dynamixel_state.h

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