Initial commit for the arm module. Implemented the joint planning.

CMakeLists.txt

@@ -93,6 +93,7 @@ generate_dynamic_reconfigure_options(
   cfg/HeadModule.cfg
   cfg/NavModule.cfg
   cfg/TTSModule.cfg
+  cfg/ArmModule.cfg
 )
 
 ###################################
@@ -227,6 +228,21 @@ target_link_libraries(tts_module ${iriutils_LIBRARY})
 ## either from message generation or dynamic reconfigure
 add_dependencies(tts_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
+## Declare a C++ library
+add_library(arm_module
+  src/arm_module.cpp
+)
+
+target_link_libraries(arm_module ${catkin_LIBRARIES})
+target_link_libraries(arm_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(arm_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
 ## 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

package.xml

@@ -53,6 +53,7 @@
   <build_depend>pal_navigation_msgs</build_depend>
   <build_depend>pal_waypoint_msgs</build_depend>
   <build_depend>pal_interaction_msgs</build_depend>
+  <build_depend>moveit_msgs</build_depend>
   <build_depend>tf</build_depend>
   <!-- new dependencies -->
   <!--<build_depend>new build dependency</build_depend>-->
@@ -69,6 +70,7 @@
   <run_depend>pal_navigation_msgs</run_depend>
   <run_depend>pal_waypoint_msgs</run_depend>
   <run_depend>pal_interaction_msgs</run_depend>
+  <run_depend>moveit_msgs</run_depend>
   <run_depend>tf</run_depend>
   <!-- new dependencies -->
   <!--<run_depend>new run dependency</run_depend>-->