Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add point head node and method (dependent on PR2 PointHead action). #485

Open
wants to merge 2 commits into
base: indigo-devel
Choose a base branch
from
Open

Add point head node and method (dependent on PR2 PointHead action). #485

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
eff4ab5
Add point head node and method (dependent on PR2 PointHead action).
130s Jan 31, 2016
f64b0dd
[hironx_head] Move tests to downstream to avoid circular dependency.
130s Mar 5, 2017
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
41 changes: 41 additions & 0 deletions hironx_head_action/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,41 @@
# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
cmake_minimum_required(VERSION 2.8.3)
project(hironx_head_action)

# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS
actionlib
geometry_msgs
kdl_parser
message_filters
pr2_controllers_msgs
roscpp
sensor_msgs
trajectory_msgs
tf
tf_conversions)

find_package(orocos_kdl REQUIRED)

find_package(Boost REQUIRED COMPONENTS thread)
include_directories(${Boost_INCLUDE_DIRS}
${orocos_kdl_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})

catkin_package()

add_executable(head_action src/point_frame.cpp)
target_link_libraries(head_action ${Boost_LIBRARIES}
${orocos_kdl_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(head_action ${catkin_EXPORTED_TARGETS})

install(TARGETS head_action
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(DIRECTORY test launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)

# System tests are done in the downstream, hironx_ros_bridge pkg.
# Because system tests require some launch files hironx_ros_bridge provides, but
# then hironx_ros_bridge depends on this package so that circular dependency
# occurs. That's why tests are moved there to avoid circular.
14 changes: 14 additions & 0 deletions hironx_head_action/launch/head_action.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
<launch>

<!-- A launch file to independently (re-)launch the point head action for debugging -->

<group ns="head_controller" >
<node name="point_head_action"
pkg="hironx_head_action" type="head_action" output="screen" >
<rosparam>
success_angle_threshold: 0.01
</rosparam>
</node>
</group>

</launch>
44 changes: 44 additions & 0 deletions hironx_head_action/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,44 @@
<package>
<name>hironx_head_action</name>
<version>1.1.16</version>
<description>The head action is a node that provides an action interface for
pointing the head of the robot. It passes trajectory goals to the
controller, and reports success when they have finished executing.

Originally developed at <a href = "http://wiki.ros.org/pr2_head_action">pr2_head_action</a>
</description>
<maintainer email="[email protected]">TORK</maintainer>
<author email="[email protected]">Kei Okada</author>
<author>Stuart Glaser</author>
<author email="[email protected]">Isaac I. Y. Saito</author>
<license>BSD</license>
<url type="website">http://wiki.ros.org/hironx_head_action</url>
<url type="repository">https://github.com/start-jsk/rtmros_hironx</url>
<url type="bugtracker">https://github.com/start-jsk/rtmros_hironx/issues</url>

<buildtool_depend>catkin</buildtool_depend>

<build_depend>actionlib</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>kdl_parser</build_depend>
<build_depend>message_filters</build_depend>
<build_depend>orocos_kdl</build_depend>
<build_depend>pr2_controllers_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>tf_conversions</build_depend>
<build_depend>trajectory_msgs</build_depend>
<run_depend>actionlib</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>kdl_parser</run_depend>
<run_depend>message_filters</run_depend>
<run_depend>orocos_kdl</run_depend>
<run_depend>pr2_controllers_msgs</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>tf</run_depend>
<run_depend>tf_conversions</run_depend>
<run_depend>trajectory_msgs</run_depend>
<test_depend>rostest</test_depend>
</package>
Loading