From 28013b21eaeee582d700a2fde396ffffbfe203b3 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 5 Oct 2014 10:43:41 +0200 Subject: [PATCH] Initial commit --- CMakeLists.txt | 164 ++++++++++++++++++++++++++++++++++++ arm.launch | 16 ++++ package.xml | 61 ++++++++++++++ urdf/arm.urdf | 222 +++++++++++++++++++++++++++++++++++++++++++++++++ 4 files changed, 463 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 arm.launch create mode 100644 package.xml create mode 100644 urdf/arm.urdf diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..fc66819 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,164 @@ +cmake_minimum_required(VERSION 2.8.3) +project(arm) + +## 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 + geometry_msgs + rospy + sensor_msgs + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## 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 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 ...) + +## 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 +# geometry_msgs# sensor_msgs# std_msgs +# ) + +################################### +## 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 arm +# CATKIN_DEPENDS geometry_msgs rospy sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(arm +# src/${PROJECT_NAME}/arm.cpp +# ) + +## Declare a cpp executable +# add_executable(arm_node src/arm_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(arm_node arm_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(arm_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 arm arm_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_arm.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) diff --git a/arm.launch b/arm.launch new file mode 100644 index 0000000..3c1d8fc --- /dev/null +++ b/arm.launch @@ -0,0 +1,16 @@ + + + + + + + + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..dbc5897 --- /dev/null +++ b/package.xml @@ -0,0 +1,61 @@ + + + arm + 0.0.0 + The arm package + + + + + erik + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + rospy + sensor_msgs + std_msgs + geometry_msgs + rospy + sensor_msgs + std_msgs + + + + + + + + + + + \ No newline at end of file diff --git a/urdf/arm.urdf b/urdf/arm.urdf new file mode 100644 index 0000000..24a577b --- /dev/null +++ b/urdf/arm.urdf @@ -0,0 +1,222 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -- 2.39.2