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AndyZe
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Initial copy of the ROS1 driver
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‎.ci.rosinstall‎

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- git:
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uri: https://github.com/fmauch/universal_robot.git
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local-name: universal_robot
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version: calibration_devel

‎.clang-format‎

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---
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BasedOnStyle: Google
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AccessModifierOffset: -2
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ConstructorInitializerIndentWidth: 2
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AlignEscapedNewlinesLeft: false
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AlignTrailingComments: true
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AllowAllParametersOfDeclarationOnNextLine: false
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AllowShortIfStatementsOnASingleLine: false
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AllowShortLoopsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: None
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AllowShortLoopsOnASingleLine: false
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AlwaysBreakTemplateDeclarations: true
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AlwaysBreakBeforeMultilineStrings: false
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BreakBeforeBinaryOperators: false
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BreakBeforeTernaryOperators: false
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BreakConstructorInitializersBeforeComma: true
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BinPackParameters: true
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ColumnLimit: 120
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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DerivePointerBinding: false
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PointerBindsToType: true
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ExperimentalAutoDetectBinPacking: false
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IndentCaseLabels: true
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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ObjCSpaceBeforeProtocolList: true
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PenaltyBreakBeforeFirstCallParameter: 19
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PenaltyBreakComment: 60
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PenaltyBreakString: 1
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PenaltyBreakFirstLessLess: 1000
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PenaltyExcessCharacter: 1000
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PenaltyReturnTypeOnItsOwnLine: 90
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SpacesBeforeTrailingComments: 2
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Cpp11BracedListStyle: false
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Standard: Auto
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IndentWidth: 2
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TabWidth: 2
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UseTab: Never
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IndentFunctionDeclarationAfterType: false
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SpacesInParentheses: false
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SpacesInAngles: false
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SpaceInEmptyParentheses: false
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SpacesInCStyleCastParentheses: false
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SpaceAfterControlStatementKeyword: true
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SpaceBeforeAssignmentOperators: true
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ContinuationIndentWidth: 4
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SortIncludes: false
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SpaceAfterCStyleCast: false
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# Configure each individual brace in BraceWrapping
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BreakBeforeBraces: Custom
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# Control of individual brace wrapping cases
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BraceWrapping: {
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AfterCaseLabel: 'true'
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AfterClass: 'true'
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AfterControlStatement: 'true'
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AfterEnum : 'true'
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AfterFunction : 'true'
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AfterNamespace : 'true'
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AfterStruct : 'true'
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AfterUnion : 'true'
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BeforeCatch : 'true'
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BeforeElse : 'true'
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IndentBraces : 'false'
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}
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...

‎.clang-tidy‎

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Checks: '-*,readability-identifier-naming'
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CheckOptions:
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- { key: readability-identifier-naming.NamespaceCase, value: lower_case }
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- { key: readability-identifier-naming.ClassCase, value: CamelCase }
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- { key: readability-identifier-naming.PrivateMemberSuffix, value: _ }
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- { key: readability-identifier-naming.StructCase, value: CamelCase }
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- { key: readability-identifier-naming.FunctionCase, value: camelBack }
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- { key: readability-identifier-naming.VariableCase, value: lower_case }
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- { key: readability-identifier-naming.GlobalVariablePrefix, value: g_ }
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- { key: readability-identifier-naming.GlobalConstantCase, value: UPPER_CASE }

‎.gitignore‎

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CMakeCache.txt
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CMakeFiles
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Makefile
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cmake_install.cmake
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install_manifest.txt
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*~
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.idea
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.directory
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.vscode

‎README.md‎

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Alpha version of the ROS2 Universal Robots driver. Should be transferred to the Universal Robots org when ready.
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‎controller_stopper/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(controller_stopper)
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## Compile as C++11, supported in ROS Kinetic and newer
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add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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controller_manager_msgs
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roscpp
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std_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# controller_manager_msgs# std_msgs
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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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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES controller_stopper
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CATKIN_DEPENDS controller_manager_msgs roscpp std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/controller_stopper.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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add_executable(${PROJECT_NAME}_node
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src/controller_stopper.cpp
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src/controller_stopper_node.cpp
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)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}_node
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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install(TARGETS ${PROJECT_NAME}_node
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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 ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_controller_stopper.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

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