Merge pull request #51 in SWDEV/franka_ros from add-install-rules to kinetic-devel

* commit 'de8bf6be':
  Fix changelog wording
  Fix RViz config paths in franka_example_controllers
  Add missing install rules

CHANGELOG.md

@@ -2,10 +2,11 @@
 
 ## 0.1.1 - UNRELEASED
 
-  * Integrate `franka_description` as subdirectory
-  * Fix dependencies on libfranka
-  * Fix RViz config file path in `franka_visualization`
-  * Add missing `test_depend` to `franka_hw`
+  * Integrated `franka_description` as subdirectory
+  * Fixed dependencies on libfranka
+  * Fixed RViz config file paths
+  * Added missing `test_depend` to `franka_hw`
+  * Added missing CMake install rules
 
 ## 0.1.0 - 2017-09-15
 

franka_control/CMakeLists.txt

@@ -120,6 +120,27 @@ target_include_directories(franka_control_node PUBLIC
   ${catkin_INCLUDE_DIRS}
 )
 
+## Installation
+install(TARGETS franka_state_controller
+                franka_control_services
+                franka_control_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(FILES franka_controller_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 ## Tools
 file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
 file(GLOB_RECURSE HEADERS

franka_description/CMakeLists.txt

@@ -3,3 +3,10 @@ project(franka_description)
 
 find_package(catkin REQUIRED)
 catkin_package(CATKIN_DEPENDS xacro)
+
+install(DIRECTORY meshes
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY robots
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

franka_example_controllers/CMakeLists.txt

@@ -28,7 +28,7 @@ catkin_package(
 
 include_directories(include ${catkin_INCLUDE_DIRS})
 
-add_library(franka_example_controllers 
+add_library(franka_example_controllers
   src/cartesian_pose_example_controller.cpp
   src/cartesian_velocity_example_controller.cpp
   src/joint_position_example_controller.cpp
@@ -45,6 +45,25 @@ add_dependencies(franka_example_controllers
 
 target_link_libraries(franka_example_controllers ${catkin_LIBRARIES})
 
+## Installation
+install(TARGETS franka_example_controllers
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(FILES franka_example_controllers_plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 ## Tools
 file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
 file(GLOB_RECURSE HEADERS

franka_example_controllers/launch/cartesian_pose_example_controller.launch

@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_pose_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/cartesian_velocity_example_controller.launch

@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_velocity_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/joint_impedance_example_controller.launch

@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_impedance_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/joint_position_example_controller.launch

@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_position_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/joint_velocity_example_controller.launch

@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_velocity_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/model_example_controller.launch

@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="model_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/robot.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 89
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 746
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        panda_hand:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_leftfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        panda_rightfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: panda_link0
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 3.39362764
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.139062241
+        Y: 0.151414081
+        Z: 0.0437288694
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.485397696
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.500398219
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1059
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000384fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000384000000f300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000384fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004100000384000000bb00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e0000027600fffffffb0000000800540069006d00650100000000000004500000000000000000000004f90000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1918
+  X: 1920
+  Y: 19

franka_gripper/CMakeLists.txt

@@ -81,6 +81,23 @@ target_include_directories(franka_gripper_node PUBLIC
   include
 )
 
+## Installation
+install(TARGETS franka_gripper
+                franka_gripper_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 ## Tools
 file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
 file(GLOB_RECURSE HEADERS

franka_hw/CMakeLists.txt

@@ -45,6 +45,16 @@ target_include_directories(franka_hw PUBLIC
   include
 )
 
+## Installation
+install(TARGETS franka_hw
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
 if(CATKIN_ENABLE_TESTING)
   add_subdirectory(test)
 endif()

franka_visualization/CMakeLists.txt

@@ -15,26 +15,33 @@ find_package(Franka REQUIRED)
 
 catkin_package(CATKIN_DEPENDS sensor_msgs roscpp)
 
-set(EXECUTABLES
-  franka_joint_state_publisher
-)
-
-foreach(executable ${EXECUTABLES})
-  add_executable(${executable}
-    src/${executable}.cpp
-  )
-  add_dependencies(${executable}
-    ${${PROJECT_NAME}_EXPORTED_TARGETS}
-    ${catkin_EXPORTED_TARGETS}
-  )
-  target_link_libraries(${executable}
-    ${catkin_LIBRARIES}
-    Franka::Franka
-  )
-  target_include_directories(${executable} PUBLIC
-    ${catkin_INCLUDE_DIRS}
-  )
-endforeach()
+add_executable(franka_joint_state_publisher
+  src/franka_joint_state_publisher.cpp
+)
+add_dependencies(franka_joint_state_publisher
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)
+target_link_libraries(franka_joint_state_publisher
+  ${catkin_LIBRARIES}
+  Franka::Franka
+)
+target_include_directories(franka_joint_state_publisher PUBLIC
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Installation
+install(TARGETS franka_joint_state_publisher
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
 ## Tools
 file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
@@ -46,5 +53,5 @@ include(ClangTools)
 add_format_target(franka_visualization FILES ${SOURCES} ${HEADERS})
 add_tidy_target(franka_visualization
   FILES ${SOURCES}
-  DEPENDS ${EXECUTABLES}
+  DEPENDS franka_joint_state_publisher
 )

franka_visualization/param/robot_read_settings.yaml → franka_visualization/config/robot_read_settings.yaml

@@ -6,4 +6,3 @@ joint_names:
   - panda_joint5
   - panda_joint6
   - panda_joint7
-

franka_visualization/launch/franka_visualization.launch

@@ -8,7 +8,7 @@
   <param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
 
   <node name="franka_joint_state_publisher" pkg="franka_visualization" type="franka_joint_state_publisher" output="screen">
-    <rosparam command="load" file="$(find franka_visualization)/param/robot_read_settings.yaml" />
+    <rosparam command="load" file="$(find franka_visualization)/config/robot_read_settings.yaml" />
     <param name="robot_ip" value="$(arg robot_ip)" />
   </node>