From 702c76f6c2c16e06ff8a964b1a477cd2cbe22b39 Mon Sep 17 00:00:00 2001
From: Nikhil Ambardar <202-nikaviator@users.noreply.git-st.inf.tu-dresden.de>
Date: Mon, 23 Nov 2020 12:40:07 +0100
Subject: [PATCH] completetests
---
CMakeLists.txt | 14 +--
cmake-build-debug/CMakeFiles/Makefile.cmake | 1 -
cmake-build-debug/CMakeFiles/Makefile2 | 31 +-----
cmake-build-debug/CMakeFiles/Progress/12 | 1 +
.../CMakeFiles/Progress/count.txt | 1 +
.../CMakeFiles/TargetDirectories.txt | 1 -
cmake-build-debug/CMakeFiles/clion-log.txt | 13 +--
cmake-build-debug/CMakeFiles/progress.marks | 2 +-
.../robot_models_node.dir/CXX.includecache | 42 +++++++-
.../robot_models_node.dir/build.make | 100 +++++++++++++++++
.../robot_models_node.dir/depend.internal | 2 +
.../robot_models_node.dir/depend.make | 2 +
.../CMakeFiles/robot_models_node.dir/link.txt | 2 +-
.../CMakeFiles/worldsafety.dir/build.make | 2 +-
.../CMakeFiles/worldsafety.dir/link.txt | 2 +-
.../CMakeFiles/worldsafety.dir/progress.make | 4 +-
.../worldsafety.dir/src/worldsafety.cpp.o | Bin 8179912 -> 8180152 bytes
cmake-build-debug/Makefile | 44 --------
.../stamps/robot_models/package.xml.stamp | 102 ++++++++++--------
.../devel/lib/robot_models/worldsafety | Bin 5853488 -> 5853496 bytes
cmake-build-debug/robot_models.cbp | 76 -------------
src/robot_models_node.cpp | 17 ++-
src/talker.cpp | 36 -------
src/worldsafety.cpp | 7 +-
24 files changed, 229 insertions(+), 273 deletions(-)
create mode 100644 cmake-build-debug/CMakeFiles/Progress/12
create mode 100644 cmake-build-debug/CMakeFiles/Progress/count.txt
delete mode 100644 src/talker.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2ee1526..c1ec4c8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,10 +13,6 @@ find_package(catkin REQUIRED COMPONENTS
moveit_core
moveit_visual_tools
moveit_ros_planning_interface
- roscpp
- rospy
- std_msgs
- genmsg
)
## System dependencies are found with CMake's conventions
@@ -65,8 +61,6 @@ find_package(catkin REQUIRED COMPONENTS
# Service1.srv
# Service2.srv
# )
-add_message_files(DIRECTORY msg FILES Num.msg)
-add_service_files(DIRECTORY srv FILES AddTwoInts.srv)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
@@ -79,7 +73,7 @@ add_service_files(DIRECTORY srv FILES AddTwoInts.srv)
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
-generate_messages(DEPENDENCIES std_msgs)
+
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
@@ -200,9 +194,7 @@ add_executable(worldsafety
src/datalink/worldobject.h
src/datalink/quaternion.h
)
-add_executable(talker
- src/talker.cpp
- )
+
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
@@ -217,7 +209,7 @@ add_executable(talker
## Specify libraries to link a library or executable target against
target_link_libraries(robot_models_node ${catkin_LIBRARIES} )
target_link_libraries(worldsafety ${catkin_LIBRARIES} )
-target_link_libraries(talker ${catkin_LIBRARIES} )
+
##target_link_libraries(safetytest ${catkin_LIBRARIES} )
#add_dependencies(robot_models_node ${catkin_LIBRARIES})
diff --git a/cmake-build-debug/CMakeFiles/Makefile.cmake b/cmake-build-debug/CMakeFiles/Makefile.cmake
index c4159cf..80fa807 100644
--- a/cmake-build-debug/CMakeFiles/Makefile.cmake
+++ b/cmake-build-debug/CMakeFiles/Makefile.cmake
@@ -325,7 +325,6 @@ set(CMAKE_MAKEFILE_PRODUCTS
# Dependency information for all targets:
set(CMAKE_DEPEND_INFO_FILES
"CMakeFiles/worldsafety.dir/DependInfo.cmake"
- "CMakeFiles/safetytest.dir/DependInfo.cmake"
"CMakeFiles/moveit_ros_manipulation_gencfg.dir/DependInfo.cmake"
"CMakeFiles/moveit_ros_planning_gencfg.dir/DependInfo.cmake"
"CMakeFiles/graph_msgs_generate_messages_nodejs.dir/DependInfo.cmake"
diff --git a/cmake-build-debug/CMakeFiles/Makefile2 b/cmake-build-debug/CMakeFiles/Makefile2
index f048ac5..e29cb90 100644
--- a/cmake-build-debug/CMakeFiles/Makefile2
+++ b/cmake-build-debug/CMakeFiles/Makefile2
@@ -54,7 +54,6 @@ CMAKE_BINARY_DIR = /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debu
# The main recursive "all" target.
all: CMakeFiles/worldsafety.dir/all
-all: CMakeFiles/safetytest.dir/all
all: CMakeFiles/robot_models_node.dir/all
all: gtest/all
@@ -62,7 +61,6 @@ all: gtest/all
# The main recursive "clean" target.
clean: CMakeFiles/worldsafety.dir/clean
-clean: CMakeFiles/safetytest.dir/clean
clean: CMakeFiles/moveit_ros_manipulation_gencfg.dir/clean
clean: CMakeFiles/moveit_ros_planning_gencfg.dir/clean
clean: CMakeFiles/graph_msgs_generate_messages_nodejs.dir/clean
@@ -185,7 +183,7 @@ preinstall: gtest/preinstall
CMakeFiles/worldsafety.dir/all:
$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/depend
$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/build
- @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles --progress-num=16,17 "Built target worldsafety"
+ @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles --progress-num=14,15 "Built target worldsafety"
.PHONY : CMakeFiles/worldsafety.dir/all
# Build rule for subdir invocation for target.
@@ -205,33 +203,6 @@ CMakeFiles/worldsafety.dir/clean:
$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/clean
.PHONY : CMakeFiles/worldsafety.dir/clean
-#=============================================================================
-# Target rules for target CMakeFiles/safetytest.dir
-
-# All Build rule for target.
-CMakeFiles/safetytest.dir/all:
- $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/depend
- $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/build
- @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles --progress-num=14,15 "Built target safetytest"
-.PHONY : CMakeFiles/safetytest.dir/all
-
-# Build rule for subdir invocation for target.
-CMakeFiles/safetytest.dir/rule: cmake_check_build_system
- $(CMAKE_COMMAND) -E cmake_progress_start /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles 2
- $(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/safetytest.dir/all
- $(CMAKE_COMMAND) -E cmake_progress_start /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles 0
-.PHONY : CMakeFiles/safetytest.dir/rule
-
-# Convenience name for target.
-safetytest: CMakeFiles/safetytest.dir/rule
-
-.PHONY : safetytest
-
-# clean rule for target.
-CMakeFiles/safetytest.dir/clean:
- $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/clean
-.PHONY : CMakeFiles/safetytest.dir/clean
-
#=============================================================================
# Target rules for target CMakeFiles/moveit_ros_manipulation_gencfg.dir
diff --git a/cmake-build-debug/CMakeFiles/Progress/12 b/cmake-build-debug/CMakeFiles/Progress/12
new file mode 100644
index 0000000..7b4d68d
--- /dev/null
+++ b/cmake-build-debug/CMakeFiles/Progress/12
@@ -0,0 +1 @@
+empty
\ No newline at end of file
diff --git a/cmake-build-debug/CMakeFiles/Progress/count.txt b/cmake-build-debug/CMakeFiles/Progress/count.txt
new file mode 100644
index 0000000..0cfbf08
--- /dev/null
+++ b/cmake-build-debug/CMakeFiles/Progress/count.txt
@@ -0,0 +1 @@
+2
diff --git a/cmake-build-debug/CMakeFiles/TargetDirectories.txt b/cmake-build-debug/CMakeFiles/TargetDirectories.txt
index 117e574..7b65098 100644
--- a/cmake-build-debug/CMakeFiles/TargetDirectories.txt
+++ b/cmake-build-debug/CMakeFiles/TargetDirectories.txt
@@ -4,7 +4,6 @@
/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/list_install_components.dir
/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/test.dir
/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/worldsafety.dir
-/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/safetytest.dir
/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/moveit_ros_manipulation_gencfg.dir
/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/moveit_ros_planning_gencfg.dir
/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/graph_msgs_generate_messages_nodejs.dir
diff --git a/cmake-build-debug/CMakeFiles/clion-log.txt b/cmake-build-debug/CMakeFiles/clion-log.txt
index 91fd45c..9a96587 100644
--- a/cmake-build-debug/CMakeFiles/clion-log.txt
+++ b/cmake-build-debug/CMakeFiles/clion-log.txt
@@ -16,13 +16,6 @@
-- catkin 0.7.28
-- BUILD_SHARED_LIBS is on
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-CMake Error at /opt/ros/melodic/share/genmsg/cmake/genmsg-extras.cmake:94 (message):
- add_message_files() directory not found:
- /home/nikhil/panda_gazebo_workspace/src/zero/msg
-Call Stack (most recent call first):
- CMakeLists.txt:68 (add_message_files)
-
-
--- Configuring incomplete, errors occurred!
-See also "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/CMakeOutput.log".
-See also "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/CMakeError.log".
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug
diff --git a/cmake-build-debug/CMakeFiles/progress.marks b/cmake-build-debug/CMakeFiles/progress.marks
index 1e8b314..b8626c4 100644
--- a/cmake-build-debug/CMakeFiles/progress.marks
+++ b/cmake-build-debug/CMakeFiles/progress.marks
@@ -1 +1 @@
-6
+4
diff --git a/cmake-build-debug/CMakeFiles/robot_models_node.dir/CXX.includecache b/cmake-build-debug/CMakeFiles/robot_models_node.dir/CXX.includecache
index cc63722..a35af57 100644
--- a/cmake-build-debug/CMakeFiles/robot_models_node.dir/CXX.includecache
+++ b/cmake-build-debug/CMakeFiles/robot_models_node.dir/CXX.includecache
@@ -75,8 +75,6 @@ datalink/hand.h
/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/hand.h
datalink/humanspace.h
/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/humanspace.h
-datalink/joint.h
-/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h
datalink/obstacle.h
/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/obstacle.h
datalink/robot.h
@@ -113,6 +111,8 @@ tf2_geometry_msgs/tf2_geometry_msgs.h
/home/nikhil/panda_gazebo_workspace/src/zero/src/tf2_geometry_msgs/tf2_geometry_msgs.h
geometry_msgs/PointStamped.h
/home/nikhil/panda_gazebo_workspace/src/zero/src/geometry_msgs/PointStamped.h
+datalink/joint.h
+/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h
tf2_ros/transform_broadcaster.h
-
tf2/LinearMath/Quaternion.h
@@ -121,6 +121,12 @@ moveit/move_group_interface/move_group_interface.h
-
moveit/planning_scene_interface/planning_scene_interface.h
-
+std_msgs/UInt32.h
+-
+std_msgs/String.h
+/home/nikhil/panda_gazebo_workspace/src/zero/src/std_msgs/String.h
+sstream
+-
/opt/ros/melodic/include/actionlib/action_definition.h
@@ -2602,6 +2608,38 @@ ros/builtin_message_traits.h
ros/message_operations.h
-
+/opt/ros/melodic/include/std_msgs/String.h
+string
+-
+vector
+-
+map
+-
+ros/types.h
+-
+ros/serialization.h
+-
+ros/builtin_message_traits.h
+-
+ros/message_operations.h
+-
+
+/opt/ros/melodic/include/std_msgs/UInt32.h
+string
+-
+vector
+-
+map
+-
+ros/types.h
+-
+ros/serialization.h
+-
+ros/builtin_message_traits.h
+-
+ros/message_operations.h
+-
+
/opt/ros/melodic/include/tf2/LinearMath/Matrix3x3.h
Vector3.h
/opt/ros/melodic/include/tf2/LinearMath/Vector3.h
diff --git a/cmake-build-debug/CMakeFiles/robot_models_node.dir/build.make b/cmake-build-debug/CMakeFiles/robot_models_node.dir/build.make
index d37e2bd..fe0e1d7 100644
--- a/cmake-build-debug/CMakeFiles/robot_models_node.dir/build.make
+++ b/cmake-build-debug/CMakeFiles/robot_models_node.dir/build.make
@@ -79,6 +79,106 @@ robot_models_node_EXTERNAL_OBJECTS =
devel/lib/robot_models/robot_models_node: CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.o
devel/lib/robot_models/robot_models_node: CMakeFiles/robot_models_node.dir/build.make
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libgazebo_ros_api_plugin.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libgazebo_ros_paths_plugin.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_visual_tools.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/librviz_visual_tools.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/librviz_visual_tools_gui.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/librviz_visual_tools_remote_control.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/librviz_visual_tools_imarker_simple.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libeigen_conversions.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libtf_conversions.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libkdl_conversions.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_common_planning_interface_objects.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_planning_scene_interface.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_move_group_interface.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_py_bindings_tools.so
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+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_warehouse.so
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+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_robot_model_loader.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_constraint_sampler_manager_loader.so
+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_planning_pipeline.so
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+devel/lib/robot_models/robot_models_node: /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so
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diff --git a/cmake-build-debug/Makefile b/cmake-build-debug/Makefile
index 8ae493e..07df3ca 100644
--- a/cmake-build-debug/Makefile
+++ b/cmake-build-debug/Makefile
@@ -180,19 +180,6 @@ worldsafety/fast:
$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/build
.PHONY : worldsafety/fast
-#=============================================================================
-# Target rules for targets named safetytest
-
-# Build rule for target.
-safetytest: cmake_check_build_system
- $(MAKE) -f CMakeFiles/Makefile2 safetytest
-.PHONY : safetytest
-
-# fast build rule for target.
-safetytest/fast:
- $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/build
-.PHONY : safetytest/fast
-
#=============================================================================
# Target rules for targets named moveit_ros_manipulation_gencfg
@@ -1650,33 +1637,6 @@ src/robot_models_node.cpp.s:
$(MAKE) -f CMakeFiles/robot_models_node.dir/build.make CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.s
.PHONY : src/robot_models_node.cpp.s
-src/safetytest.o: src/safetytest.cpp.o
-
-.PHONY : src/safetytest.o
-
-# target to build an object file
-src/safetytest.cpp.o:
- $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/src/safetytest.cpp.o
-.PHONY : src/safetytest.cpp.o
-
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-.PHONY : src/safetytest.i
-
-# target to preprocess a source file
-src/safetytest.cpp.i:
- $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/src/safetytest.cpp.i
-.PHONY : src/safetytest.cpp.i
-
-src/safetytest.s: src/safetytest.cpp.s
-
-.PHONY : src/safetytest.s
-
-# target to generate assembly for a file
-src/safetytest.cpp.s:
- $(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/src/safetytest.cpp.s
-.PHONY : src/safetytest.cpp.s
-
src/worldsafety.o: src/worldsafety.cpp.o
.PHONY : src/worldsafety.o
@@ -1716,7 +1676,6 @@ help:
@echo "... list_install_components"
@echo "... test"
@echo "... worldsafety"
- @echo "... safetytest"
@echo "... moveit_ros_manipulation_gencfg"
@echo "... moveit_ros_planning_gencfg"
@echo "... graph_msgs_generate_messages_nodejs"
@@ -1832,9 +1791,6 @@ help:
@echo "... src/robot_models_node.o"
@echo "... src/robot_models_node.i"
@echo "... src/robot_models_node.s"
- @echo "... src/safetytest.o"
- @echo "... src/safetytest.i"
- @echo "... src/safetytest.s"
@echo "... src/worldsafety.o"
@echo "... src/worldsafety.i"
@echo "... src/worldsafety.s"
diff --git a/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp b/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp
index bfd7934..2396dbb 100644
--- a/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp
+++ b/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp
@@ -1,48 +1,64 @@
<?xml version="1.0"?>
-<?xml-model
- href="http://download.ros.org/schema/package_format3.xsd"
- schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
- <name>catkin</name>
- <version>0.7.28</version>
- <description>Low-level build system macros and infrastructure for ROS.</description>
- <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
- <license>BSD</license>
-
- <url type="website">http://wiki.ros.org/catkin</url>
- <url type="bugtracker">https://github.com/ros/catkin/issues</url>
- <url type="repository">https://github.com/ros/catkin</url>
-
- <author>Troy Straszheim</author>
- <author>Morten Kjaergaard</author>
- <author>Brian Gerkey</author>
- <author>Dirk Thomas</author>
-
- <depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend>
- <depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend>
- <depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend>
- <depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend>
- <depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend>
-
- <buildtool_depend>cmake</buildtool_depend>
- <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
- <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
-
- <buildtool_export_depend>cmake</buildtool_export_depend>
- <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
-
- <build_export_depend>google-mock</build_export_depend>
- <build_export_depend>gtest</build_export_depend>
- <build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend>
- <build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend>
-
- <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
- <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
- <test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend>
- <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend>
+<package format="2">
+ <name>robot_models</name>
+ <version>0.1.0</version>
+ <description>The robot_models package</description>
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="nikhil.ambardar@tu-dresden.de">Nikhil Ambardar</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>MIT</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/robot_models</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+ <author email="nikhil.ambardar@tu-dresden.de">Nikhil Ambardar</author>
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <depend>gazebo_ros</depend>
+ <depend>moveit_core</depend>
+ <depend>moveit_visual_tools</depend>
+ <depend>moveit_ros_planning_interface</depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
<export>
- <rosdoc config="rosdoc.yaml"/>
- <architecture_independent/>
+ <!-- Other tools can request additional information be placed here -->
+
</export>
</package>
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diff --git a/cmake-build-debug/robot_models.cbp b/cmake-build-debug/robot_models.cbp
index ca5d9be..52f602d 100644
--- a/cmake-build-debug/robot_models.cbp
+++ b/cmake-build-debug/robot_models.cbp
@@ -129,68 +129,6 @@
<DistClean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
</MakeCommands>
</Target>
- <Target title="safetytest">
- <Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/safetytest" prefix_auto="0" extension_auto="0"/>
- <Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
- <Option object_output="./"/>
- <Option type="1"/>
- <Option compiler="gcc"/>
- <Compiler>
- <Add option="-DROS_BUILD_SHARED_LIBS=1"/>
- <Add option="-DROS_PACKAGE_NAME="robot_models""/>
- <Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
- <Add directory="/opt/ros/melodic/include"/>
- <Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
- <Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
- <Add directory="/usr/include/eigen3"/>
- <Add directory="/usr/include/OGRE"/>
- <Add directory="/usr/include/c++/7"/>
- <Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
- <Add directory="/usr/include/c++/7/backward"/>
- <Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
- <Add directory="/usr/local/include"/>
- <Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
- <Add directory="/usr/include/x86_64-linux-gnu"/>
- <Add directory="/usr/include"/>
- </Compiler>
- <MakeCommands>
- <Build command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 safetytest"/>
- <CompileFile command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 "$file""/>
- <Clean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
- <DistClean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
- </MakeCommands>
- </Target>
- <Target title="safetytest/fast">
- <Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/safetytest" prefix_auto="0" extension_auto="0"/>
- <Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
- <Option object_output="./"/>
- <Option type="1"/>
- <Option compiler="gcc"/>
- <Compiler>
- <Add option="-DROS_BUILD_SHARED_LIBS=1"/>
- <Add option="-DROS_PACKAGE_NAME="robot_models""/>
- <Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
- <Add directory="/opt/ros/melodic/include"/>
- <Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
- <Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
- <Add directory="/usr/include/eigen3"/>
- <Add directory="/usr/include/OGRE"/>
- <Add directory="/usr/include/c++/7"/>
- <Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
- <Add directory="/usr/include/c++/7/backward"/>
- <Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
- <Add directory="/usr/local/include"/>
- <Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
- <Add directory="/usr/include/x86_64-linux-gnu"/>
- <Add directory="/usr/include"/>
- </Compiler>
- <MakeCommands>
- <Build command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 safetytest/fast"/>
- <CompileFile command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 "$file""/>
- <Clean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
- <DistClean command="/usr/bin/make -j4 -f "/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
- </MakeCommands>
- </Target>
<Target title="moveit_ros_manipulation_gencfg">
<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
<Option type="4"/>
@@ -1542,65 +1480,51 @@
</Build>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/abstractobject.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/graspobject.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/hand.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/humanspace.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/obstacle.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/quaternion.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robot.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robotfpe.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/world.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/worldobject.h">
<Option target="worldsafety"/>
- <Option target="safetytest"/>
<Option target="robot_models_node"/>
</Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/robot_models_node.cpp">
<Option target="robot_models_node"/>
</Unit>
- <Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/safetytest.cpp">
- <Option target="safetytest"/>
- </Unit>
<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/worldsafety.cpp">
<Option target="worldsafety"/>
</Unit>
diff --git a/src/robot_models_node.cpp b/src/robot_models_node.cpp
index 54d1273..be41ced 100644
--- a/src/robot_models_node.cpp
+++ b/src/robot_models_node.cpp
@@ -29,10 +29,12 @@
#include <std_msgs/UInt32.h>
#include "std_msgs/String.h"
#include <sstream>
-
-void pub(const std_msgs::String::ConstPtr& msg)
+//use global var gvar
+uint32_t gvar;
+void pub(const std_msgs::UInt32::ConstPtr& msg)
{
- ROS_INFO("I heard: [%s]", msg->data.c_str());
+ ROS_INFO("I heard: [%i]", msg->data);
+ gvar= msg->data;
}
int main(int argc, char **argv) {
@@ -117,14 +119,8 @@ void pub(const std_msgs::String::ConstPtr& msg)
o9.b2->z = 1.6;
o9.b2->w = 1.9;
*/
- ros::Subscriber sub = namespace_name.subscribe("updateDectectedHumans", 1000, pub);
- o9.humans->humannum = sub;
- //o9.humans->humannum = 1;
+ ros::Subscriber sub = node_handle.subscribe("updateDectectedHumans", 1000, pub);
ros::spin();
- if(o9.humans->humannum>0)
- ROS_INFO_STREAM("THE ROBOT IS IN AN UNSAFE STATE");
- if(o9.humans->humannum==0)
- ROS_INFO_STREAM("THE ROBOT IS IN A SAFE STATE");
tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tfListener(tfBuffer);
@@ -149,6 +145,7 @@ void pub(const std_msgs::String::ConstPtr& msg)
transformStamped5 = tfBuffer.lookupTransform("world", robot1.jo[5].name, ros::Time(0));
transformStamped6 = tfBuffer.lookupTransform("world", robot1.jo[6].name, ros::Time(0));
transformStamped7 = tfBuffer.lookupTransform("world", robot1.jo[7].name, ros::Time(0));
+ o9.humans->humannum =gvar;
} catch (tf2::TransformException &ex) {
ROS_WARN("%s", ex.what());
ros::Duration(0.1).sleep();
diff --git a/src/talker.cpp b/src/talker.cpp
deleted file mode 100644
index 280fa3e..0000000
--- a/src/talker.cpp
+++ /dev/null
@@ -1,36 +0,0 @@
-#include <ros/ros.h>
-#include <tf2_ros/transform_listener.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <tf2_ros/static_transform_broadcaster.h>
-#include "tf2_ros/message_filter.h"
-#include "message_filters/subscriber.h"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
-#include "geometry_msgs/PointStamped.h"
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit/planning_scene_interface/planning_scene_interface.h>
-#include <std_msgs/UInt32.h>
-#include "std_msgs/String.h"
-#include <sstream>
-
-int talker(int argc, char **argv) {
- ros::init(argc, argv, "talker");
- ros::NodeHandle n;
- ros::Publisher chatter_pub = n.advertise<std_msgs::UInt32>("updateDectectedHumans", 1000);
- ros::Rate loop_rate(10);
- int count = 0;
- while (ros::ok()) {
- std_msgs::UInt32 msg;
- std::stringstream ss;
- ss << "hello world " << count;
- msg.data = ss.str();
- ROS_INFO("%s", msg.data);
- chatter_pub.publish(msg);
- ros::spinOnce();
- loop_rate.sleep();
- ++count;
- }return 0;
-}
-
diff --git a/src/worldsafety.cpp b/src/worldsafety.cpp
index df71e19..d8e9aef 100644
--- a/src/worldsafety.cpp
+++ b/src/worldsafety.cpp
@@ -145,9 +145,10 @@ int main(int argc, char **argv) {
double epsilon = 0.001; // 1mm deviation is allowed
double dev_x = 0; // TODO compute dev_x/y using std::abs, the position in
double dev_y = 0; // the model and another_pose.position.x/y
- std::abs(dev_x/dev_y);
- std::abs(another_pose.position.x/another_pose.position.y);
- if (false) { // TODO add correct condition
+ dev_x=std::abs(robot1->jo[6].p1[0]-another_pose.position.x);
+ dev_y=std::abs(robot1->jo[6].p1[1]-another_pose.position.y);
+
+ if (dev_x<=epsilon&&dev_y<=epsilon) { // TODO add correct condition
ROS_INFO_STREAM(" ROBOT MOVED TO INTENDED POSITION. x/y deviations are " << dev_x << "/" << dev_y);
break; // the test succeeded, we can exit the loop
} else {
--
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