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Merge pull request #32 from ROBOTIS-GIT/kinetic-devel
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‎.gitignore‎

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‎LICENSE‎

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Software License Agreement (BSD License)
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Copyright (c) 2014, ROBOTIS Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of ROBOTIS nor the names of its contributors may be
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used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY ROBOTIS "AS IS" AND ANY EXPRESS OR IMPLIED
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WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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IN NO EVENT SHALL ROBOTIS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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Software License Agreement (BSD License)
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Copyright (c) 2014, ROBOTIS Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of ROBOTIS nor the names of its contributors may be
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used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY ROBOTIS "AS IS" AND ANY EXPRESS OR IMPLIED
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WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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IN NO EVENT SHALL ROBOTIS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎README.md‎

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# ROBOTIS-Framework
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ROBOTIS Framework GIT REP MAIN
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Documents : [ROBOTIS Framework WIKI](https://github.com/ROBOTIS-GIT/ROBOTIS-Documents/wiki/ROBOTIS-ROS-Framework-Documents)
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# ROBOTIS-Framework
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ROBOTIS Framework GIT REP MAIN
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Documents : [ROBOTIS Framework WIKI](https://github.com/ROBOTIS-GIT/ROBOTIS-Documents/wiki/ROBOTIS-ROS-Framework-Documents)

‎robotis_controller/CHANGELOG.rst‎

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Changelog for package robotis_controller
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.2.1 (2016-11-23)
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-----------
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* Merge the changes and update
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* - Direct Control Mode bug fixed.
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* update
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* - added writeControlTableCallback
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* - added WriteControlTable msg callback
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* mode change debugging
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* - optimized cpu usage by spin loop (by astumpf)
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* - robotis_controller process() : processing order changed.
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* 1st : packet communication
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* 2nd : processing modules
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* - dependencies fixed. (Pull requests `#26 <https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues/26>`_)
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* - make setJointCtrlModuleCallback() to the thread function & improved.
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* - modified dependency problem.
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* - reduce CPU consumption
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* Contributors: Jay Song, Pyo, Zerom, SCH
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0.2.0 (2016-08-31)
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-----------
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* bug fixed (position pid gain & velocity pid gain sync write).

‎robotis_controller/CMakeLists.txt‎

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################################################################################
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# CMake
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################################################################################
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cmake_minimum_required(VERSION 2.8.3)
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project(robotis_controller)
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set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
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################################################################################
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# Packages
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################################################################################
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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roslib
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sensor_msgs
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std_msgs
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robotis_device
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robotis_controller_msgs
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robotis_framework_common
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cmake_modules
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dynamixel_sdk
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)
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################################################################################
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# Declare ROS messages, services and actions
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################################################################################
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################################################################################
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# Declare ROS dynamic reconfigure parameters
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################################################################################
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################################################################################
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# Catkin specific configuration
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################################################################################
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES robotis_controller
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CATKIN_DEPENDS roscpp roslib sensor_msgs std_msgs
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)
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################################################################################
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# Build
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################################################################################
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(robotis_controller src/robotis_controller/robotis_controller.cpp)
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add_dependencies(robotis_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(robotis_controller yaml-cpp ${catkin_LIBRARIES})
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################################################################################
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# Install
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################################################################################
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install(TARGETS robotis_controller
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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################################################################################
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# Test
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################################################################################
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################################################################################
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# CMake
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################################################################################
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cmake_minimum_required(VERSION 2.8.3)
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project(robotis_controller)
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set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
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################################################################################
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# Packages
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################################################################################
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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roslib
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sensor_msgs
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std_msgs
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robotis_controller_msgs
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robotis_framework_common
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cmake_modules
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)
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################################################################################
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# Declare ROS messages, services and actions
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################################################################################
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################################################################################
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# Declare ROS dynamic reconfigure parameters
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################################################################################
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################################################################################
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# Catkin specific configuration
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################################################################################
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES robotis_controller
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CATKIN_DEPENDS roscpp roslib sensor_msgs std_msgs robotis_framework_common
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)
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################################################################################
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# Build
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################################################################################
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(robotis_controller src/robotis_controller/robotis_controller.cpp)
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add_dependencies(robotis_controller ${catkin_EXPORTED_TARGETS})
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target_link_libraries(robotis_controller yaml-cpp ${catkin_LIBRARIES})
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################################################################################
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# Install
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################################################################################
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install(TARGETS robotis_controller
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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################################################################################
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# Test
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################################################################################

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