Merge pull request #11 from SharedAutonomyToolkit/lel-feature-ork-act…

…ionlib-server Lel feature ork actionlib server
SharedAutonomyToolkit · Dec 11, 2013 · 832362a · 832362a
2 parents 0637f11 + 45ac289
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diff --git a/ork_tabletop_actionlib_server/CMakeLists.txt b/ork_tabletop_actionlib_server/CMakeLists.txt
@@ -0,0 +1,174 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ork_tabletop_actionlib_server)
+
+## 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
+  actionlib
+  rospy
+  actionlib_msgs
+  object_recognition_msgs
+  visualization_msgs
+  sensor_msgs
+  geometry_msgs
+  tf
+  actionlib_msgs
+  shared_autonomy_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(
+#   DIRECTORY action
+#   FILES
+#   tabletop.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+#generate_messages(
+#  DEPENDENCIES
+#  actionlib_msgs object_recognition_msgs sensor_msgs geometry_msgs visualization_msgs actionlib shared_autonomy_msgs# Or other packages containing 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 ork_tabletop_actionlib_server
+  CATKIN_DEPENDS actionlib_msgs object_recognition_msgs sensor_msgs geometry_msgs visualization_msgs actionlib shared_autonomy_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(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(ork_tabletop_actionlib_server
+#   src/${PROJECT_NAME}/ork_tabletop_actionlib_server.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(ork_tabletop_actionlib_server_node src/ork_tabletop_actionlib_server_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(ork_tabletop_actionlib_server_node ork_tabletop_actionlib_server_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(ork_tabletop_actionlib_server_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 ork_tabletop_actionlib_server ork_tabletop_actionlib_server_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_ork_tabletop_actionlib_server.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)
+# install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/ork_tabletop_actionlib_server/msg
+#   DESTINATION ${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/ork_tabletop_actionlib_server)
+# install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/${PYTHON_INSTALL_DIR}/ork_tabletop_actionlib_server/action
+#   DESTINATION ${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/ork_tabletop_actionlib_server)
diff --git a/ork_tabletop_actionlib_server/README.md b/ork_tabletop_actionlib_server/README.md
@@ -0,0 +1,31 @@
+Steps to test this package:
+
+### Setup 
+
+Install ORK:
+
+  * mkdir catkin_hydro && cd catkin_hydro
+  * wstool init src https://raw.github.com/wg-perception/object_recognition_core/master/doc/source/ork.rosinstall
+  * cd src && wstool update -j8
+  * cd .. && rosdep install --from-paths src -i -y
+
+Install shared_autonomy_perception:
+
+  * `git clone [email protected]:SharedAutonomyToolkit/shared_autonomy_perception.git -b feature_ork_actionlib_server`
+
+Patch ORK:
+
+  * source catkin_hydro/devel/setup.bash
+  * roscd object_recognition_tabletop
+  * patch -p1 -i \`rospack find ork_tabletop_actionlib_server\`/patch/clusters.patch
+  * cd catkin_hydro
+  * catkin_make
+
+### Execution:
+
+  * robot_term1: `roslaunch /etc/ros/robot.launch`
+  * robot_term2: rosrun object_recognition_core detection -c \`rospack find object_recognition_tabletop\`/conf/detection.object.ros.ork
+  * robot_term3: `roslaunch shared_autonomy_launch openni_segmentation.launch`
+  * robot_term4: `rosrun ork_tabletop_actionlib_server ork_tabletop_actionlib_server.py`
+  * robot_term5: `rosrun ork_tabletop_actionlib_server test_client.py`
+
diff --git a/ork_tabletop_actionlib_server/package.xml b/ork_tabletop_actionlib_server/package.xml
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<package>
+  <name>ork_tabletop_actionlib_server</name>
+  <version>0.0.0</version>
+  <description>The ork_tabletop_actionlib_server package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">dejan</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>TODO</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://ros.org/wiki/ork_tabletop_actionlib_server</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</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>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>object_recognition_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>shared_autonomy_msgs</build_depend>
+  <run_depend>actionlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>object_recognition_msgs</run_depend>
+  <run_depend>visualization_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>shared_autonomy_msgs</run_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>