David V. Lu!!
3 years ago
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10 changed files with 174 additions and 355 deletions
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+0 -197hello_helpers/CMakeLists.txt
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+2 -6hello_helpers/package.xml
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+0 -0hello_helpers/resource/hello_helpers
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+18 -6hello_helpers/setup.py
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+7 -10hello_helpers/src/hello_helpers/hello_misc.py
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+3 -0stretch_core/package.xml
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+28 -32stretch_core/stretch_core/joint_trajectory_server.py
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+111 -99stretch_core/stretch_core/stretch_driver.py
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+3 -3stretch_funmap/nodes/funmap
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+2 -2stretch_funmap/src/stretch_funmap/navigate.py
+ 0
- 197
hello_helpers/CMakeLists.txt
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| @ -1,197 +0,0 @@ | |||
| cmake_minimum_required(VERSION 2.8.3) | |||
| project(hello_helpers) | |||
| ## Compile as C++11, supported in ROS Kinetic and newer | |||
| # add_compile_options(-std=c++11) | |||
| ## Find catkin macros and libraries | |||
| ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) | |||
| ## is used, also find other catkin packages | |||
| find_package(catkin REQUIRED COMPONENTS | |||
| rospy | |||
| ) | |||
| ## System dependencies are found with CMake's conventions | |||
| # find_package(Boost REQUIRED COMPONENTS system) | |||
| ## Uncomment this if the package has a setup.py. This macro ensures | |||
| ## modules and global scripts declared therein get installed | |||
| ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html | |||
| catkin_python_setup() | |||
| ################################################ | |||
| ## Declare ROS messages, services and actions ## | |||
| ################################################ | |||
| ## To declare and build messages, services or actions from within this | |||
| ## package, follow these steps: | |||
| ## * Let MSG_DEP_SET be the set of packages whose message types you use in | |||
| ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). | |||
| ## * In the file package.xml: | |||
| ## * add a build_depend tag for "message_generation" | |||
| ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET | |||
| ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in | |||
| ## but can be declared for certainty nonetheless: | |||
| ## * add a exec_depend tag for "message_runtime" | |||
| ## * In this file (CMakeLists.txt): | |||
| ## * add "message_generation" and every package in MSG_DEP_SET to | |||
| ## find_package(catkin REQUIRED COMPONENTS ...) | |||
| ## * add "message_runtime" and every package in MSG_DEP_SET to | |||
| ## catkin_package(CATKIN_DEPENDS ...) | |||
| ## * uncomment the add_*_files sections below as needed | |||
| ## and list every .msg/.srv/.action file to be processed | |||
| ## * uncomment the generate_messages entry below | |||
| ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) | |||
| ## Generate messages in the 'msg' folder | |||
| # add_message_files( | |||
| # FILES | |||
| # Message1.msg | |||
| # Message2.msg | |||
| # ) | |||
| ## Generate services in the 'srv' folder | |||
| # add_service_files( | |||
| # FILES | |||
| # Service1.srv | |||
| # Service2.srv | |||
| # ) | |||
| ## Generate actions in the 'action' folder | |||
| # add_action_files( | |||
| # FILES | |||
| # Action1.action | |||
| # Action2.action | |||
| # ) | |||
| ## Generate added messages and services with any dependencies listed here | |||
| # generate_messages( | |||
| # DEPENDENCIES | |||
| # std_msgs # Or other packages containing msgs | |||
| # ) | |||
| ################################################ | |||
| ## Declare ROS dynamic reconfigure parameters ## | |||
| ################################################ | |||
| ## To declare and build dynamic reconfigure parameters within this | |||
| ## package, follow these steps: | |||
| ## * In the file package.xml: | |||
| ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" | |||
| ## * In this file (CMakeLists.txt): | |||
| ## * add "dynamic_reconfigure" to | |||
| ## find_package(catkin REQUIRED COMPONENTS ...) | |||
| ## * uncomment the "generate_dynamic_reconfigure_options" section below | |||
| ## and list every .cfg file to be processed | |||
| ## Generate dynamic reconfigure parameters in the 'cfg' folder | |||
| # generate_dynamic_reconfigure_options( | |||
| # cfg/DynReconf1.cfg | |||
| # cfg/DynReconf2.cfg | |||
| # ) | |||
| ################################### | |||
| ## catkin specific configuration ## | |||
| ################################### | |||
| ## The catkin_package macro generates cmake config files for your package | |||
| ## Declare things to be passed to dependent projects | |||
| ## INCLUDE_DIRS: uncomment this if your package contains header files | |||
| ## LIBRARIES: libraries you create in this project that dependent projects also need | |||
| ## CATKIN_DEPENDS: catkin_packages dependent projects also need | |||
| ## DEPENDS: system dependencies of this project that dependent projects also need | |||
| catkin_package( | |||
| # INCLUDE_DIRS include | |||
| # LIBRARIES hello_helpers | |||
| # CATKIN_DEPENDS rospy | |||
| # DEPENDS system_lib | |||
| ) | |||
| ########### | |||
| ## Build ## | |||
| ########### | |||
| ## Specify additional locations of header files | |||
| ## Your package locations should be listed before other locations | |||
| include_directories( | |||
| # include | |||
| ${catkin_INCLUDE_DIRS} | |||
| ) | |||
| ## Declare a C++ library | |||
| # add_library(${PROJECT_NAME} | |||
| # src/${PROJECT_NAME}/hello_helpers.cpp | |||
| # ) | |||
| ## Add cmake target dependencies of the library | |||
| ## as an example, code may need to be generated before libraries | |||
| ## either from message generation or dynamic reconfigure | |||
| # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | |||
| ## Declare a C++ executable | |||
| ## With catkin_make all packages are built within a single CMake context | |||
| ## The recommended prefix ensures that target names across packages don't collide | |||
| # add_executable(${PROJECT_NAME}_node src/hello_helpers_node.cpp) | |||
| ## Rename C++ executable without prefix | |||
| ## The above recommended prefix causes long target names, the following renames the | |||
| ## target back to the shorter version for ease of user use | |||
| ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" | |||
| # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") | |||
| ## Add cmake target dependencies of the executable | |||
| ## same as for the library above | |||
| # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | |||
| ## Specify libraries to link a library or executable target against | |||
| # target_link_libraries(${PROJECT_NAME}_node | |||
| # ${catkin_LIBRARIES} | |||
| # ) | |||
| ############# | |||
| ## Install ## | |||
| ############# | |||
| # all install targets should use catkin DESTINATION variables | |||
| # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html | |||
| ## Mark executable scripts (Python etc.) for installation | |||
| ## in contrast to setup.py, you can choose the destination | |||
| # install(PROGRAMS | |||
| # scripts/my_python_script | |||
| # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |||
| # ) | |||
| ## Mark executables and/or libraries for installation | |||
| # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node | |||
| # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |||
| # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |||
| # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |||
| # ) | |||
| ## Mark cpp header files for installation | |||
| # install(DIRECTORY include/${PROJECT_NAME}/ | |||
| # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | |||
| # FILES_MATCHING PATTERN "*.h" | |||
| # PATTERN ".svn" EXCLUDE | |||
| # ) | |||
| ## Mark other files for installation (e.g. launch and bag files, etc.) | |||
| # install(FILES | |||
| # # myfile1 | |||
| # # myfile2 | |||
| # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | |||
| # ) | |||
| ############# | |||
| ## Testing ## | |||
| ############# | |||
| ## Add gtest based cpp test target and link libraries | |||
| # catkin_add_gtest(${PROJECT_NAME}-test test/test_hello_helpers.cpp) | |||
| # if(TARGET ${PROJECT_NAME}-test) | |||
| # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) | |||
| # endif() | |||
| ## Add folders to be run by python nosetests | |||
| # catkin_add_nosetests(test) | |||
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hello_helpers/package.xml
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hello_helpers/COLCON_IGNORE → hello_helpers/resource/hello_helpers
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+ 18
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hello_helpers/setup.py
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| @ -1,8 +1,20 @@ | |||
| #!/usr/bin/env python | |||
| from setuptools import setup | |||
| from distutils.core import setup | |||
| from catkin_pkg.python_setup import generate_distutils_setup | |||
| package_name = 'hello_helpers' | |||
| setup_args = generate_distutils_setup( packages=['hello_helpers'], package_dir={'': 'src'}) | |||
| setup(**setup_args) | |||
| setup( | |||
| name=package_name, | |||
| version='0.2.0', | |||
| package_dir={'': 'src'}, | |||
| packages=[package_name], | |||
| data_files=[ | |||
| ('share/ament_index/resource_index/packages', ['resource/' + package_name]), | |||
| ('share/' + package_name, ['package.xml']), | |||
| ], | |||
| install_requires=['setuptools'], | |||
| url='', | |||
| license='Apache License 2.0', | |||
| author='Hello Robot Inc.', | |||
| author_email='support@hello-robot.com', | |||
| description='The hello_helpers package', | |||
| ) | |||