Initial commit.

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(pioneer_module)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+add_definitions(-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 roscpp dynamic_reconfigure iri_ros_tools)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+find_package(iriutils REQUIRED)
+
+## 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 run_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 run_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 run_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/PioneerModule.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 you 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 pioneer_module
+ CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools 
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+include_directories(${iriutils_INCLUDE_DIR})
+
+## Declare a C++ library
+add_library(pioneer_module
+  src/pioneer_module.cpp
+)
+
+target_link_libraries(pioneer_module ${catkin_LIBRARIES})
+target_link_libraries(pioneer_module ${iriutils_LIBRARY})
+##Link to other modules
+##target_link_libraries(new_module <module path>/lib<module_name>.so)
+
+## 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(pioneer_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+## Add dependencies to other modules
+##add_dependencies(new_module <module_name>)
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/humanoid_modules_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_humanoid_modules.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)

cfg/PioneerModule.cfg

+#! /usr/bin/env python
+#*  All rights reserved.
+#*
+#*  Redistribution and use in source and binary forms, with or without
+#*  modification, are permitted provided that the following conditions
+#*  are met:
+#*
+#*   * Redistributions of source code must retain the above copyright
+#*     notice, this list of conditions and the following disclaimer.
+#*   * Redistributions in binary form must reproduce the above
+#*     copyright notice, this list of conditions and the following
+#*     disclaimer in the documentation and/or other materials provided
+#*     with the distribution.
+#*   * Neither the name of the Willow Garage nor the names of its
+#*     contributors may be used to endorse or promote products derived
+#*     from this software without specific prior written permission.
+#*
+#*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#*  POSSIBILITY OF SUCH DAMAGE.
+#***********************************************************
+
+# Author:
+
+PACKAGE='pioneer_module'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+motion_action = gen.add_group("Pioneer action")
+
+#       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
+gen.add("rate_hz",                 double_t,  0,                               "Pioneer module rate in Hz",       1.0,      1.0,  100.0)
+
+exit(gen.generate(PACKAGE, "PioneerModuleAlgorithm", "PioneerModule"))

include/pioneer_module/pioneer_module.h

+#ifndef _PIONEER_MODULE_H
+#define _PIONEER_MODULE_H
+
+#include <iri_ros_tools/module.h>
+#include <iri_ros_tools/module_service.h>
+#include <iri_ros_tools/module_dyn_reconf.h>
+
+#include <pioneer_module/PioneerModuleConfig.h>
+
+//topic
+//Service
+//Action
+
+//States
+
+//Status
+typedef enum {PIONEER_MODULE_RUNNING,
+              PIONEER_MODULE_SUCCESS,
+              PIONEER_MODULE_ACTION_START_FAIL,
+              PIONEER_MODULE_TIMEOUT,
+              PIONEER_MODULE_FB_WATCHDOG,
+              PIONEER_MODULE_ABORTED,
+              PIONEER_MODULE_PREEMPTED,
+              PIONEER_MODULE_REJECTED,
+              PIONEER_MODULE_FAILED_GRASP} pioneer_module_status_t;
+
+class CPioneerModule : public CModule<pioneer_module::PioneerModuleConfig>
+{
+  private:
+
+    pioneer_module::PioneerModuleConfig config;
+
+    /****************Services*****************/
+    //Service grasp
+    /****************Services*****************/
+
+    /****************Actions*****************/
+    /****************Actions*****************/
+
+    //Variables
+    pioneer_module_status_t status;
+
+  protected:
+    void state_machine(void);
+    void reconfigure_callback(pioneer_module::PioneerModuleConfig &config, uint32_t level);
+
+  public:
+    CPioneerModule(const std::string &name,const std::string &name_space=std::string(""));
+
+    pioneer_module_status_t get_status(void);
+
+    ~CPioneerModule();
+  };
+
+  #endif

package.xml

+<?xml version="1.0"?>
+<package>
+  <name>pioneer_module</name>
+  <version>0.0.0</version>
+  <description>Module pioneer_module package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="labrobotica@iri.upc.edu">labrobotica</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>LGPL</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/humanoid_modules</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <author email="shernand@iri.upc.edu">Sergi Hernandez Juan</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>iri_ros_tools</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <!-- new dependencies -->
+  <!--<build_depend>new build dependency</build_depend>-->
+  <run_depend>iri_ros_tools</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+  <!-- new dependencies -->
+  <!--<run_depend>new run dependency</run_depend>-->
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/pioneer_module.cpp

+#include <pioneer_module/pioneer_module.h>
+
+CPioneerModule::CPioneerModule(const std::string &name,const std::string &name_space) : CModule(name,name_space)
+  //SERVICES
+//  grasp_service("grasp",this->module_nh.getNamespace()),
+{
+
+  this->start_operation();
+  /****************Topics*****************/
+
+  /****************Actions******************/
+  this->status=PIONEER_MODULE_SUCCESS;
+}
+
+/* State machine */
+void CPioneerModule::state_machine(void)
+{
+}
+
+void CPioneerModule::reconfigure_callback(pioneer_module::PioneerModuleConfig &config, uint32_t level)
+{
+  ROS_INFO("CPioneerModule : reconfigure callback");
+  this->lock();
+  this->config=config;
+  /* set the module rate */
+  this->set_rate(config.rate_hz);
+  this->unlock();
+}
+
+pioneer_module_status_t CPioneerModule::get_status(void)
+{
+  return this->status;
+}
+
+CPioneerModule::~CPioneerModule()
+{
+}