Merge pull request #513 from rojkov/ros-industrial

Add recipes for core packages from ROS-Industrial

recipes-ros/industrial-core/industrial-core.inc

@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/ros-industrial/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "7a1955ab2b909b79ad40d11516a2743c"
+SRC_URI[sha256sum] = "6c21cf1383e90cefcbb536675fa0503b67d0f7cc5777f76f6dc49fd14d4254e9"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "industrial_core"

recipes-ros/industrial-core/industrial-msgs_0.4.3.bb

@@ -0,0 +1,10 @@
+DESCRIPTION = "The industrial message package containes industrial specific messages definitions"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "std-msgs trajectory-msgs genmsg message-generation"
+
+RDEPENDS_${PN} = "trajectory-msgs"
+
+require industrial-core.inc

recipes-ros/industrial-core/industrial-robot-client/0001-client-build-unit-tests-conditionally.patch

@@ -0,0 +1,36 @@
+From 1b919470ba4434aca1ae5c62adbf574ea0065065 Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Thu, 5 Jan 2017 14:33:32 +0200
+Subject: [PATCH] client: build unit tests conditionally
+
+Upstream-Status: Accepted [https://github.com/ros-industrial/industrial_core/pull/171]
+
+Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+---
+ CMakeLists.txt | 10 ++++++----
+ 1 file changed, 6 insertions(+), 4 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 95f6298..29bb239 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -139,10 +139,12 @@ add_dependencies(joint_trajectory_action industrial_robot_client_gencpp)
+ ## Test ##
+ ##########
+ # Testing - Only performed on normal (non byte swapped library)
+-catkin_add_gtest(utest_robot_client test/utest.cpp)
+-target_link_libraries(utest_robot_client 
+-  industrial_robot_client 
+-  ${catkin_LIBRARIES})
++if(CATKIN_ENABLE_TESTING)
++    catkin_add_gtest(utest_robot_client test/utest.cpp)
++    target_link_libraries(utest_robot_client
++      industrial_robot_client
++      ${catkin_LIBRARIES})
++endif()
+ 
+ # ROS launch testing
+ ## ROS launch test should be enabled when launch parameters are supported,
+-- 
+2.7.4
+

recipes-ros/industrial-core/industrial-robot-client/0001-industrial_robot_client-Fix-signature-of-goal-and-ca.patch

@@ -0,0 +1,61 @@
+From 75b97718c0e99c916d7890e38cf86c66e62bca6e Mon Sep 17 00:00:00 2001
+From: Maarten de Vries <maarten@de-vri.es>
+Date: Wed, 11 May 2016 22:32:19 +0200
+Subject: [PATCH] industrial_robot_client: Fix signature of goal and cancel
+ callbacks.
+
+Upstream-Status: Backported [from v0.5.1]
+
+Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+---
+ .../include/industrial_robot_client/joint_trajectory_action.h         | 4 ++--
+ industrial_robot_client/src/joint_trajectory_action.cpp               | 4 ++--
+ 2 files changed, 4 insertions(+), 4 deletions(-)
+
+diff --git a/include/industrial_robot_client/joint_trajectory_action.h b/include/industrial_robot_client/joint_trajectory_action.h
+index 6eaf6b5..90fb35f 100644
+--- a/include/industrial_robot_client/joint_trajectory_action.h
++++ b/include/industrial_robot_client/joint_trajectory_action.h
+@@ -185,7 +185,7 @@ private:
+    * \param gh goal handle
+    *
+    */
+-  void goalCB(JointTractoryActionServer::GoalHandle & gh);
++  void goalCB(JointTractoryActionServer::GoalHandle gh);
+ 
+   /**
+    * \brief Action server cancel callback method
+@@ -194,7 +194,7 @@ private:
+    *
+    */
+ 
+-  void cancelCB(JointTractoryActionServer::GoalHandle & gh);
++  void cancelCB(JointTractoryActionServer::GoalHandle gh);
+   /**
+    * \brief Controller state callback (executed when feedback message
+    * received)
+diff --git a/industrial_robot_client/src/joint_trajectory_action.cpp b/industrial_robot_client/src/joint_trajectory_action.cpp
+index 0f92b95..407da6d 100644
+--- a/src/joint_trajectory_action.cpp
++++ b/src/joint_trajectory_action.cpp
+@@ -107,7 +107,7 @@ void JointTrajectoryAction::watchdog(const ros::TimerEvent &e)
+   }
+ }
+ 
+-void JointTrajectoryAction::goalCB(JointTractoryActionServer::GoalHandle & gh)
++void JointTrajectoryAction::goalCB(JointTractoryActionServer::GoalHandle gh)
+ {
+   ROS_INFO("Received new goal");
+ 
+@@ -180,7 +180,7 @@ void JointTrajectoryAction::goalCB(JointTractoryActionServer::GoalHandle & gh)
+   }
+ }
+ 
+-void JointTrajectoryAction::cancelCB(JointTractoryActionServer::GoalHandle & gh)
++void JointTrajectoryAction::cancelCB(JointTractoryActionServer::GoalHandle gh)
+ {
+   ROS_DEBUG("Received action cancel request");
+   if (active_goal_ == gh)
+-- 
+2.7.4
+

recipes-ros/industrial-core/industrial-robot-client_0.4.3.bb

@@ -0,0 +1,17 @@
+DESCRIPTION = "Ccontains generic clients for connecting to industrial robot controllers with servers that adhere to the simple message protocol"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "sensor-msgs control-msgs actionlib actionlib-msgs simple-message industrial-utils"
+
+require industrial-core.inc
+
+SRC_URI += " \
+           file://0001-client-build-unit-tests-conditionally.patch \
+           file://0001-industrial_robot_client-Fix-signature-of-goal-and-ca.patch \
+           "
+
+EXTRA_OECMAKE_append = "\
+    -DCMAKE_FIND_ROOT_PATH_MODE_LIBRARY=NEVER \
+    "

recipes-ros/industrial-core/industrial-robot-simulator_0.4.3.bb

@@ -0,0 +1,10 @@
+DESCRIPTION = "The industrial robot simulator is a stand in for industrial robot driver node(s)"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "std-msgs trajectory-msgs sensor-msgs industrial-msgs control-msgs"
+
+RDEPENDS_${PN} = "industrial-robot-client"
+
+require industrial-core.inc

recipes-ros/industrial-core/industrial-trajectory-filters_0.4.3.bb

@@ -0,0 +1,10 @@
+DESCRIPTION = "ROS Industrial libraries/plugins for filtering trajectories"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "trajectory-msgs moveit-ros-planning"
+
+RDEPENDS_${PN} = "trajectory-msgs"
+
+require industrial-core.inc

recipes-ros/industrial-core/industrial-utils/0001-utils-build-unit-tests-conditionally.patch

@@ -0,0 +1,33 @@
+From 72e1dc2e983bdef9845b45e1bf9717ad43015b28 Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Thu, 5 Jan 2017 12:11:14 +0200
+Subject: [PATCH] utils: build unit tests conditionally
+
+Upstream-Status: Accepted [https://github.com/ros-industrial/industrial_core/pull/171]
+
+Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+---
+ CMakeLists.txt | 7 ++++---
+ 1 file changed, 4 insertions(+), 3 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index cac163f..b1db333 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -20,9 +20,10 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+ 
+ 
+ 
+-catkin_add_gtest(utest_inds_utils test/utest.cpp)
+-target_link_libraries(utest_inds_utils ${PROJECT_NAME} ${catkin_LIBRARIES})
+-
++if(CATKIN_ENABLE_TESTING)
++    catkin_add_gtest(utest_inds_utils test/utest.cpp)
++    target_link_libraries(utest_inds_utils ${PROJECT_NAME} ${catkin_LIBRARIES})
++endif()
+ 
+ 
+ install(
+-- 
+2.7.4
+

recipes-ros/industrial-core/industrial-utils_0.4.3.bb

@@ -0,0 +1,10 @@
+DESCRIPTION = "Industrial utils is a library package that captures common funcitonality for the ROS-Industrial distribution"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "roscpp urdf"
+
+require industrial-core.inc
+
+SRC_URI += "file://0001-utils-build-unit-tests-conditionally.patch"

recipes-ros/industrial-core/simple-message/0001-Build-unit-tests-conditionally.patch

@@ -0,0 +1,71 @@
+From f4c66b4425b64c31bc3ce1a882a513f903b393ab Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Thu, 5 Jan 2017 11:46:57 +0200
+Subject: [PATCH] Build unit tests conditionally
+
+Upstream-Status: Accepted [https://github.com/ros-industrial/industrial_core/pull/171]
+
+Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+---
+ CMakeLists.txt | 32 ++++++++++++++++++--------------
+ 1 file changed, 18 insertions(+), 14 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 06830d5..e6cb21a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -101,33 +101,37 @@ add_library(simple_message ${SRC_FILES})
+ target_link_libraries(simple_message ${catkin_LIBRARIES})
+ add_dependencies(simple_message ${industrial_msgs_EXPORTED_TARGETS})
+ 
+-catkin_add_gtest(utest ${UTEST_SRC_FILES})
+-set_target_properties(utest PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=11000")
+-target_link_libraries(utest simple_message)
+-
+ # ALTERNATIVE LIBRARY (DIFFERENT ENDIAN)
+ add_library(simple_message_bswap ${SRC_FILES})
+ set_target_properties(simple_message_bswap PROPERTIES COMPILE_DEFINITIONS "BYTE_SWAPPING")
+ target_link_libraries(simple_message_bswap ${catkin_LIBRARIES})
+ add_dependencies(simple_message_bswap ${industrial_msgs_EXPORTED_TARGETS})
+ 
+-catkin_add_gtest(utest_byte_swapping ${UTEST_SRC_FILES})
+-set_target_properties(utest_byte_swapping PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=12000")
+-target_link_libraries(utest_byte_swapping simple_message_bswap)
+-
+ # ALTERNATIVE LIBRARY (64-bit floats)
+ add_library(simple_message_float64 ${SRC_FILES})
+ set_target_properties(simple_message_float64 PROPERTIES COMPILE_DEFINITIONS "FLOAT64")
+ target_link_libraries(simple_message_float64 ${catkin_LIBRARIES})
+ add_dependencies(simple_message_float64 ${industrial_msgs_EXPORTED_TARGETS})
+ 
+-catkin_add_gtest(utest_float64 ${UTEST_SRC_FILES})
+-set_target_properties(utest_float64 PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=13000;FLOAT64")
+-target_link_libraries(utest_float64 simple_message_float64)
++if(CATKIN_ENABLE_TESTING)
++
++    catkin_add_gtest(utest ${UTEST_SRC_FILES})
++    set_target_properties(utest PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=11000")
++    target_link_libraries(utest simple_message)
++
++    catkin_add_gtest(utest_byte_swapping ${UTEST_SRC_FILES})
++    set_target_properties(utest_byte_swapping PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=12000")
++    target_link_libraries(utest_byte_swapping simple_message_bswap)
++
++    catkin_add_gtest(utest_float64 ${UTEST_SRC_FILES})
++    set_target_properties(utest_float64 PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=13000;FLOAT64")
++    target_link_libraries(utest_float64 simple_message_float64)
++
++    catkin_add_gtest(utest_udp ${UTEST_SRC_FILES})
++    set_target_properties(utest_udp PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=15000;UDP_TEST")
++    target_link_libraries(utest_udp simple_message)
+ 
+-catkin_add_gtest(utest_udp ${UTEST_SRC_FILES})
+-set_target_properties(utest_udp PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=15000;UDP_TEST")
+-target_link_libraries(utest_udp simple_message)
++endif()
+ 
+ install(
+     TARGETS simple_message simple_message_bswap simple_message_float64 
+-- 
+2.7.4
+

recipes-ros/industrial-core/simple-message_0.4.3.bb

@@ -0,0 +1,12 @@
+DESCRIPTION = "Defines a simple messaging connection and protocol for communicating with an industrial robot controller."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "roscpp industrial-msgs"
+
+RDEPENDS_${PN} = "industrial-msgs"
+
+require industrial-core.inc
+
+SRC_URI += "file://0001-Build-unit-tests-conditionally.patch"

recipes-ros/packagegroups/packagegroup-ros-industrial-core.bb

@@ -0,0 +1,13 @@
+DESCRIPTION = "ros-industrial-core package group"
+LICENSE = "MIT"
+
+inherit packagegroup
+
+PACKAGES = "${PN}"
+
+RDEPENDS_${PN} = "\
+        industrial-trajectory-filters \
+        industrial-robot-simulator \
+        industrial-robot-client \
+        industrial-utils \
+"

recipes-ros/packagegroups/packagegroup-ros-world.bb

@@ -8,6 +8,7 @@ PACKAGES = "${PN}"
 RDEPENDS_${PN} = "\
     packagegroup-ros-comm \
     packagegroup-ros-kobuki \
+    packagegroup-ros-industrial-core \
     actionlib \
     bond \
     bondcpp \