From 9d692167c76a2350e895dd0f70ebd4c7656b628e Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Tue, 10 Jul 2018 21:25:59 +0200 Subject: [PATCH] Necessary changes for the ROS kinetic version. --- bioloid_controller/src/sim/stm32_dyn_master.c | 4 ++-- bioloid_description/launch/bioloid_base.launch | 2 +- bioloid_description/launch/bioloid_test.launch | 2 +- bioloid_description/launch/obstacles_env.launch | 2 +- bioloid_description/launch/stairs_env.launch | 2 +- bioloid_description/launch/vision_env.launch | 2 +- bioloid_description/urdf/ceabot/obstacle.xacro | 2 +- bioloid_description/urdf/ceabot/obstacle_base.xacro | 2 +- bioloid_description/urdf/ceabot/obstacle_vis.xacro | 2 +- bioloid_description/urdf/ceabot/stairs.xacro | 2 +- bioloid_description/urdf/pan_tilt.xacro | 2 +- bioloid_description/urdf/qrcodes/qrcode.xacro | 2 +- bioloid_description/urdf/sensors/cny70_ir.gazebo | 2 +- bioloid_description/urdf/sensors/cny70_ir.xacro | 2 +- bioloid_description/urdf/sensors/feet_ir.xacro | 2 +- bioloid_description/urdf/sensors/ids_xs.gazebo | 2 +- bioloid_description/urdf/sensors/ids_xs.xacro | 2 +- bioloid_description/urdf/sensors/sharp_ir.gazebo | 2 +- bioloid_description/urdf/sensors/sharp_ir.xacro | 2 +- bioloid_description/urdf/tina.xacro | 2 +- 20 files changed, 21 insertions(+), 21 deletions(-) diff --git a/bioloid_controller/src/sim/stm32_dyn_master.c b/bioloid_controller/src/sim/stm32_dyn_master.c index eb11305..e7adce4 100644 --- a/bioloid_controller/src/sim/stm32_dyn_master.c +++ b/bioloid_controller/src/sim/stm32_dyn_master.c @@ -15,12 +15,12 @@ void dyn_master_set_rx_timeout(TDynamixelMaster *master,unsigned short int timeo master->rx_timeout_ms=timeout_ms; } -inline void dyn_master_set_return_level(TDynamixelMaster *master,return_level_t level) +inline void dyn_master_set_return_level(TDynamixelMaster *master,TReturnLevel level) { master->return_level=level; } -inline return_level_t dyn_master_get_return_level(TDynamixelMaster *master) +inline TReturnLevel dyn_master_get_return_level(TDynamixelMaster *master) { return master->return_level; } diff --git a/bioloid_description/launch/bioloid_base.launch b/bioloid_description/launch/bioloid_base.launch index 2473f6d..0f4b08e 100644 --- a/bioloid_description/launch/bioloid_base.launch +++ b/bioloid_description/launch/bioloid_base.launch @@ -3,7 +3,7 @@ <arg name="use_pan_tilt" default="false" /> <!-- Convert an xacro and put on parameter server --> - <param name="robot_description" command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)"/> + <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)"/> <node pkg="robot_state_publisher" type="state_publisher" name="bioloid_tf_broadcaster"> <param name="tf_prefix" type="string" value="/bioloid"/> diff --git a/bioloid_description/launch/bioloid_test.launch b/bioloid_description/launch/bioloid_test.launch index 66a2556..067cfb3 100644 --- a/bioloid_description/launch/bioloid_test.launch +++ b/bioloid_description/launch/bioloid_test.launch @@ -5,7 +5,7 @@ <!-- Convert an xacro and put on parameter server --> <param name="robot_description" - command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)" /> + command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/$(arg robot).xacro' use_pan_tilt:=$(arg use_pan_tilt)" /> <node pkg="robot_state_publisher" type="state_publisher" name="bioloid_tf_broadcaster"> <param name="tf_prefix" type="string" value="/bioloid"/> diff --git a/bioloid_description/launch/obstacles_env.launch b/bioloid_description/launch/obstacles_env.launch index bad6c25..0b750f5 100644 --- a/bioloid_description/launch/obstacles_env.launch +++ b/bioloid_description/launch/obstacles_env.launch @@ -3,7 +3,7 @@ <!-- Convert an xacro and put on parameter server --> <param name="obstacles_environment" - command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" /> + command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" /> <node name="spawn_obstacles" pkg="gazebo_ros" type="spawn_model" args="-param obstacles_environment -urdf -model obstacles -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/> diff --git a/bioloid_description/launch/stairs_env.launch b/bioloid_description/launch/stairs_env.launch index d89ceb0..6d05f0b 100644 --- a/bioloid_description/launch/stairs_env.launch +++ b/bioloid_description/launch/stairs_env.launch @@ -3,7 +3,7 @@ <!-- Convert an xacro and put on parameter server --> <param name="stairs_environment" - command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" /> + command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" /> <node name="spawn_stairs" pkg="gazebo_ros" type="spawn_model" args="-param stairs_environment -urdf -model obstacles -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/> diff --git a/bioloid_description/launch/vision_env.launch b/bioloid_description/launch/vision_env.launch index 240ff82..9b900bc 100644 --- a/bioloid_description/launch/vision_env.launch +++ b/bioloid_description/launch/vision_env.launch @@ -3,7 +3,7 @@ <!-- Convert an xacro and put on parameter server --> <param name="vision_environment" - command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" /> + command="$(find xacro)/xacro --inorder '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" /> <node name="spawn_vision" pkg="gazebo_ros" type="spawn_model" args="-param vision_environment -urdf -model obstacles -x 1.0 -y 1.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/> diff --git a/bioloid_description/urdf/ceabot/obstacle.xacro b/bioloid_description/urdf/ceabot/obstacle.xacro index b8c6e6b..1f9c193 100644 --- a/bioloid_description/urdf/ceabot/obstacle.xacro +++ b/bioloid_description/urdf/ceabot/obstacle.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" /> diff --git a/bioloid_description/urdf/ceabot/obstacle_base.xacro b/bioloid_description/urdf/ceabot/obstacle_base.xacro index c5b0048..7f65bb6 100644 --- a/bioloid_description/urdf/ceabot/obstacle_base.xacro +++ b/bioloid_description/urdf/ceabot/obstacle_base.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="obstacle_base" params="name"> <link name="${name}_link"> diff --git a/bioloid_description/urdf/ceabot/obstacle_vis.xacro b/bioloid_description/urdf/ceabot/obstacle_vis.xacro index e1ad12d..dd00909 100644 --- a/bioloid_description/urdf/ceabot/obstacle_vis.xacro +++ b/bioloid_description/urdf/ceabot/obstacle_vis.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" /> diff --git a/bioloid_description/urdf/ceabot/stairs.xacro b/bioloid_description/urdf/ceabot/stairs.xacro index ccb322d..65ecbb7 100644 --- a/bioloid_description/urdf/ceabot/stairs.xacro +++ b/bioloid_description/urdf/ceabot/stairs.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="stairs" params="name parent orientation"> <!-- obstacle --> diff --git a/bioloid_description/urdf/pan_tilt.xacro b/bioloid_description/urdf/pan_tilt.xacro index 57f9f0b..2a2f53b 100755 --- a/bioloid_description/urdf/pan_tilt.xacro +++ b/bioloid_description/urdf/pan_tilt.xacro @@ -1,4 +1,4 @@ -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="pan_tilt" params="parent *origin"> diff --git a/bioloid_description/urdf/qrcodes/qrcode.xacro b/bioloid_description/urdf/qrcodes/qrcode.xacro index 4541ca4..8a1133a 100644 --- a/bioloid_description/urdf/qrcodes/qrcode.xacro +++ b/bioloid_description/urdf/qrcodes/qrcode.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="qrcode" params="name parent code size *origin"> <!-- obstacle --> diff --git a/bioloid_description/urdf/sensors/cny70_ir.gazebo b/bioloid_description/urdf/sensors/cny70_ir.gazebo index 907f5a1..c807741 100644 --- a/bioloid_description/urdf/sensors/cny70_ir.gazebo +++ b/bioloid_description/urdf/sensors/cny70_ir.gazebo @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="cny70_ir_gazebo" params="name namespace update_rate fov min_range max_range"> <gazebo reference="${name}_ir_link"> diff --git a/bioloid_description/urdf/sensors/cny70_ir.xacro b/bioloid_description/urdf/sensors/cny70_ir.xacro index bac20e1..4495c1a 100644 --- a/bioloid_description/urdf/sensors/cny70_ir.xacro +++ b/bioloid_description/urdf/sensors/cny70_ir.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.gazebo" /> diff --git a/bioloid_description/urdf/sensors/feet_ir.xacro b/bioloid_description/urdf/sensors/feet_ir.xacro index ecb4495..df95c96 100644 --- a/bioloid_description/urdf/sensors/feet_ir.xacro +++ b/bioloid_description/urdf/sensors/feet_ir.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.xacro" /> diff --git a/bioloid_description/urdf/sensors/ids_xs.gazebo b/bioloid_description/urdf/sensors/ids_xs.gazebo index 807ab8f..12b2830 100644 --- a/bioloid_description/urdf/sensors/ids_xs.gazebo +++ b/bioloid_description/urdf/sensors/ids_xs.gazebo @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="ids_xs_gazebo" params="name"> <gazebo reference="${name}_link"> diff --git a/bioloid_description/urdf/sensors/ids_xs.xacro b/bioloid_description/urdf/sensors/ids_xs.xacro index 5bc8c67..7856dc3 100644 --- a/bioloid_description/urdf/sensors/ids_xs.xacro +++ b/bioloid_description/urdf/sensors/ids_xs.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find bioloid_description)/urdf/sensors/ids_xs.gazebo" /> diff --git a/bioloid_description/urdf/sensors/sharp_ir.gazebo b/bioloid_description/urdf/sensors/sharp_ir.gazebo index 117d9f4..237d7cc 100644 --- a/bioloid_description/urdf/sensors/sharp_ir.gazebo +++ b/bioloid_description/urdf/sensors/sharp_ir.gazebo @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:macro name="sharp_ir_gazebo" params="name update_rate fov min_range max_range"> <gazebo reference="${name}_link"> diff --git a/bioloid_description/urdf/sensors/sharp_ir.xacro b/bioloid_description/urdf/sensors/sharp_ir.xacro index 6115174..2f0e2a4 100644 --- a/bioloid_description/urdf/sensors/sharp_ir.xacro +++ b/bioloid_description/urdf/sensors/sharp_ir.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<root xmlns:xacro="http://ros.org/wiki/xacro"> +<root xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find bioloid_description)/urdf/sensors/sharp_ir.gazebo" /> diff --git a/bioloid_description/urdf/tina.xacro b/bioloid_description/urdf/tina.xacro index 3ecd293..6215f1e 100755 --- a/bioloid_description/urdf/tina.xacro +++ b/bioloid_description/urdf/tina.xacro @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<robot name="bioloid" xmlns:xacro="http://ros.org/wiki/xacro"> +<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find bioloid_description)/urdf/bioloid.xacro" /> <xacro:include filename="$(find bioloid_description)/urdf/tina.gazebo" /> -- GitLab