industrial-core: initial recipes
Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
This commit is contained in:
Dmitry Rozhkov
parent
36eb1dd4f2
commit
e2b70c6db9
|
|
@ -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"
|
||||
|
|
@ -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
|
||||
|
|
@ -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
|
||||
|
||||
|
|
@ -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
|
||||
|
||||
|
|
@ -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 \
|
||||
"
|
||||
|
|
@ -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
|
||||
|
|
@ -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_${PN} = "trajectory-msgs"
|
||||
|
||||
require industrial-core.inc
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
From 72e1dc2e983bdef9845b45e1bf9717ad43015b28 Mon Sep 17 00:00:00 2001
|
||||
From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
|
||||
Date: Thu, 5 Jan 2017 12:11:14 +0200
|
||||
Subject: [PATCH] utils: build unit tests conditionally
|
||||
|
||||
Upstream-Status: Accepted [https://github.com/ros-industrial/industrial_core/pull/171]
|
||||
|
||||
Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
|
||||
---
|
||||
CMakeLists.txt | 7 ++++---
|
||||
1 file changed, 4 insertions(+), 3 deletions(-)
|
||||
|
||||
diff --git a/CMakeLists.txt b/CMakeLists.txt
|
||||
index cac163f..b1db333 100644
|
||||
--- a/CMakeLists.txt
|
||||
+++ b/CMakeLists.txt
|
||||
@@ -20,9 +20,10 @@ target_link_libraries(${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
|
||||
|
||||
|
|
@ -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"
|
||||
|
|
@ -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 ${UTEST_SRC_FILES})
|
||||
-set_target_properties(utest_udp PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=15000;UDP_TEST")
|
||||
-target_link_libraries(utest_udp simple_message)
|
||||
+endif()
|
||||
|
||||
install(
|
||||
TARGETS simple_message simple_message_bswap simple_message_float64
|
||||
--
|
||||
2.7.4
|
||||
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
DESCRIPTION = "Defines a simple messaging connection and protocol for communicating with an industrial robot controller."
|
||||
SECTION = "devel"
|
||||
LICENSE = "BSD"
|
||||
LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
|
||||
|
||||
DEPENDS = "roscpp industrial-msgs"
|
||||
|
||||
RDEPENDS_${PN} = "industrial-msgs"
|
||||
|
||||
require industrial-core.inc
|
||||
|
||||
SRC_URI += "file://0001-Build-unit-tests-conditionally.patch"
|
||||
Loading…
Reference in New Issue