From 79b3d6f6e72d7df5d9cb8b1435283017edf73005 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 10 Jul 2018 21:21:34 +0200
Subject: [PATCH] Necessary changes for the ROS kinetic version.

---
 darwin_apps/launch/darwin_cpp.launch                  | 11 +++++++++++
 darwin_arm_kinematics/launch/left_arm_kin_test.launch |  2 +-
 darwin_description/launch/charge_env.launch           |  2 +-
 darwin_description/launch/darwin_base.launch          |  2 +-
 darwin_description/launch/darwin_base_sim.launch      |  2 +-
 darwin_description/launch/darwin_test.launch          |  2 +-
 darwin_description/urdf/charge/charge_station.xacro   |  2 +-
 darwin_description/urdf/gripper.gazebo                |  2 +-
 darwin_description/urdf/gripper.xacro                 |  2 +-
 darwin_description/urdf/gripper_sc.gazebo             |  2 +-
 darwin_description/urdf/gripper_sc.xacro              |  2 +-
 darwin_description/urdf/gripper_sc_low_res.xacro      |  2 +-
 darwin_description/urdf/left_foot.xacro               |  2 +-
 darwin_description/urdf/left_hand.gazebo              |  2 +-
 darwin_description/urdf/left_hand.xacro               |  2 +-
 darwin_description/urdf/left_sensor_foot.xacro        |  2 +-
 darwin_description/urdf/right_foot.xacro              |  2 +-
 darwin_description/urdf/right_hand.gazebo             |  2 +-
 darwin_description/urdf/right_hand.xacro              |  2 +-
 darwin_description/urdf/right_sensor_foot.xacro       |  2 +-
 darwin_description/urdf/sensors/bno055.gazebo         |  2 +-
 darwin_description/urdf/sensors/ids_xs.gazebo         |  2 +-
 darwin_description/urdf/sensors/ids_xs.xacro          |  2 +-
 darwin_driver/CMakeLists.txt                          |  2 ++
 darwin_driver/cfg/DarwinDriver.cfg                    |  2 +-
 darwin_driver/src/darwin_driver.cpp                   |  6 +++---
 darwin_driver/src/darwin_driver_node.cpp              |  2 +-
 darwin_robot/package.xml                              |  1 +
 28 files changed, 41 insertions(+), 27 deletions(-)

diff --git a/darwin_apps/launch/darwin_cpp.launch b/darwin_apps/launch/darwin_cpp.launch
index 0c37f2b..0f015b3 100644
--- a/darwin_apps/launch/darwin_cpp.launch
+++ b/darwin_apps/launch/darwin_cpp.launch
@@ -11,4 +11,15 @@
     <arg name="environment" value="$(arg environment)" />
   </include>
 
+  <node name="gazebo_image_to_video_dev"
+        pkg="gazebo_image_to_video_dev"
+        type="gazebo_image_to_video_dev"
+        output="screen">
+    <remap from="~/camera_in/image_raw"
+           to="/darwin/camera/image_raw"/>
+    <remap from="~/camera_in/camera_info"
+           to="/darwin/camera/camera_info"/>
+    <param name="video_dev" value="/dev/video0"/>
+  </node>
+
 </launch>
diff --git a/darwin_arm_kinematics/launch/left_arm_kin_test.launch b/darwin_arm_kinematics/launch/left_arm_kin_test.launch
index f399a01..e75ab51 100644
--- a/darwin_arm_kinematics/launch/left_arm_kin_test.launch
+++ b/darwin_arm_kinematics/launch/left_arm_kin_test.launch
@@ -4,7 +4,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="robot_description"
-         command="$(find xacro)/xacro.py '$(find darwin_description)/urdf/$(arg robot).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find darwin_description)/urdf/$(arg robot).xacro'" />
 
   <!-- load the controllers -->
   <node name="left_arm_kinematics" 
diff --git a/darwin_description/launch/charge_env.launch b/darwin_description/launch/charge_env.launch
index a6f67c3..85eb98e 100644
--- a/darwin_description/launch/charge_env.launch
+++ b/darwin_description/launch/charge_env.launch
@@ -4,7 +4,7 @@
   <group ns="$(arg environment)"> 
     <!-- Convert an xacro and put on parameter server -->
     <param name="robot_description"
-           command="$(find xacro)/xacro.py '$(find darwin_description)/urdf/charge/$(arg environment).xacro'" />
+           command="$(find xacro)/xacro --inorder '$(find darwin_description)/urdf/charge/$(arg environment).xacro'" />
 
 <!--    <node pkg="robot_state_publisher" type="state_publisher" name="env_tf_broadcaster">
       <param name="tf_prefix" type="string" value="/$(arg environment)"/>
diff --git a/darwin_description/launch/darwin_base.launch b/darwin_description/launch/darwin_base.launch
index fa75b58..36cbd3d 100644
--- a/darwin_description/launch/darwin_base.launch
+++ b/darwin_description/launch/darwin_base.launch
@@ -5,7 +5,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="robot_description"
-         command="$(find xacro)/xacro.py '$(find darwin_description)/urdf/$(arg robot).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find darwin_description)/urdf/$(arg robot).xacro'" />
 
   <node pkg="robot_state_publisher" type="state_publisher" name="darwin_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/darwin"/>
diff --git a/darwin_description/launch/darwin_base_sim.launch b/darwin_description/launch/darwin_base_sim.launch
index 9d14760..7a2288b 100644
--- a/darwin_description/launch/darwin_base_sim.launch
+++ b/darwin_description/launch/darwin_base_sim.launch
@@ -4,7 +4,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="robot_description"
-         command="$(find xacro)/xacro.py '$(find darwin_description)/urdf/$(arg robot).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find darwin_description)/urdf/$(arg robot).xacro'" />
 
   <node pkg="robot_state_publisher" type="state_publisher" name="darwin_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/darwin"/>
diff --git a/darwin_description/launch/darwin_test.launch b/darwin_description/launch/darwin_test.launch
index 0e53702..dc97347 100644
--- a/darwin_description/launch/darwin_test.launch
+++ b/darwin_description/launch/darwin_test.launch
@@ -4,7 +4,7 @@
 
   <!-- Convert an xacro and put on parameter server -->
   <param name="robot_description"
-         command="$(find xacro)/xacro.py '$(find darwin_description)/urdf/$(arg robot).xacro'" />
+         command="$(find xacro)/xacro --inorder '$(find darwin_description)/urdf/$(arg robot).xacro'" />
 
   <node pkg="robot_state_publisher" type="state_publisher" name="darwin_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/darwin"/>
diff --git a/darwin_description/urdf/charge/charge_station.xacro b/darwin_description/urdf/charge/charge_station.xacro
index ad70631..d966460 100644
--- a/darwin_description/urdf/charge/charge_station.xacro
+++ b/darwin_description/urdf/charge/charge_station.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/darwin_description/urdf/gripper.gazebo b/darwin_description/urdf/gripper.gazebo
index b935a75..4fac2a8 100644
--- a/darwin_description/urdf/gripper.gazebo
+++ b/darwin_description/urdf/gripper.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="gripper_gazebo" params="name">
     <gazebo reference="${name}_elbow">
diff --git a/darwin_description/urdf/gripper.xacro b/darwin_description/urdf/gripper.xacro
index a221501..0a52086 100755
--- a/darwin_description/urdf/gripper.xacro
+++ b/darwin_description/urdf/gripper.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 darwin_description)/urdf/gripper.gazebo" />
 
diff --git a/darwin_description/urdf/gripper_sc.gazebo b/darwin_description/urdf/gripper_sc.gazebo
index c6b54d2..8265ba7 100644
--- a/darwin_description/urdf/gripper_sc.gazebo
+++ b/darwin_description/urdf/gripper_sc.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="gripper_sc_gazebo" params="name">
     <gazebo reference="${name}_elbow">
diff --git a/darwin_description/urdf/gripper_sc.xacro b/darwin_description/urdf/gripper_sc.xacro
index 5a5269f..60d4150 100755
--- a/darwin_description/urdf/gripper_sc.xacro
+++ b/darwin_description/urdf/gripper_sc.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 darwin_description)/urdf/gripper_sc.gazebo" />
 
diff --git a/darwin_description/urdf/gripper_sc_low_res.xacro b/darwin_description/urdf/gripper_sc_low_res.xacro
index 52838e4..5bf5cd2 100755
--- a/darwin_description/urdf/gripper_sc_low_res.xacro
+++ b/darwin_description/urdf/gripper_sc_low_res.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 darwin_description)/urdf/gripper_sc.gazebo" />
 
diff --git a/darwin_description/urdf/left_foot.xacro b/darwin_description/urdf/left_foot.xacro
index d6e6487..67668ea 100755
--- a/darwin_description/urdf/left_foot.xacro
+++ b/darwin_description/urdf/left_foot.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 darwin_description)/urdf/left_foot.gazebo" />
 
diff --git a/darwin_description/urdf/left_hand.gazebo b/darwin_description/urdf/left_hand.gazebo
index bd86a71..2077a54 100644
--- a/darwin_description/urdf/left_hand.gazebo
+++ b/darwin_description/urdf/left_hand.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">
 
   <gazebo reference="left_arm_low">
     <material>Gazebo/Grey</material>
diff --git a/darwin_description/urdf/left_hand.xacro b/darwin_description/urdf/left_hand.xacro
index 9dfa4be..3d6f7cf 100755
--- a/darwin_description/urdf/left_hand.xacro
+++ b/darwin_description/urdf/left_hand.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 darwin_description)/urdf/left_hand.gazebo" />
 
diff --git a/darwin_description/urdf/left_sensor_foot.xacro b/darwin_description/urdf/left_sensor_foot.xacro
index 45fb6d9..fd902b7 100755
--- a/darwin_description/urdf/left_sensor_foot.xacro
+++ b/darwin_description/urdf/left_sensor_foot.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="$(find darwin_description)/urdf/left_foot.gazebo" />
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.xacro" />
diff --git a/darwin_description/urdf/right_foot.xacro b/darwin_description/urdf/right_foot.xacro
index bdd8a1b..eb12dc8 100755
--- a/darwin_description/urdf/right_foot.xacro
+++ b/darwin_description/urdf/right_foot.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 darwin_description)/urdf/right_foot.gazebo" />
 
diff --git a/darwin_description/urdf/right_hand.gazebo b/darwin_description/urdf/right_hand.gazebo
index 55df05a..796338f 100644
--- a/darwin_description/urdf/right_hand.gazebo
+++ b/darwin_description/urdf/right_hand.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">
 
   <gazebo reference="right_arm_low">
     <material>Gazebo/Grey</material>
diff --git a/darwin_description/urdf/right_hand.xacro b/darwin_description/urdf/right_hand.xacro
index 8c06c5d..ec48b64 100755
--- a/darwin_description/urdf/right_hand.xacro
+++ b/darwin_description/urdf/right_hand.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 darwin_description)/urdf/right_hand.gazebo" />
 
diff --git a/darwin_description/urdf/right_sensor_foot.xacro b/darwin_description/urdf/right_sensor_foot.xacro
index a8ab93b..f13e4a5 100755
--- a/darwin_description/urdf/right_sensor_foot.xacro
+++ b/darwin_description/urdf/right_sensor_foot.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="$(find darwin_description)/urdf/right_foot.gazebo" />
   <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.xacro" />
diff --git a/darwin_description/urdf/sensors/bno055.gazebo b/darwin_description/urdf/sensors/bno055.gazebo
index 709e0cb..3f40454 100644
--- a/darwin_description/urdf/sensors/bno055.gazebo
+++ b/darwin_description/urdf/sensors/bno055.gazebo
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root xmlns:xacro="http://ros.org/wiki/xacro">
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="bno055_gazebo" params="name">
     <gazebo>
       <plugin name="bno055_sim" filename="libhector_gazebo_ros_imu.so">
diff --git a/darwin_description/urdf/sensors/ids_xs.gazebo b/darwin_description/urdf/sensors/ids_xs.gazebo
index 5425e6d..787dec9 100644
--- a/darwin_description/urdf/sensors/ids_xs.gazebo
+++ b/darwin_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/darwin_description/urdf/sensors/ids_xs.xacro b/darwin_description/urdf/sensors/ids_xs.xacro
index daeefd6..e07bf5b 100644
--- a/darwin_description/urdf/sensors/ids_xs.xacro
+++ b/darwin_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 darwin_description)/urdf/sensors/ids_xs.gazebo" />
 
diff --git a/darwin_driver/CMakeLists.txt b/darwin_driver/CMakeLists.txt
index aceb258..c6b2276 100644
--- a/darwin_driver/CMakeLists.txt
+++ b/darwin_driver/CMakeLists.txt
@@ -100,6 +100,8 @@ target_link_libraries(${PROJECT_NAME} ${darwin_robot_LIBRARY})
 #               Add message headers dependencies 
 # ******************************************************************** 
 # add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} iri_base_driver_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME}_gencfg iri_base_driver_generate_messages_cpp)
 add_dependencies(${PROJECT_NAME} std_msgs_generate_messages_cpp)
 add_dependencies(${PROJECT_NAME} control_msgs_generate_messages_cpp)
 add_dependencies(${PROJECT_NAME} trajectory_msgs_generate_messages_cpp)
diff --git a/darwin_driver/cfg/DarwinDriver.cfg b/darwin_driver/cfg/DarwinDriver.cfg
index 6091eda..57d60b3 100755
--- a/darwin_driver/cfg/DarwinDriver.cfg
+++ b/darwin_driver/cfg/DarwinDriver.cfg
@@ -33,7 +33,7 @@
 
 PACKAGE='darwin_driver'
 
-from driver_base.msg import SensorLevels
+from iri_base_driver.msg import SensorLevels
 from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
diff --git a/darwin_driver/src/darwin_driver.cpp b/darwin_driver/src/darwin_driver.cpp
index 98c51a2..c23b0f7 100644
--- a/darwin_driver/src/darwin_driver.cpp
+++ b/darwin_driver/src/darwin_driver.cpp
@@ -189,13 +189,13 @@ void DarwinDriver::config_update(Config& new_cfg, uint32_t level)
   // update driver with new_cfg data
   switch(this->getState())
   {
-    case DarwinDriver::CLOSED:
+    case iri_base_driver::CLOSED:
       break;
 
-    case DarwinDriver::OPENED:
+    case iri_base_driver::OPENED:
       break;
 
-    case DarwinDriver::RUNNING:
+    case iri_base_driver::RUNNING:
       break;
   }
 
diff --git a/darwin_driver/src/darwin_driver_node.cpp b/darwin_driver/src/darwin_driver_node.cpp
index c086f92..3780311 100644
--- a/darwin_driver/src/darwin_driver_node.cpp
+++ b/darwin_driver/src/darwin_driver_node.cpp
@@ -1334,5 +1334,5 @@ DarwinDriverNode::~DarwinDriverNode(void)
 /* main function */
 int main(int argc,char *argv[])
 {
-  return driver_base::main<DarwinDriverNode>(argc, argv, "darwin_driver_node");
+  return iri_base_driver::main<DarwinDriverNode>(argc, argv, "darwin_driver_node");
 }
diff --git a/darwin_robot/package.xml b/darwin_robot/package.xml
index b26048b..cf8a634 100644
--- a/darwin_robot/package.xml
+++ b/darwin_robot/package.xml
@@ -39,6 +39,7 @@
   <!--   <run_depend>message_runtime</run_depend> -->
   <run_depend>darwin_control</run_depend>
   <run_depend>darwin_controller</run_depend>
+  <run_depend>darwin_controller_cpp</run_depend>
   <run_depend>darwin_description</run_depend>
   <run_depend>darwin_gazebo</run_depend>
   <run_depend>darwin_driver</run_depend>
-- 
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