From ce1979ce4bd3eb3bb103ce38d3ed7b2bd7314232 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Fri, 14 Sep 2018 11:13:20 +0200
Subject: [PATCH] [wip/py-dynamic-graph-bridge-v3] Remove dependency in py
files.
---
py-dynamic-graph-bridge-v3/Makefile | 2 +-
py-dynamic-graph-bridge-v3/distinfo | 1 +
py-dynamic-graph-bridge-v3/patches/patch-ad | 70 +++++++++++++++++++++
3 files changed, 72 insertions(+), 1 deletion(-)
create mode 100644 py-dynamic-graph-bridge-v3/patches/patch-ad
diff --git a/py-dynamic-graph-bridge-v3/Makefile b/py-dynamic-graph-bridge-v3/Makefile
index 4ceb5bfc..456f6f08 100644
--- a/py-dynamic-graph-bridge-v3/Makefile
+++ b/py-dynamic-graph-bridge-v3/Makefile
@@ -4,7 +4,7 @@
ORG= stack-of-tasks
NAME= dynamic-graph-bridge
VERSION= 3.1.1
-PKGREVISION= 3
+PKGREVISION= 4
ROSNAME= $(subst -,_,${NAME})
DISTNAME= ${ROSNAME}-v3-${VERSION}
diff --git a/py-dynamic-graph-bridge-v3/distinfo b/py-dynamic-graph-bridge-v3/distinfo
index fab481a4..44ca8329 100644
--- a/py-dynamic-graph-bridge-v3/distinfo
+++ b/py-dynamic-graph-bridge-v3/distinfo
@@ -4,3 +4,4 @@ Size (dynamic_graph_bridge-v3-3.1.1.tar.gz) = 800685 bytes
SHA1 (patch-aa) = 7a38b6c1a5357c3934b44594a6f0fa501a9d1767
SHA1 (patch-ab) = 056fef5c516c28ff2fd64440229e405ed639e182
SHA1 (patch-ac) = 6f52e1b113cfa8ba2c6c156feeba76fbe53b1b1c
+SHA1 (patch-ad) = f1ca53fe2220bf26332f3739aa80646abe0f3b43
diff --git a/py-dynamic-graph-bridge-v3/patches/patch-ad b/py-dynamic-graph-bridge-v3/patches/patch-ad
new file mode 100644
index 00000000..43ebb757
--- /dev/null
+++ b/py-dynamic-graph-bridge-v3/patches/patch-ad
@@ -0,0 +1,70 @@
+--- src/dynamic_graph/ros/__init__.py
++++ src/dynamic_graph/ros/__init__.py
+@@ -1,34 +1,4 @@
+-from dynamic_graph.sot.dynamics_pinocchio import DynamicPinocchio
+ from ros_publish import RosPublish
+ from ros_subscribe import RosSubscribe
+-from ros_joint_state import RosJointState
+-
+ from ros import Ros
+
+-# aliases, for retro compatibility
+-from ros import RosPublish as RosImport
+-from ros import RosSubscribe as RosExport
+-
+-
+-class RosRobotModel(DynamicPinocchio):
+- def __init__(self, name):
+- DynamicPinocchio.__init__(self, name)
+- self.namespace = "sot_controller"
+- self.jointsParameterName_ = "jrl_map"
+-
+- def setJointsNamesParameter(self):
+- import rospy
+- if self.model is not None:
+- parameter_name = self.namespace + "/" + jointsParameterName_
+- jointsName = []
+- for i in xrange(self.model.njoints):
+- jointsName.append(self.model.names[i])
+- rospy.set_param(parameter_name,jointsName)
+- return
+-
+- def setNamespace(self, ns):
+- self.namespace = ns
+- return
+-
+- def curConf(self):
+- return self.position.value
+--- src/dynamic_graph/ros/ros.py
++++ src/dynamic_graph/ros/ros.py
+@@ -1,6 +1,5 @@
+ from ros_publish import RosPublish
+ from ros_subscribe import RosSubscribe
+-from ros_joint_state import RosJointState
+ from ros_time import RosTime
+
+ from dynamic_graph import plug
+@@ -9,7 +8,6 @@ class Ros(object):
+ device = None
+ rosPublish = None
+ rosSubscribe = None
+- rosJointState = None
+
+ # aliases, for retro compatibility
+ rosImport = None
+@@ -19,15 +17,10 @@ class Ros(object):
+ self.robot = robot
+ self.rosPublish = RosPublish('rosPublish{0}'.format(suffix))
+ self.rosSubscribe = RosSubscribe('rosSubscribe{0}'.format(suffix))
+- self.rosJointState = RosJointState('rosJointState{0}'.format(suffix))
+- self.rosJointState.retrieveJointNames(self.robot.dynamic.name)
+ self.rosTime = RosTime ('rosTime{0}'.format(suffix))
+
+- plug(self.robot.device.state, self.rosJointState.state)
+ self.robot.device.after.addSignal(
+ '{0}.trigger'.format(self.rosPublish.name))
+- self.robot.device.after.addSignal(
+- '{0}.trigger'.format(self.rosJointState.name))
+
+ # aliases, for retro compatibility
+ self.rosImport=self.rosPublish
--
GitLab