From 6f31cdc594616c2d20014738aa03ad46fe4b9524 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 10 Jul 2018 21:25:04 +0200
Subject: [PATCH] Necessary changes for the ROS kinetic version.
---
bno055_imu/CMakeLists.txt | 2 ++
bno055_imu/cfg/Bno055Imu.cfg | 2 +-
bno055_imu/src/bno055_imu_ros_driver.cpp | 6 +++---
bno055_imu/src/bno055_imu_ros_driver_node.cpp | 4 ++--
humanoid_common/package.xml | 2 ++
ir_foot_sensor/CMakeLists.txt | 2 ++
ir_foot_sensor/cfg/IrFootSensor.cfg | 2 +-
ir_foot_sensor/src/ir_foot_sensor_driver.cpp | 6 +++---
ir_foot_sensor/src/ir_foot_sensor_driver_node.cpp | 12 ++++++------
qr_detector/CMakeLists.txt | 8 +++++---
qr_detector/cfg/QrDetector.cfg | 2 +-
qr_detector/src/qr_detector_driver.cpp | 6 +++---
qr_detector/src/qr_detector_driver_node.cpp | 2 +-
13 files changed, 32 insertions(+), 24 deletions(-)
diff --git a/bno055_imu/CMakeLists.txt b/bno055_imu/CMakeLists.txt
index e1e039a..0857c32 100644
--- a/bno055_imu/CMakeLists.txt
+++ b/bno055_imu/CMakeLists.txt
@@ -101,6 +101,8 @@ target_link_libraries(${PROJECT_NAME} ${bno055_imu_driver_LIBRARY})
# ********************************************************************
# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} sensor_msgs_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} iri_base_driver_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME}_gencfg iri_base_driver_generate_messages_cpp)
# ********************************************************************
# Add dynamic reconfigure dependencies
# ********************************************************************
diff --git a/bno055_imu/cfg/Bno055Imu.cfg b/bno055_imu/cfg/Bno055Imu.cfg
index 5a4c162..8b76ff3 100755
--- a/bno055_imu/cfg/Bno055Imu.cfg
+++ b/bno055_imu/cfg/Bno055Imu.cfg
@@ -33,7 +33,7 @@
PACKAGE='bno055_imu'
-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/bno055_imu/src/bno055_imu_ros_driver.cpp b/bno055_imu/src/bno055_imu_ros_driver.cpp
index 07d0a50..65a9a76 100644
--- a/bno055_imu/src/bno055_imu_ros_driver.cpp
+++ b/bno055_imu/src/bno055_imu_ros_driver.cpp
@@ -84,14 +84,14 @@ void Bno055ImuDriver::config_update(Config& new_cfg, uint32_t level)
// update driver with new_cfg data
switch(this->getState())
{
- case Bno055ImuDriver::CLOSED:
+ case iri_base_driver::CLOSED:
this->frame_id=new_cfg.tf_prefix+"/"+new_cfg.frame_id;
break;
- case Bno055ImuDriver::OPENED:
+ case iri_base_driver::OPENED:
break;
- case Bno055ImuDriver::RUNNING:
+ case iri_base_driver::RUNNING:
break;
}
diff --git a/bno055_imu/src/bno055_imu_ros_driver_node.cpp b/bno055_imu/src/bno055_imu_ros_driver_node.cpp
index de25be4..4db5265 100644
--- a/bno055_imu/src/bno055_imu_ros_driver_node.cpp
+++ b/bno055_imu/src/bno055_imu_ros_driver_node.cpp
@@ -7,7 +7,7 @@ Bno055ImuDriverNode::Bno055ImuDriverNode(ros::NodeHandle &nh) :
unsigned int i;
//init class attributes if necessary
- this->loop_rate_ = 500;//in [Hz]
+ this->setRate(500);//in [Hz]
// [init publishers]
this->imu_publisher_ = this->public_node_handle_.advertise<sensor_msgs::Imu>("imu", 1);
@@ -117,5 +117,5 @@ Bno055ImuDriverNode::~Bno055ImuDriverNode(void)
/* main function */
int main(int argc,char *argv[])
{
- return driver_base::main<Bno055ImuDriverNode>(argc, argv, "bno055_imu_driver_node");
+ return iri_base_driver::main<Bno055ImuDriverNode>(argc, argv, "bno055_imu_driver_node");
}
diff --git a/humanoid_common/package.xml b/humanoid_common/package.xml
index 1061ee3..2df862a 100755
--- a/humanoid_common/package.xml
+++ b/humanoid_common/package.xml
@@ -56,6 +56,8 @@
<run_depend>automatic_charge</run_depend>
<run_depend>stairs_client</run_depend>
<run_depend>ir_foot_sensor</run_depend>
+ <run_depend>bno055_imu</run_depend>
+ <run_depend>gazebo_image_to_video_dev</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
diff --git a/ir_foot_sensor/CMakeLists.txt b/ir_foot_sensor/CMakeLists.txt
index ca5fdd2..92efceb 100644
--- a/ir_foot_sensor/CMakeLists.txt
+++ b/ir_foot_sensor/CMakeLists.txt
@@ -114,6 +114,8 @@ target_link_libraries(${PROJECT_NAME}_nodelet ${ir_feet_LIBRARY})
# ********************************************************************
# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} humanoid_common_msgs_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} iri_base_driver_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME}_gencfg iri_base_driver_generate_messages_cpp)
# ********************************************************************
# Add dynamic reconfigure dependencies
# ********************************************************************
diff --git a/ir_foot_sensor/cfg/IrFootSensor.cfg b/ir_foot_sensor/cfg/IrFootSensor.cfg
index 6de3d38..b7e16e6 100755
--- a/ir_foot_sensor/cfg/IrFootSensor.cfg
+++ b/ir_foot_sensor/cfg/IrFootSensor.cfg
@@ -33,7 +33,7 @@
PACKAGE='ir_foot_sensor'
-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/ir_foot_sensor/src/ir_foot_sensor_driver.cpp b/ir_foot_sensor/src/ir_foot_sensor_driver.cpp
index 18fdc9b..5aca919 100644
--- a/ir_foot_sensor/src/ir_foot_sensor_driver.cpp
+++ b/ir_foot_sensor/src/ir_foot_sensor_driver.cpp
@@ -65,13 +65,13 @@ void IrFootSensorDriver::config_update(Config& new_cfg, uint32_t level)
// update driver with new_cfg data
switch(this->getState())
{
- case IrFootSensorDriver::CLOSED:
+ case iri_base_driver::CLOSED:
break;
- case IrFootSensorDriver::OPENED:
+ case iri_base_driver::OPENED:
break;
- case IrFootSensorDriver::RUNNING:
+ case iri_base_driver::RUNNING:
break;
}
diff --git a/ir_foot_sensor/src/ir_foot_sensor_driver_node.cpp b/ir_foot_sensor/src/ir_foot_sensor_driver_node.cpp
index 1ff6a06..0d55028 100644
--- a/ir_foot_sensor/src/ir_foot_sensor_driver_node.cpp
+++ b/ir_foot_sensor/src/ir_foot_sensor_driver_node.cpp
@@ -6,7 +6,7 @@ IrFootSensorDriverNode::IrFootSensorDriverNode(ros::NodeHandle &nh) :
std::string dyn_serial="";
int dyn_baudrate=-1,dev_id=-1;
//init class attributes if necessary
- this->loop_rate_ = 10;//in [Hz]
+ this->setRate(10);//in [Hz]
// [init publishers]
@@ -31,15 +31,15 @@ IrFootSensorDriverNode::IrFootSensorDriverNode(ros::NodeHandle &nh) :
this->sensor_data_ir_foot_data_msg_.names[8]="front_right";
this->sensor_data_ir_foot_data_msg_.names[9]="front_analog";
- this->node_handle_.getParam("dyn_serial",dyn_serial);
+ this->public_node_handle_.getParam("dyn_serial",dyn_serial);
this->driver_.set_dynamixel_device(dyn_serial);
- this->node_handle_.getParam("dyn_baudrate",dyn_baudrate);
+ this->public_node_handle_.getParam("dyn_baudrate",dyn_baudrate);
this->driver_.set_dynamixel_baudrate(dyn_baudrate);
- this->node_handle_.getParam("ir_foot_id",dev_id);
+ this->public_node_handle_.getParam("ir_foot_id",dev_id);
this->driver_.set_device_id(dev_id);
if(dyn_serial!="" && dyn_baudrate!=-1 && dev_id!=-1)
- this->sensor_data_publisher_ = this->node_handle_.advertise<humanoid_common_msgs::ir_foot_data>("sensor_data", 1);
+ this->sensor_data_publisher_ = this->public_node_handle_.advertise<humanoid_common_msgs::ir_foot_data>("sensor_data", 1);
else
this->sensor_data_publisher_ = this->public_node_handle_.advertise<humanoid_common_msgs::ir_foot_data>("sensor_data", 1);
}
@@ -119,7 +119,7 @@ IrFootSensorDriverNode::~IrFootSensorDriverNode(void)
/* main function */
int main(int argc,char *argv[])
{
- return driver_base::main<IrFootSensorDriverNode>(argc, argv, "ir_foot_sensor_driver_node");
+ return iri_base_driver::main<IrFootSensorDriverNode>(argc, argv, "ir_foot_sensor_driver_node");
}
#include <pluginlib/class_list_macros.h>
diff --git a/qr_detector/CMakeLists.txt b/qr_detector/CMakeLists.txt
index 61e8fea..56416ec 100644
--- a/qr_detector/CMakeLists.txt
+++ b/qr_detector/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(catkin REQUIRED COMPONENTS iri_base_driver humanoid_common_msgs geo
# Add system and labrobotica dependencies here
# ********************************************************************
find_package(detectqrcode REQUIRED)
-#find_package(OpenCV 2.4 REQUIRED)
+find_package(OpenCV REQUIRED)
# ********************************************************************
# Add topic, service and action definition here
@@ -78,7 +78,7 @@ catkin_package(
include_directories(include)
include_directories(${catkin_INCLUDE_DIRS})
include_directories(${detectqrcode_INCLUDE_DIR})
-#include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(${OpenCV_INCLUDE_DIRS})
## Declare a cpp library
# add_library(${PROJECT_NAME} <list of source files>)
@@ -91,7 +91,7 @@ add_executable(${PROJECT_NAME} src/qr_detector_driver.cpp src/qr_detector_driver
# ********************************************************************
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${detectqrcode_LIBRARY})
-#target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
# ********************************************************************
# Add message headers dependencies
@@ -100,6 +100,8 @@ target_link_libraries(${PROJECT_NAME} ${detectqrcode_LIBRARY})
add_dependencies(${PROJECT_NAME} humanoid_common_msgs_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} geometry_msgs_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} sensor_msgs_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 dynamic reconfigure dependencies
# ********************************************************************
diff --git a/qr_detector/cfg/QrDetector.cfg b/qr_detector/cfg/QrDetector.cfg
index 78d9702..1d2039b 100755
--- a/qr_detector/cfg/QrDetector.cfg
+++ b/qr_detector/cfg/QrDetector.cfg
@@ -33,7 +33,7 @@
PACKAGE='qr_detector'
-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/qr_detector/src/qr_detector_driver.cpp b/qr_detector/src/qr_detector_driver.cpp
index 93f8d5e..18882d1 100644
--- a/qr_detector/src/qr_detector_driver.cpp
+++ b/qr_detector/src/qr_detector_driver.cpp
@@ -57,13 +57,13 @@ void QrDetectorDriver::config_update(Config& new_cfg, uint32_t level)
// update driver with new_cfg data
switch(this->getState())
{
- case QrDetectorDriver::CLOSED:
+ case iri_base_driver::CLOSED:
break;
- case QrDetectorDriver::OPENED:
+ case iri_base_driver::OPENED:
break;
- case QrDetectorDriver::RUNNING:
+ case iri_base_driver::RUNNING:
break;
}
diff --git a/qr_detector/src/qr_detector_driver_node.cpp b/qr_detector/src/qr_detector_driver_node.cpp
index abfcb7f..70e6810 100644
--- a/qr_detector/src/qr_detector_driver_node.cpp
+++ b/qr_detector/src/qr_detector_driver_node.cpp
@@ -199,5 +199,5 @@ QrDetectorDriverNode::~QrDetectorDriverNode(void)
/* main function */
int main(int argc,char *argv[])
{
- return driver_base::main<QrDetectorDriverNode>(argc, argv, "qr_detector_driver_node");
+ return iri_base_driver::main<QrDetectorDriverNode>(argc, argv, "qr_detector_driver_node");
}
--
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