Updated CMake and package xmls as well as environment scripts

husky · Mar 6, 2018 · 8f28f7f · 8f28f7f
1 parent 194a3a7
commit 8f28f7f
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Showing 11 changed files with 70 additions and 47 deletions.
diff --git a/husky_dual_ur_moveit_config/CMakeLists.txt b/husky_dual_ur_moveit_config/CMakeLists.txt
@@ -5,9 +5,16 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  PATTERN "setup_assistant.launch" EXCLUDE)
-install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY scripts
+   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)

diff --git a/husky_dual_ur_moveit_config/package.xml b/husky_dual_ur_moveit_config/package.xml
@@ -1,29 +1,29 @@
 <package format="2">
   <name>husky_dual_ur_moveit_config</name>
-  <version>0.3.0</version>
+  <version>0.0.0</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the husky with the MoveIt! Motion Planning Framework
+     An automatically generated package with all the configuration and launch files for using the Husky with the MoveIt! Motion Planning Framework
   </description>
   <author email="[email protected]">Dave Niewinski</author>
   <maintainer email="[email protected]">Dave Niewinski</maintainer>
 
   <license>BSD</license>
 
-  <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit</url>
+  <url type="website">http://robots.ros.org/husky/</url>
+  <url type="bugtracker">https://github.com/husky/husky_manipulation/issues</url>
+  <url type="repository">https://github.com/husky/husky_manipulation</url>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>moveit_ros_move_group</depend>
-  <depend>moveit_kinematics</depend>
-  <depend>moveit_planners_ompl</depend>
-  <depend>moveit_ros_visualization</depend>
-  <depend>joint_state_publisher</depend>
-  <depend>xacro</depend>
-  <depend>husky_description</depend>
-  <depend>trac_ik_kinematics_plugin</depend>
-  <depend>moveit_simple_controller_manager</depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>husky_description</exec_depend>
+  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
 
   <test_depend>roslaunch</test_depend>
 </package>
diff --git a/husky_ur_bringup/CMakeLists.txt b/husky_ur_bringup/CMakeLists.txt
@@ -1,10 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(husky_ur_bringup)
 
-find_package(catkin REQUIRED COMPONENTS
-  tf2_ros
-  ur_modern_driver
-)
+find_package(catkin REQUIRED COMPONENTS)
 
 catkin_package()
 
@@ -17,3 +14,7 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(launch/husky_ur_bringup.launch)
   roslaunch_add_file_check(launch/husky_dual_ur_bringup.launch)
 endif()
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/husky_ur_bringup/launch/husky_dual_ur_bringup.launch b/husky_ur_bringup/launch/husky_dual_ur_bringup.launch
@@ -11,7 +11,8 @@
   <arg name="max_velocity" default="10.0"/>
 
   <!-- LEFT ARM -->
-  <node name="left_ur_driver" pkg="ur_modern_driver" type="ur_driver" args="$(arg left_robot_ip) $(arg left_robot_port)" output="screen">
+  <node name="left_ur_driver" pkg="ur_modern_driver" type="ur_driver"
+    args="$(arg left_robot_ip) $(arg left_robot_port)" output="screen">
     <remap from="/follow_joint_trajectory" to="left_ur_arm_controller/follow_joint_trajectory"/>
     <remap from="/ur_driver" to="left_ur_arm_controller/ur_driver"/>
     <param name="prefix" type="str" value="$(arg left_prefix)" />
@@ -27,7 +28,8 @@
   </node>
 
   <!-- RIGHT ARM -->
-  <node name="right_ur_driver" pkg="ur_modern_driver" type="ur_driver" args="$(arg right_robot_ip) $(arg right_robot_port)" output="screen">
+  <node name="right_ur_driver" pkg="ur_modern_driver" type="ur_driver"
+    args="$(arg right_robot_ip) $(arg right_robot_port)" output="screen">
     <remap from="/follow_joint_trajectory" to="right_ur_arm_controller/follow_joint_trajectory"/>
     <remap from="/ur_driver" to="right_ur_arm_controller/ur_driver"/>
     <param name="prefix" type="str" value="$(arg right_prefix)" />

diff --git a/husky_ur_bringup/package.xml b/husky_ur_bringup/package.xml
@@ -10,8 +10,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>tf2_ros</depend>
-  <depend>ur_modern_driver</depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>ur_modern_driver</exec_depend>
 
   <test_depend>roslaunch</test_depend>
 </package>
diff --git a/husky_ur_description/CMakeLists.txt b/husky_ur_description/CMakeLists.txt
@@ -3,7 +3,13 @@ project(husky_ur_description)
 
 find_package(catkin REQUIRED)
 
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
+catkin_package()
+
+include_directories()
+
+install(DIRECTORY meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY scripts
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
diff --git a/husky_ur_description/package.xml b/husky_ur_description/package.xml
@@ -9,6 +9,6 @@
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>ur_description</depend>
-  <depend>husky_description</depend>
+  <exec_depend>ur_description</exec_depend>
+  <exec_depend>husky_description</exec_depend>
 </package>
diff --git a/...scription/scripts/husky_dual_ur5_envar.sh → ...iption/scripts/setup_husky_dual_ur5_envar b/...scription/scripts/husky_dual_ur5_envar.sh → ...iption/scripts/setup_husky_dual_ur5_envar
diff --git a/...ur_description/scripts/husky_ur5_envar.sh → ...description/scripts/setup_husky_ur5_envar b/...ur_description/scripts/husky_ur5_envar.sh → ...description/scripts/setup_husky_ur5_envar
diff --git a/husky_ur_moveit_config/CMakeLists.txt b/husky_ur_moveit_config/CMakeLists.txt
@@ -5,9 +5,16 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  PATTERN "setup_assistant.launch" EXCLUDE)
-install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY scripts
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)

diff --git a/husky_ur_moveit_config/package.xml b/husky_ur_moveit_config/package.xml
@@ -1,29 +1,29 @@
 <package format="2">
   <name>husky_ur_moveit_config</name>
-  <version>0.3.0</version>
+  <version>0.0.0</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the husky with the MoveIt! Motion Planning Framework
+     An automatically generated package with all the configuration and launch files for using the Husky with the MoveIt! Motion Planning Framework
   </description>
   <author email="[email protected]">Dave Niewinski</author>
   <maintainer email="[email protected]">Dave Niewinski</maintainer>
 
   <license>BSD</license>
 
-  <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit</url>
+  <url type="website">http://robots.ros.org/husky/</url>
+  <url type="bugtracker">https://github.com/husky/husky_manipulation/issues</url>
+  <url type="repository">https://github.com/husky/husky_manipulation</url>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>moveit_ros_move_group</depend>
-  <depend>moveit_kinematics</depend>
-  <depend>moveit_planners_ompl</depend>
-  <depend>moveit_ros_visualization</depend>
-  <depend>joint_state_publisher</depend>
-  <depend>robot_state_publisher</depend>
-  <depend>xacro</depend>
-  <depend>husky_description</depend>
-  <depend>moveit_simple_controller_manager</depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>husky_description</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
 
   <test_depend>roslaunch</test_depend>
 </package>