...
 
Commits (3)
...@@ -4,10 +4,7 @@ project(emros_basecontroller) ...@@ -4,10 +4,7 @@ project(emros_basecontroller)
## Add support for C++11, supported in ROS Kinetic and newer ## Add support for C++11, supported in ROS Kinetic and newer
add_definitions(-std=c++11) add_definitions(-std=c++11)
## Find catkin macros and libraries ## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
roscpp roscpp
emros_dispatcher emros_dispatcher
...@@ -18,92 +15,17 @@ find_package(catkin REQUIRED COMPONENTS ...@@ -18,92 +15,17 @@ find_package(catkin REQUIRED COMPONENTS
emros_common emros_common
) )
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################ ################################################
## Declare ROS messages, services and actions ## ## Declare ROS messages, services and actions ##
################################################ ################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
#eth.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
# Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# geometry_msgs
# dispatcher
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
################################### ###################################
## catkin specific configuration ## ## catkin specific configuration ##
################################### ###################################
## The catkin_package macro generates cmake config files for your package ## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects ## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files ## INCLUDE_DIRS: uncomment this if you package contains header files
...@@ -118,36 +40,21 @@ catkin_package( ...@@ -118,36 +40,21 @@ catkin_package(
#CATKIN_DEPENDS message_runtime #CATKIN_DEPENDS message_runtime
) )
########### ###########
## Build ## ## Build ##
########### ###########
## Specify additional locations of header files ## Specify additional locations of header files
## Your package locations should be listed before other locations include_directories(
include_directories( include
include ${catkin_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS} )
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable ## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node src/basecontroller_node.cpp src/basecontroller.cpp src/kinematics.cpp) add_executable(${PROJECT_NAME}_node src/basecontroller_node.cpp src/basecontroller.cpp src/kinematics.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable ## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against ## Specify libraries to link a library or executable target against
...@@ -156,100 +63,21 @@ target_link_libraries(${PROJECT_NAME}_node ...@@ -156,100 +63,21 @@ target_link_libraries(${PROJECT_NAME}_node
) )
#add_executable(basecontroller src/basecontroller_node.cpp src/basecontroller.cpp src/kinematics.cpp)
#add_dependencies(basecontroller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} )
#target_link_libraries(basecontroller ${catkin_LIBRARIES} )
#add_executable(mecanum_basecontroller src/mecanum_basecontroller.cpp )
#add_dependencies(mecanum_basecontroller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} )
#target_link_libraries(mecanum_basecontroller ${catkin_LIBRARIES} )
#add_executable(test_mecanum_basecontroller src/test_mecanum_basecontroller.cpp )
#add_dependencies(test_mecanum_basecontroller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} )
#target_link_libraries(test_mecanum_basecontroller ${catkin_LIBRARIES} )
#add_executable(diff_basecontroller src/diff_basecontroller.cpp )
#add_dependencies(diff_basecontroller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} )
#target_link_libraries(diff_basecontroller ${catkin_LIBRARIES} )
## Declare a C++ library
# add_library(sepp_basecontroller
# src/${PROJECT_NAME}/sepp_basecontroller.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(sepp_basecontroller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
# add_executable(sepp_basecontroller_node src/sepp_basecontroller_node.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(sepp_basecontroller_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(basecontroller
# ${catkin_LIBRARIES}
# )
############# #############
## Install ## ## Install ##
############# #############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation ## Mark executables and/or libraries for installation
# install(TARGETS sepp_basecontroller sepp_basecontroller_node install(TARGETS ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} )
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation ## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/ install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h" )
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_sepp_basecontroller.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests ## Mark launch files for installation
# catkin_add_nosetests(test) install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
\ No newline at end of file
...@@ -12,13 +12,13 @@ ...@@ -12,13 +12,13 @@
#include "geometry_msgs/Twist.h" #include "geometry_msgs/Twist.h"
#include "tf/transform_broadcaster.h" #include "tf/transform_broadcaster.h"
#include "nav_msgs/Odometry.h" #include "nav_msgs/Odometry.h"
#include "ethprotocol.h" #include "utility_ofc/ethprotocol.h"
#include "emros_commands.h" #include "emros_common/emros_commands.h"
#include <boost/shared_ptr.hpp> #include <boost/shared_ptr.hpp>
#include <boost/thread.hpp> #include <boost/thread.hpp>
#include <leaky_bucket_timeout.h> #include "utility_ofc/leaky_bucket_timeout.h"
#include "kinematics.hpp" #include "kinematics.hpp"
#include "velocities.h" #include "emros_common/velocities.h"
#include <cmath> #include <cmath>
......
...@@ -13,8 +13,8 @@ ...@@ -13,8 +13,8 @@
#include "geometry_msgs/Twist.h" #include "geometry_msgs/Twist.h"
#include "tf/transform_broadcaster.h" #include "tf/transform_broadcaster.h"
#include "nav_msgs/Odometry.h" #include "nav_msgs/Odometry.h"
#include "emros_commands.h" #include "emros_common/emros_commands.h"
#include "velocities.h" #include "emros_common/velocities.h"
using namespace EMROSCmdType::Basecontroller; using namespace EMROSCmdType::Basecontroller;
......
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
*/ */
#include "emros_basecontroller/basecontroller.hpp" #include "emros_basecontroller/basecontroller.hpp"
#include "emros_commands.h" #include "emros_common/emros_commands.h"
#include "ros/ros.h" #include "ros/ros.h"
#include <iostream> #include <iostream>
......
...@@ -2,89 +2,8 @@ cmake_minimum_required(VERSION 2.8.3) ...@@ -2,89 +2,8 @@ cmake_minimum_required(VERSION 2.8.3)
project(emros_bringup) project(emros_bringup)
## Find catkin macros and libraries ## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED) find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
################################### ###################################
## catkin specific configuration ## ## catkin specific configuration ##
...@@ -102,80 +21,12 @@ catkin_package( ...@@ -102,80 +21,12 @@ catkin_package(
# DEPENDS system_lib # DEPENDS system_lib
) )
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
## Declare a C++ library
# add_library(sepp_bringup
# src/${PROJECT_NAME}/sepp_bringup.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(sepp_bringup ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
# add_executable(sepp_bringup_node src/sepp_bringup_node.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(sepp_bringup_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(sepp_bringup_node
# ${catkin_LIBRARIES}
# )
############# #############
## Install ## ## Install ##
############# #############
# all install targets should use catkin DESTINATION variables ## Mark launch files for installation
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html install(DIRECTORY launch urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
## Mark executable scripts (Python etc.) for installation )
## in contrast to setup.py, you can choose the destination \ No newline at end of file
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS sepp_bringup sepp_bringup_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_sepp_bringup.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
...@@ -3,7 +3,7 @@ ...@@ -3,7 +3,7 @@
<launch> <launch>
<!-- DISPATCHER --> <!-- DISPATCHER -->
<arg name="IP_EM5" value="192.168.60.223" /> <arg name="IP_EM5" value="192.168.60.142" />
<arg name="Port_EM5" value="65000" /> <arg name="Port_EM5" value="65000" />
<include file="$(find emros_dispatcher)/launch/dispatcher.launch" > <include file="$(find emros_dispatcher)/launch/dispatcher.launch" >
......
Subproject commit e760644f8625a2f7dd70986657fe601a2a7e1cb0 Subproject commit e46ba29f56099a94fef526ebb82dffbcbec4c14a
...@@ -5,8 +5,6 @@ project(emros_dispatcher) ...@@ -5,8 +5,6 @@ project(emros_dispatcher)
add_definitions(-std=c++11) add_definitions(-std=c++11)
## Find catkin macros and libraries ## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
roscpp roscpp
message_generation message_generation
...@@ -14,90 +12,27 @@ find_package(catkin REQUIRED COMPONENTS ...@@ -14,90 +12,27 @@ find_package(catkin REQUIRED COMPONENTS
emros_common emros_common
) )
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################ ################################################
## Declare ROS messages, services and actions ## ## Declare ROS messages, services and actions ##
################################################ ################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder ## Generate messages in the 'msg' folder
add_message_files( add_message_files(
FILES FILES
eth.msg eth.msg
# Message1.msg
# Message2.msg
) )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here ## Generate added messages and services with any dependencies listed here
generate_messages( generate_messages(
DEPENDENCIES DEPENDENCIES
std_msgs # Or other packages containing msgs std_msgs
) )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
################################### ###################################
## catkin specific configuration ## ## catkin specific configuration ##
################################### ###################################
## The catkin_package macro generates cmake config files for your package ## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects ## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files ## INCLUDE_DIRS: uncomment this if you package contains header files
...@@ -105,43 +40,25 @@ find_package(catkin REQUIRED COMPONENTS ...@@ -105,43 +40,25 @@ find_package(catkin REQUIRED COMPONENTS
## CATKIN_DEPENDS: catkin_packages dependent projects also need ## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package( catkin_package(
INCLUDE_DIRS include INCLUDE_DIRS include
# LIBRARIES dispatcher CATKIN_DEPENDS message_runtime std_msgs
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
CATKIN_DEPENDS message_runtime std_msgs
) )
########### ###########
## Build ## ## Build ##
########### ###########
## Specify additional locations of header files ## Specify additional locations of header files
## Your package locations should be listed before other locations include_directories(
include_directories( include
include ${catkin_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS} )
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable ## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node src/dispatcher.cpp src/udpsocket.cpp) add_executable(${PROJECT_NAME}_node src/dispatcher.cpp src/udpsocket.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable ## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against ## Specify libraries to link a library or executable target against
...@@ -149,76 +66,22 @@ target_link_libraries(${PROJECT_NAME}_node ...@@ -149,76 +66,22 @@ target_link_libraries(${PROJECT_NAME}_node
${catkin_LIBRARIES} ${catkin_LIBRARIES}
) )
#add_executable(dispatcher src/dispatcher.cpp src/udpsocket.cpp ../utility_ofc/src/ethprotocol.cpp ../utility_ofc/src/crc16.cpp)
#add_dependencies(dispatcher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#target_link_libraries(dispatcher ${catkin_LIBRARIES} )
## Declare a C++ library
# add_library(sepp_dispatcher
# src/${PROJECT_NAME}/sepp_dispatcher.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(sepp_dispatcher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
# add_executable(sepp_dispatcher_node src/dispatcher_node.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(dispatcher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(dispatcher_node
# ${catkin_LIBRARIES}
# )
############# #############
## Install ## ## Install ##
############# #############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation ## Mark executables and/or libraries for installation
# install(TARGETS sepp_dispatcher dispatcher_node install(TARGETS ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} )
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation ## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/ install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h" )
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_dispatcher.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests ## Mark launch files for installation
# catkin_add_nosetests(test) install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
\ No newline at end of file
...@@ -11,12 +11,12 @@ ...@@ -11,12 +11,12 @@
#include "ros/ros.h" #include "ros/ros.h"
#include <signal.h> #include <signal.h>
#include "emros_dispatcher/eth.h" #include "emros_dispatcher/eth.h"
#include "ethprotocol.h" #include "utility_ofc/ethprotocol.h"
#include "emros_commands.h" #include "emros_common/emros_commands.h"
#include "udpsocket.h" #include "udpsocket.h"
#include "iostream" #include "iostream"
#include "timeout.h" #include "utility_ofc/timeout.h"
#include <leaky_bucket_timeout.h> #include "utility_ofc/leaky_bucket_timeout.h"
#include <boost/shared_ptr.hpp> #include <boost/shared_ptr.hpp>
#include <boost/thread.hpp> #include <boost/thread.hpp>
......
...@@ -21,7 +21,7 @@ ...@@ -21,7 +21,7 @@
#include <fcntl.h> #include <fcntl.h>
#include "ros/ros.h" #include "ros/ros.h"
#include "ethprotocol.h" #include "utility_ofc/ethprotocol.h"
......
...@@ -5,7 +5,7 @@ ...@@ -5,7 +5,7 @@
* Author: speckle_s * Author: speckle_s
*/ */
#include "dispatcher.h" #include "../include/emros_dispatcher/dispatcher.h"
Dispatcher* Dispatcher::me; Dispatcher* Dispatcher::me;
......
...@@ -5,7 +5,7 @@ ...@@ -5,7 +5,7 @@
* Author: speckle_s * Author: speckle_s
*/ */
#include "udpsocket.h" #include "emros_dispatcher/udpsocket.h"
UdpSocket::UdpSocket() : UdpSocket::UdpSocket() :
mPort(), mFd(), mSourceAddr(), mTargetaddr(), error(false), mTargetIP(), mSourceIP(), mTimeout() mPort(), mFd(), mSourceAddr(), mTargetaddr(), error(false), mTargetIP(), mSourceIP(), mTimeout()
......
cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 2.8.3)
project(emros_teleop) project(emros_teleop)
## Add support for C++11, supported in ROS Kinetic and newer ## Add support for C++11
add_definitions(-std=c++11) add_definitions(-std=c++11)
## Find catkin macros and libraries ## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
roscpp roscpp
# message_generation # message_generation
geometry_msgs geometry_msgs
sensor_msgs sensor_msgs
roslib roslib
) )
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
#std_msgs # Or other packages containing msgs
# geometry_msgs
# sensor_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
################################### ###################################
## catkin specific configuration ## ## catkin specific configuration ##
...@@ -112,16 +28,15 @@ catkin_package( ...@@ -112,16 +28,15 @@ catkin_package(
# LIBRARIES teleop # LIBRARIES teleop
# CATKIN_DEPENDS roscpp # CATKIN_DEPENDS roscpp
# DEPENDS system_lib # DEPENDS system_lib
CATKIN_DEPENDS message_runtime roscpp CATKIN_DEPENDS message_runtime roscpp
) )
########### ###########
## Build ## ## Build ##
########### ###########
## Specify additional locations of header files ## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories( include_directories(
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
) )
...@@ -135,74 +50,21 @@ add_dependencies(teleop ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TA ...@@ -135,74 +50,21 @@ add_dependencies(teleop ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TA
target_link_libraries(teleop ${catkin_LIBRARIES} ) target_link_libraries(teleop ${catkin_LIBRARIES} )
## Declare a C++ library
# add_library(sepp_teleop
# src/${PROJECT_NAME}/sepp_teleop.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(sepp_teleop ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
# add_executable(sepp_teleop_node src/sepp_teleop_node.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(sepp_teleop_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(sepp_teleop_node
# ${catkin_LIBRARIES}
# )
############# #############
## Install ## ## Install ##
############# #############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation ## Mark executables and/or libraries for installation
# install(TARGETS sepp_teleop sepp_teleop_node install(TARGETS calib_teleop teleop
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} )
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation ## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/ install(DIRECTORY include/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h" )
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_sepp_teleop.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests ## Mark launch files for installation
# catkin_add_nosetests(test) install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
\ No newline at end of file
Subproject commit 2fe4492058a109a20042c92282b42607c77f2eae Subproject commit 84e0de4b34500ed7eb7b1ddaefd89f3e49541498