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Commit 486ababa authored by Florian Walch's avatar Florian Walch
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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
parents 45042c3b de8bf6be
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with 302 additions and 34 deletions
...@@ -2,10 +2,11 @@ ...@@ -2,10 +2,11 @@
## 0.1.1 - UNRELEASED ## 0.1.1 - UNRELEASED
* Integrate `franka_description` as subdirectory * Integrated `franka_description` as subdirectory
* Fix dependencies on libfranka * Fixed dependencies on libfranka
* Fix RViz config file path in `franka_visualization` * Fixed RViz config file paths
* Add missing `test_depend` to `franka_hw` * Added missing `test_depend` to `franka_hw`
* Added missing CMake install rules
## 0.1.0 - 2017-09-15 ## 0.1.0 - 2017-09-15
......
...@@ -120,6 +120,27 @@ target_include_directories(franka_control_node PUBLIC ...@@ -120,6 +120,27 @@ target_include_directories(franka_control_node PUBLIC
${catkin_INCLUDE_DIRS} ${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 ## Tools
file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp) file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
file(GLOB_RECURSE HEADERS file(GLOB_RECURSE HEADERS
......
...@@ -3,3 +3,10 @@ project(franka_description) ...@@ -3,3 +3,10 @@ project(franka_description)
find_package(catkin REQUIRED) find_package(catkin REQUIRED)
catkin_package(CATKIN_DEPENDS xacro) catkin_package(CATKIN_DEPENDS xacro)
install(DIRECTORY meshes
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY robots
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
...@@ -28,7 +28,7 @@ catkin_package( ...@@ -28,7 +28,7 @@ catkin_package(
include_directories(include ${catkin_INCLUDE_DIRS}) include_directories(include ${catkin_INCLUDE_DIRS})
add_library(franka_example_controllers add_library(franka_example_controllers
src/cartesian_pose_example_controller.cpp src/cartesian_pose_example_controller.cpp
src/cartesian_velocity_example_controller.cpp src/cartesian_velocity_example_controller.cpp
src/joint_position_example_controller.cpp src/joint_position_example_controller.cpp
...@@ -45,6 +45,25 @@ add_dependencies(franka_example_controllers ...@@ -45,6 +45,25 @@ add_dependencies(franka_example_controllers
target_link_libraries(franka_example_controllers ${catkin_LIBRARIES}) 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 ## Tools
file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp) file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
file(GLOB_RECURSE HEADERS file(GLOB_RECURSE HEADERS
......
...@@ -11,6 +11,6 @@ ...@@ -11,6 +11,6 @@
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <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 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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -11,6 +11,6 @@ ...@@ -11,6 +11,6 @@
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <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 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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -11,6 +11,6 @@ ...@@ -11,6 +11,6 @@
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <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 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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -11,6 +11,6 @@ ...@@ -11,6 +11,6 @@
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <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 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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -11,6 +11,6 @@ ...@@ -11,6 +11,6 @@
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <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 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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group> </group>
</launch> </launch>
...@@ -11,6 +11,6 @@ ...@@ -11,6 +11,6 @@
<group ns="$(arg arm_id)"> <group ns="$(arg arm_id)">
<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" /> <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 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> </group>
</launch> </launch>
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
...@@ -81,6 +81,23 @@ target_include_directories(franka_gripper_node PUBLIC ...@@ -81,6 +81,23 @@ target_include_directories(franka_gripper_node PUBLIC
include 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 ## Tools
file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp) file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
file(GLOB_RECURSE HEADERS file(GLOB_RECURSE HEADERS
......
...@@ -45,6 +45,16 @@ target_include_directories(franka_hw PUBLIC ...@@ -45,6 +45,16 @@ target_include_directories(franka_hw PUBLIC
include 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) if(CATKIN_ENABLE_TESTING)
add_subdirectory(test) add_subdirectory(test)
endif() endif()
......
...@@ -15,26 +15,33 @@ find_package(Franka REQUIRED) ...@@ -15,26 +15,33 @@ find_package(Franka REQUIRED)
catkin_package(CATKIN_DEPENDS sensor_msgs roscpp) catkin_package(CATKIN_DEPENDS sensor_msgs roscpp)
set(EXECUTABLES add_executable(franka_joint_state_publisher
franka_joint_state_publisher src/franka_joint_state_publisher.cpp
) )
add_dependencies(franka_joint_state_publisher
foreach(executable ${EXECUTABLES}) ${${PROJECT_NAME}_EXPORTED_TARGETS}
add_executable(${executable} ${catkin_EXPORTED_TARGETS}
src/${executable}.cpp )
) target_link_libraries(franka_joint_state_publisher
add_dependencies(${executable} ${catkin_LIBRARIES}
${${PROJECT_NAME}_EXPORTED_TARGETS} Franka::Franka
${catkin_EXPORTED_TARGETS} )
) target_include_directories(franka_joint_state_publisher PUBLIC
target_link_libraries(${executable} ${catkin_INCLUDE_DIRS}
${catkin_LIBRARIES} )
Franka::Franka
) ## Installation
target_include_directories(${executable} PUBLIC install(TARGETS franka_joint_state_publisher
${catkin_INCLUDE_DIRS} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
) LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
endforeach() RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
## Tools ## Tools
file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp) file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
...@@ -46,5 +53,5 @@ include(ClangTools) ...@@ -46,5 +53,5 @@ include(ClangTools)
add_format_target(franka_visualization FILES ${SOURCES} ${HEADERS}) add_format_target(franka_visualization FILES ${SOURCES} ${HEADERS})
add_tidy_target(franka_visualization add_tidy_target(franka_visualization
FILES ${SOURCES} FILES ${SOURCES}
DEPENDS ${EXECUTABLES} DEPENDS franka_joint_state_publisher
) )
...@@ -6,4 +6,3 @@ joint_names: ...@@ -6,4 +6,3 @@ joint_names:
- panda_joint5 - panda_joint5
- panda_joint6 - panda_joint6
- panda_joint7 - panda_joint7
...@@ -8,7 +8,7 @@ ...@@ -8,7 +8,7 @@
<param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm_hand.urdf.xacro" /> <param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
<node name="franka_joint_state_publisher" pkg="franka_visualization" type="franka_joint_state_publisher" output="screen"> <node name="franka_joint_state_publisher" pkg="franka_visualization" type="franka_joint_state_publisher" output="screen">
<rosparam command="load" file="$(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)" /> <param name="robot_ip" value="$(arg robot_ip)" />
</node> </node>
......
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