Migrated the SegwayRMp200 package to the catkin framework.

CMakeLists.txt

-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(iri_segway_rmp200)
 
-set(PROJECT_NAME segway_rmp200_driver_node)
+## 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)
+find_package(catkin REQUIRED COMPONENTS iri_base_driver iri_segway_rmp_msgs geometry_msgs)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
 
-rosbuild_init()
+## 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()
 
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+################################################
+## Declare ROS messages, services and actions ##
+################################################
 
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
+## 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 and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * 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 ...)
 
-# added to include support for dynamic reconfiguration
-rosbuild_find_ros_package(dynamic_reconfigure)
-include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
-gencfg()
-# end dynamic reconfiguration
+## 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
+# )
+generate_dynamic_reconfigure_options(cfg/SegwayRMP200.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 
+  CATKIN_DEPENDS iri_base_driver iri_segway_rmp_msgs
+  DEPENDS iriutils comm segway_rmp200
+)
+
+###########
+## Build ##
+###########
 
 FIND_PACKAGE(iriutils REQUIRED)
 FIND_PACKAGE(comm REQUIRED)
 FIND_PACKAGE(segway_rmp_200 REQUIRED)
 
-INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR} ${comm_INCLUDE_DIR} ${segway_rmp_200_INCLUDE_DIR} ./include)
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+include_directories(${iriutils_INCLUDE_DIR})
+include_directories(${comm_INCLUDE_DIR})
+include_directories(${segway_rmp_200_INCLUDE_DIR})
+
+## Declare a cpp library
+# add_library(foo
+#   src/${PROJECT_NAME}/foo.cpp
+# )
+
+## Declare a cpp executable
+add_executable(${PROJECT_NAME} src/segway_rmp200_driver.cpp  src/segway_rmp200_driver_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(foo_node foo_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} iri_segway_rmp_msgs_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${iriutils_LIBRARY} ${comm_LIBRARY} ${segway_rmp_200_LIBRARY})
+
+#############
+## 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 foo foo_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 ##
+#############
 
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-rosbuild_add_executable(${PROJECT_NAME} src/segway_rmp200_driver.cpp src/segway_rmp200_driver_node.cpp)
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_foo.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
 
-target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARY} ${comm_LIBRARY} ${segway_rmp_200_LIBRARY})
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

Makefile

-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

cfg/segway_rmp200_driver_config.cfg → cfg/SegwayRMP200.cfg

@@ -32,10 +32,9 @@
 # Author: 
 
 PACKAGE='iri_segway_rmp200'
-import roslib; roslib.load_manifest(PACKAGE)
 
 from driver_base.msg import SensorLevels
-from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 

manifest.xml

-<package>
-  <description brief="iri_segway_rmp200">
-
-     iri_segway_rmp200
-
-  </description>
-  <author>IRI Lab</author>
-  <license>LGPL</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/iri_segway_rmp200</url>
-  <depend package="roscpp"/>
-  <depend package="iri_base_driver"/>
-  <depend package="geometry_msgs"/>
-  <depend package="iri_segway_rmp_msgs"/>
-
-  <!-- This is needed so RMP400 can use namespace functions -->
-  <export>
-      <cpp cflags="-I${prefix}/include"/>
-  </export>
-
-</package>

package.xml

+<?xml version="1.0"?>
+<package>
+  <name>iri_segway_rmp200</name>
+  <version>1.0.0</version>
+  <description>Segway RMP200 driver ROS wrapper</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <maintainer email="shernand@iri.upc.edu">Sergi Hernandez</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 mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <url type="website">http://wiki.ros.org/iri_segway_rmp200</url>
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <author email="shernand@iri.upc.edu">Sergi Hernandez</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>iri_base_driver</build_depend>
+  <build_depend>iri_segway_rmp_msgs</build_depend>
+  <build_depend>geometry_msgs</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>iri_base_driver</run_depend>
+  <run_depend>iri_segway_rmp_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!--<metapackage/>-->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>