From 18dc7093b95387ca1251da4db91d6a8e3ce7917b Mon Sep 17 00:00:00 2001 From: Dmitry Rozhkov Date: Tue, 23 May 2017 09:23:47 +0300 Subject: [PATCH] moveit: add more recipes for MoveIt! packages Adds recipes for - moveit_kinematics, - moveit_planners_ompl, - moveit_ros_manipulation, - moveit_ros_move_group, - moveit_simple_controller_manager. Signed-off-by: Dmitry Rozhkov --- recipes-ros/moveit/moveit-kinematics_0.7.9.bb | 10 +++++++ .../moveit/moveit-planners-ompl_0.7.9.bb | 12 +++++++++ .../moveit/moveit-ros-manipulation_0.7.9.bb | 10 +++++++ .../moveit/moveit-ros-move-group_0.7.9.bb | 14 ++++++++++ ...rsion-of-shared-ptr-to-bool-for-C-11.patch | 27 +++++++++++++++++++ .../moveit-simple-controller-manager_0.7.9.bb | 12 +++++++++ .../packagegroups/packagegroup-ros-world.bb | 5 ++++ 7 files changed, 90 insertions(+) create mode 100644 recipes-ros/moveit/moveit-kinematics_0.7.9.bb create mode 100644 recipes-ros/moveit/moveit-planners-ompl_0.7.9.bb create mode 100644 recipes-ros/moveit/moveit-ros-manipulation_0.7.9.bb create mode 100644 recipes-ros/moveit/moveit-ros-move-group_0.7.9.bb create mode 100644 recipes-ros/moveit/moveit-simple-controller-manager/0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch create mode 100644 recipes-ros/moveit/moveit-simple-controller-manager_0.7.9.bb diff --git a/recipes-ros/moveit/moveit-kinematics_0.7.9.bb b/recipes-ros/moveit/moveit-kinematics_0.7.9.bb new file mode 100644 index 0000000..4507533 --- /dev/null +++ b/recipes-ros/moveit/moveit-kinematics_0.7.9.bb @@ -0,0 +1,10 @@ +DESCRIPTION = "Package for all inverse kinematics solvers in MoveIt!" +SECTION = "devel" +LICENSE = "BSD" +LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5" + +DEPENDS = "moveit-core moveit-ros-planning" + +require moveit.inc + +ROS_BPN = "moveit_kinematics" diff --git a/recipes-ros/moveit/moveit-planners-ompl_0.7.9.bb b/recipes-ros/moveit/moveit-planners-ompl_0.7.9.bb new file mode 100644 index 0000000..512a3a7 --- /dev/null +++ b/recipes-ros/moveit/moveit-planners-ompl_0.7.9.bb @@ -0,0 +1,12 @@ +DESCRIPTION = "MoveIt interface to OMPL" +SECTION = "devel" +LICENSE = "BSD" +LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5" + +DEPENDS = "moveit-core moveit-ros-planning ompl" + +require moveit.inc + +ROS_BPN = "moveit_planners/ompl" + +FILES_${PN} += "${ros_libdir}/moveit_planners_ompl/*" diff --git a/recipes-ros/moveit/moveit-ros-manipulation_0.7.9.bb b/recipes-ros/moveit/moveit-ros-manipulation_0.7.9.bb new file mode 100644 index 0000000..ed81ed5 --- /dev/null +++ b/recipes-ros/moveit/moveit-ros-manipulation_0.7.9.bb @@ -0,0 +1,10 @@ +DESCRIPTION = "Components of MoveIt used for manipulation" +SECTION = "devel" +LICENSE = "BSD" +LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5" + +DEPENDS = "moveit-core moveit-ros-planning moveit-ros-move-group moveit-msgs manipulation-msgs" + +require moveit.inc + +ROS_BPN = "moveit_ros/manipulation" diff --git a/recipes-ros/moveit/moveit-ros-move-group_0.7.9.bb b/recipes-ros/moveit/moveit-ros-move-group_0.7.9.bb new file mode 100644 index 0000000..cb5b823 --- /dev/null +++ b/recipes-ros/moveit/moveit-ros-move-group_0.7.9.bb @@ -0,0 +1,14 @@ +DESCRIPTION = "The move_group node for MoveIt" +SECTION = "devel" +LICENSE = "BSD" +LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5" + +DEPENDS = "moveit-core moveit-ros-planning std-srvs" + +require moveit.inc + +ROS_BPN = "moveit_ros/move_group" + +RDEPENDS_${PN} += "moveit-kinematics" + +FILES_${PN} += "${ros_libdir}/moveit_ros_move_group/*" diff --git a/recipes-ros/moveit/moveit-simple-controller-manager/0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch b/recipes-ros/moveit/moveit-simple-controller-manager/0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch new file mode 100644 index 0000000..af60a6f --- /dev/null +++ b/recipes-ros/moveit/moveit-simple-controller-manager/0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch @@ -0,0 +1,27 @@ +From 475a3477b2949392130e67182459390960a375c9 Mon Sep 17 00:00:00 2001 +From: Maarten de Vries +Date: Fri, 20 May 2016 20:08:29 +0200 +Subject: [PATCH] Fix conversion of shared ptr to bool for C++11. + +Upstream-Status: Backported [from Kinetic release] + +--- + .../moveit_simple_controller_manager/action_based_controller_handle.h | 2 +- + 1 file changed, 1 insertion(+), 1 deletion(-) + +diff --git a/include/moveit_simple_controller_manager/action_based_controller_handle.h b/include/moveit_simple_controller_manager/action_based_controller_handle.h +index f1bec33..e1315fe 100644 +--- a/include/moveit_simple_controller_manager/action_based_controller_handle.h ++++ b/include/moveit_simple_controller_manager/action_based_controller_handle.h +@@ -86,7 +86,7 @@ public: + + bool isConnected() const + { +- return controller_action_client_; ++ return static_cast(controller_action_client_); + } + + virtual bool cancelExecution() +-- +2.9.3 + diff --git a/recipes-ros/moveit/moveit-simple-controller-manager_0.7.9.bb b/recipes-ros/moveit/moveit-simple-controller-manager_0.7.9.bb new file mode 100644 index 0000000..78b8c9c --- /dev/null +++ b/recipes-ros/moveit/moveit-simple-controller-manager_0.7.9.bb @@ -0,0 +1,12 @@ +DESCRIPTION = "A generic, simple controller manager plugin for MoveIt." +SECTION = "devel" +LICENSE = "BSD" +LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5" + +DEPENDS = "moveit-core actionlib control-msgs pluginlib roscpp" + +require moveit.inc + +SRC_URI_append = " file://0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch" + +ROS_BPN = "moveit_plugins/moveit_simple_controller_manager" diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb index 75dbd56..93f1339 100644 --- a/recipes-ros/packagegroups/packagegroup-ros-world.bb +++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb @@ -178,9 +178,14 @@ RDEPENDS_${PN} = "\ ar-track-alvar \ ar-track-alvar-msgs \ moveit-core \ + moveit-kinematics \ moveit-msgs \ + moveit-planners-ompl \ + moveit-ros-manipulation \ + moveit-ros-move-group \ moveit-ros-perception \ moveit-ros-planning \ + moveit-simple-controller-manager \ mavros-msgs \ cv-camera \ object-recognition-msgs \