changed rtt code to new standards

* simplified directory names * factored out constraint_msgs * corrected header files accordingly
airballking · Nov 29, 2011 · 248591e · 248591e
1 parent 0374c1b
commit 248591e
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Showing 11 changed files with 55 additions and 22 deletions.
diff --git a/.hgignore b/.hgignore
@@ -14,10 +14,10 @@ cmake_install.cmake
 
 syntax: regexp
 msg\/_.*\.py
-rtt_ros_integration.*\/src
-rtt_ros_integration.*\/lib
-rtt_ros_integration.*\/include
-rtt_ros_integration.*rtt_ros_integration.*\.pc
+rtt_.*\/src
+rtt_.*\/lib
+rtt_.*\/include
+rtt_.*\/rtt_.*\.pc
 Deployer.ior
 orocos\.log
 \.tb_history
diff --git a/itasc/manifest.xml b/itasc/manifest.xml
@@ -17,14 +17,16 @@
 
   <depend package="eigen"/>
   <depend package="orocos_kdl"/>
-  <depend package="rtt_ros_integration_geometry_msgs"/>
+  <depend package="feature_constraints"/>
+  <depend package="rtt_geometry_msgs"/>
+  <depend package="rtt_constraint_msgs"/>
   <depend package="tf_conversions"/>
   <depend package="ocl"/>
   <depend package="rtt"/>
   <depend package="geometry_msgs" />
-  <depend package="rtt_ros_integration_std_msgs" />
-  <depend package="rtt_ros_integration_sensor_msgs" />
-  <depend package="rtt_ros_integration_motion_viz" />
+  <depend package="rtt_std_msgs" />
+  <depend package="rtt_sensor_msgs" />
+  <depend package="rtt_motion_viz" />
 
   <depend package="kdl_typekit" />
   <depend package="kdl_parser" />

diff --git a/itasc/src/CMakeLists.txt b/itasc/src/CMakeLists.txt
@@ -15,6 +15,7 @@ orocos_component(iTaSC_WDLSSolver WDLSVelocitySolver.cpp )
 #component_add_libs(iTaSC_WDLSSolver ${KDL_LIBS})
 
 orocos_component(feature_task FeatureTask.cpp)
+orocos_component(feature_task2 FeatureTask2.cpp)
 orocos_component(chain_task ChainTask.cpp)
 orocos_component(ros_robot ROSRobot.cpp)
 orocos_component(ros_object ROSObject.cpp)

diff --git a/itasc/src/ChainTask.hpp b/itasc/src/ChainTask.hpp
@@ -12,7 +12,7 @@
 #include <std_msgs/Int8.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/Twist.h>
-#include <motion_viz/ConstraintCommand.h>
+#include <constraint_msgs/ConstraintCommand.h>
 
 #include "SubTask.hpp"
 
@@ -61,7 +61,7 @@ class ChainTask
   // ROS communication
   RTT::OutputPort<std_msgs::Float64MultiArray> ros_chi_f_port;
   RTT::OutputPort<std_msgs::Float64MultiArray> ros_chi_f_desired_port;
-  RTT::InputPort<motion_viz::ConstraintCommand> ros_constraint_command_port;
+  RTT::InputPort<constraint_msgs::ConstraintCommand> ros_constraint_command_port;
   RTT::InputPort<std_msgs::Int8> ros_constraint_mode_port;
 
   RTT::OutputPort<geometry_msgs::PoseStamped> ros_chain_pose_port;
@@ -80,7 +80,7 @@ class ChainTask
 
   geometry_msgs::Twist ros_task_twist;
 
-  motion_viz::ConstraintCommand ros_constraint_command;
+  constraint_msgs::ConstraintCommand ros_constraint_command;
   std_msgs::Float64MultiArray ros_chi_f_command;
   std_msgs::Float64MultiArray ros_weight_command;
 

diff --git a/itasc/src/FeatureTask.hpp b/itasc/src/FeatureTask.hpp
@@ -12,8 +12,8 @@
 #include <std_msgs/Int8.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/Twist.h>
-#include <motion_viz/ConstraintCommand.h>
-#include <motion_viz/ConstraintState.h>
+#include <constraint_msgs/ConstraintCommand.h>
+#include <constraint_msgs/ConstraintState.h>
 #include <motion_viz/Jacobian.h>
 
 #include "SubTask.hpp"
@@ -54,10 +54,10 @@ class FeatureTask
   // ROS communication
   RTT::OutputPort<std_msgs::Float64MultiArray> ros_chi_f_port;
   RTT::OutputPort<std_msgs::Float64MultiArray> ros_chi_f_desired_port;
-  RTT::InputPort<motion_viz::ConstraintCommand> ros_constraint_command_port;
+  RTT::InputPort<constraint_msgs::ConstraintCommand> ros_constraint_command_port;
   RTT::InputPort<std_msgs::Int8> ros_constraint_mode_port;
   RTT::InputPort<std_msgs::Int8> ros_constraint_select_port;
-  RTT::OutputPort<motion_viz::ConstraintState> ros_constraint_state_port;
+  RTT::OutputPort<constraint_msgs::ConstraintState> ros_constraint_state_port;
 
   RTT::OutputPort<geometry_msgs::PoseStamped> ros_o1o2_pose_port;
 
@@ -78,8 +78,8 @@ class FeatureTask
   geometry_msgs::Twist ros_task_twist;
   motion_viz::Jacobian ros_task_jacobian;
 
-  motion_viz::ConstraintCommand ros_constraint_command;
-  motion_viz::ConstraintState ros_constraint_state;
+  constraint_msgs::ConstraintCommand ros_constraint_command;
+  constraint_msgs::ConstraintState ros_constraint_state;
   std_msgs::Float64MultiArray ros_chi_f_command;
   std_msgs::Float64MultiArray ros_weight_command;
 

diff --git a/rtt_constraint_msgs/CMakeLists.txt b/rtt_constraint_msgs/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+rosbuild_include(rtt_rosnode GenerateRTTtypekit)
+ros_generate_rtt_typekit(constraint_msgs)
+
diff --git a/rtt_ros_integration_motion_viz/Makefile → rtt_constraint_msgs/Makefile b/rtt_ros_integration_motion_viz/Makefile → rtt_constraint_msgs/Makefile
diff --git a/rtt_constraint_msgs/manifest.xml b/rtt_constraint_msgs/manifest.xml
@@ -0,0 +1,21 @@
+<package>
+  <description brief="rtt_constraint_msgs">
+
+    RTT typekits for constraint messages.
+
+  </description>
+  <author>Ingo Kresse [email protected]</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <depend package="rtt_rosnode"/>
+  <depend package="constraint_msgs"/>
+  <depend package="rtt_geometry_msgs"/>
+  <depend package="rtt_std_msgs"/>
+
+  <export>
+    <cpp cflags="-I${prefix}/include"/>
+  </export>
+
+
+</package>
+
diff --git a/...ros_integration_motion_viz/CMakeLists.txt → rtt_motion_viz/CMakeLists.txt b/...ros_integration_motion_viz/CMakeLists.txt → rtt_motion_viz/CMakeLists.txt
diff --git a/rtt_motion_viz/Makefile b/rtt_motion_viz/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
diff --git a/rtt_ros_integration_motion_viz/manifest.xml → rtt_motion_viz/manifest.xml b/rtt_ros_integration_motion_viz/manifest.xml → rtt_motion_viz/manifest.xml
@@ -1,17 +1,16 @@
 <package>
-  <description brief="rtt_ros_integration_std_msgs">
+  <description brief="rtt_motion_viz">
 
     Provides all rtt typekits for motion_viz
 
   </description>
   <author>Ingo Kresse [email protected]</author>
   <license>BSD</license>
   <review status="unreviewed" notes=""/>
-  <depend package="rtt_ros_integration"/>
-  <depend package="rtt_ros_integration_geometry_msgs"/>
-  <depend package="geometry_msgs"/>
+  <depend package="rtt_rosnode"/>
+  <depend package="rtt_geometry_msgs"/>
+  <depend package="rtt_std_msgs"/>
   <depend package="motion_viz"/>
-  <depend package="std_msgs"/>
   <depend package="roslib"/>
 
   <export>