From fb21c340b70dbd7b6636aad55f6728586b1c9abc Mon Sep 17 00:00:00 2001
From: Aurelie Clodic <aurelie.clodic@gmail.com>
Date: Mon, 16 Dec 2013 07:43:13 +0100
Subject: [PATCH] [wip/dynamic-graph-bridge] Release 1.0.0
robotpkg:
- dynamic-graph-bridge is intended to stay on wip since it depends of realtimetools which is a hydro package managed here as an groovy one (robotpkg does not handle hydro yet)
- patch-aa has been added because realtime_tools is not handle as a catkin package in robotpkg
- patch-ab has been added because for standalone use, libros_bridge need to be installed
Release 1.0.0
-------------
* Install executables.
* Synchronize cmake submodule.
* Synchronize cmake submodule.
* Create files in binary directory instead of source directory.
* Synchronize cmake submodule.
* Add a script to publish JointState to TF
* Add documentation.
* Call rosInit in command loadUrdf.
* Add missing dependency to jrl-dynamics-urdf.
* Merge branch 'groovy'
* Merge pull request #15 from bcoudrin/groovy
* Merge pull request #14 from nemogiftsun/master
* Merge remote-tracking branch 'origin/groovy' into groovy
* Modify RosRobotModel to derive from sot::Dynamic
* catkin_migration
* Merge pull request #13 from nemogiftsun/master
* fixed this error:floating-point literal cannot appear in a constant-expression
* added ignore for temp files *~
* Rename ros_import into ros_publish, and ros_export into ros_subscribe.
* Rename ros_import into ros_publish, and ros_export into ros_subscribe.
* Call RosShell runcode instead of parent class
* Fixes #5
* Fixes #4
* add support for unsigned int values import/export (close #2)
* add support for unsigned int values import/export (close #2)
* Disable non-standard dependencies for now.
* Look for Bullet as a system dependency
* Remove dependency to Bullet
* Correct link with boost.
* Add the internal dependencies between the projects.
* Make sure interpreter is started before advertizing run_command service.
* Fix bug in computing the parallel joint state.
* Handle parallel joints.
* Publish joint-states using the SoT
* Add a loader to test with rviz the SoT architecture.
* Update lib installation path (multiarch portability).
* Synchronize.
* Fix a pb for inclusion of ROS & python interpreter in ART OpenRTM.
* Correct the dependencies' flags handling.
* Synchronize.
* Adapt ros_interpreter to handle error messages in prologue.
* Print warning regarding install target using CMake.
* Add documentation for RosTime, RosExport and RosImport entity classes.
* Add joint limits in RosRobotModel.
* Add zmp, com, Jcom computation.
* Update to match new jrl_dynamics_urdf API.
* Update documentation.
* Add prefix to joint_states topic.
* Rename dgbridge-remote to a more decent name.
* Remove default data broadcasting.
* Use boost::posix_time::ptime to convey time between Ros and dynamic-graph.
* Do not assert when plugging a vector which is too small.
* Force rpath for all targets.
* Add missing library in exported lflags.
* Add RosRobotModel entity.
* Add missing dependency.
* Read the joint names in the robot model to fill the joint_states message.
* Document class RosExport and implement method list.
* Fix RosImport entity documentation.
* Document class RosImport and implement method list.
* Fix webpage in manifest.xml.
* Do not remove rpath at install.
* Preserve rpath when instaling libros_bridge.so.
* Fix installation rules.
* Fix signed/unsigned comparison warning.
* Synchronize.
* Fix exported rpath in manifest.xml.
* Fix typo in CMakeLists.txt.
* Fix several compilation and installation issues
* Synchronize cmake submodule
* Improve spinner management.
* Add runCommand method to interpreter.
* Implement RunCommand service.
* Add tf_publisher.
* Pull tf_broadcaster outside of the build directory.
* Add support for robot hands,
* Fix type name.
* Create build subdirectories properly.
* Publish plan_left_ankle to tf.
* Make rosInit callable from outside.
* Update dependencies.
* Add tf_broadcaster.
* Fix joint state publisher.
* Fix topic name.
* Add support for vector3 and add tf_broadcaster.
* Add missing files.
* Share node handle between modules.
* Fix signal type in RosImport.
* Add Twist support and clean code.
* Add Boost dependency.
* Add support for additional types in RosImport.
* Make sure we do not publish faster than 100hz.
* Switch to realtime publisher.
* Fix comment.
* Add Ros joint state entity.
* Fix Ros import class.
* Teach root level make about the install target.
* Fix RosExport destructor.
* Fix Python installation.
* Handle timestamped types (TransformStamped).
* Add matrix homogeneous support.
* Update to new dynamic-graph.
* Fix naming.
* Fix manifest now that dynamic graph has its own stack.
* Fix implementation.
* Add README file.
* Add rosinstall file.
* Clean and implement export entity.
* Add export node.
* Make sure ros::init is called before creating the node handle.
* Bind vector and matrix MAL types.
* Clean RosImport class.
* Start implementing dynamic-graph signal export into ROS.
* Initial commit.
---
Makefile | 1 +
dynamic-graph-bridge/DESCR | 1 +
dynamic-graph-bridge/Makefile | 42 ++++++
dynamic-graph-bridge/PLIST | 178 ++++++++++++++++++++++++++
dynamic-graph-bridge/depend.mk | 38 ++++++
dynamic-graph-bridge/distinfo | 5 +
dynamic-graph-bridge/patches/patch-aa | 15 +++
dynamic-graph-bridge/patches/patch-ab | 15 +++
8 files changed, 295 insertions(+)
create mode 100644 dynamic-graph-bridge/DESCR
create mode 100755 dynamic-graph-bridge/Makefile
create mode 100644 dynamic-graph-bridge/PLIST
create mode 100755 dynamic-graph-bridge/depend.mk
create mode 100644 dynamic-graph-bridge/distinfo
create mode 100644 dynamic-graph-bridge/patches/patch-aa
create mode 100644 dynamic-graph-bridge/patches/patch-ab
diff --git a/Makefile b/Makefile
index 1679d562..c03dab26 100644
--- a/Makefile
+++ b/Makefile
@@ -12,6 +12,7 @@ SUBDIR+= chilitags
SUBDIR+= clara
SUBDIR+= daqflex-libs
SUBDIR+= demo-genom3
+SUBDIR+= dynamic-graph-bridge
SUBDIR+= gdalwrap
SUBDIR+= genom3
SUBDIR+= genom3-openprs
diff --git a/dynamic-graph-bridge/DESCR b/dynamic-graph-bridge/DESCR
new file mode 100644
index 00000000..1da5459e
--- /dev/null
+++ b/dynamic-graph-bridge/DESCR
@@ -0,0 +1 @@
+This ROS package binds together the ROS framework with the dynamic-graph real-time control architecture.
diff --git a/dynamic-graph-bridge/Makefile b/dynamic-graph-bridge/Makefile
new file mode 100755
index 00000000..387e8645
--- /dev/null
+++ b/dynamic-graph-bridge/Makefile
@@ -0,0 +1,42 @@
+# robotpkg Makefile for: motion/dynamic-graph-bridge
+#
+
+DISTNAME= dynamic_graph_bridge-${VERSION}
+VERSION= 1.0.0
+
+CATEGORIES= motion
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=dynamic-graph-bridge/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}stack-of-tasks/dynamic_graph_bridge/
+
+COMMENT= This ROS package binds together the ROS framework with the dynamic-graph real-time control architecture.
+LICENSE= gnu-lgpl-v3
+MAINTAINER= hpp@laas.fr
+
+DYNAMIC_PLIST_DIRS+= share/doc/dynamic-graph-bridge
+
+# disable -Werror because of x86_64 warnings (must be fixed upstream) and
+# boost + gcc that don't cohabit well depending on their respective versions
+CMAKE_ARGS+= -DCXX_DISABLE_WERROR=yes
+
+# man pages location
+CMAKE_ARGS+= -DMANDIR=${PREFIX}/${PKGMANDIR}
+# library location
+CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
+
+include ../../wip/ros-realtime-tools/depend.mk
+include ../../simulation/bullet/depend.mk
+include ../../interfaces/jrl-mal/depend.mk
+include ../../motion/dynamic-graph/depend.mk
+include ../../motion/py-dynamic-graph/depend.mk
+include ../../motion/sot-core/depend.mk
+include ../../motion/sot-dynamic/depend.mk
+include ../../wip/jrl-dynamics-urdf/depend.mk
+include ../../interfaces/jrl-mal/depend.mk
+include ../../simulation/bullet/depend.mk
+include ../../devel/ros-roscpp-core/depend.mk
+include ../../devel/ros-catkin/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
\ No newline at end of file
diff --git a/dynamic-graph-bridge/PLIST b/dynamic-graph-bridge/PLIST
new file mode 100644
index 00000000..c860da8c
--- /dev/null
+++ b/dynamic-graph-bridge/PLIST
@@ -0,0 +1,178 @@
+@comment Mon Dec 16 07:13:27 CET 2013
+include/dynamic_graph_bridge/Matrix.h
+include/dynamic_graph_bridge/RunCommand.h
+include/dynamic_graph_bridge/RunCommandRequest.h
+include/dynamic_graph_bridge/RunCommandResponse.h
+include/dynamic_graph_bridge/Vector.h
+include/dynamic_graph_bridge/config.h
+include/dynamic_graph_bridge/config.hh
+include/dynamic_graph_bridge/deprecated.hh
+include/dynamic_graph_bridge/ros_init.hh
+include/dynamic_graph_bridge/ros_interpreter.hh
+include/dynamic_graph_bridge/warning.hh
+lib/dynamic_graph_bridge/robot_pose_publisher
+lib/dynamic_graph_bridge/run_command
+lib/dynamic_graph_bridge/tf_publisher
+lib/librobot_model.so
+lib/libros_bridge.so
+lib/libros_interpreter.so
+lib/libros_joint_state.so
+lib/libros_publish.so
+lib/libros_subscribe.so
+lib/libros_time.so
+lib/pkgconfig/dynamic_graph_bridge.pc
+${PYTHON_SITELIB}/dynamic_graph/ros/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/ros/ros.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_publish/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_publish/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/wrap.so
+${PYTHON_SITELIB}/dynamic_graph_bridge/__init__.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/msg/_Matrix.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/msg/_Vector.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/msg/__init__.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/srv/_RunCommand.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/srv/__init__.py
+share/common-lisp/ros/dynamic_graph_bridge/msg/Matrix.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/Vector.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/_package.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/_package_Matrix.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/_package_Vector.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/dynamic_graph_bridge-msg.asd
+share/common-lisp/ros/dynamic_graph_bridge/srv/RunCommand.lisp
+share/common-lisp/ros/dynamic_graph_bridge/srv/_package.lisp
+share/common-lisp/ros/dynamic_graph_bridge/srv/_package_RunCommand.lisp
+share/common-lisp/ros/dynamic_graph_bridge/srv/dynamic_graph_bridge-srv.asd
+share/doc/dynamic_graph_bridge/doxygen-html/a00001.html
+share/doc/dynamic_graph_bridge/doxygen-html/a00001.js
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+share/dynamic_graph_bridge/cmake/dynamic_graph_bridge-msg-extras.cmake
+share/dynamic_graph_bridge/cmake/dynamic_graph_bridge-msg-paths.cmake
+share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig-version.cmake
+share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig.cmake
+share/dynamic_graph_bridge/msg/Matrix.msg
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diff --git a/dynamic-graph-bridge/depend.mk b/dynamic-graph-bridge/depend.mk
new file mode 100755
index 00000000..1a1f6b4a
--- /dev/null
+++ b/dynamic-graph-bridge/depend.mk
@@ -0,0 +1,38 @@
+# robotpkg depend.mk for: devel/ros-realtime-tools
+# Created: Aurelie Clodic on Thu, 28 Nov 2013
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK:= ${ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= dynamic-graph-bridge
+endif
+
+ifeq (+,$(ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK)) # --------------------------------------
+
+PREFER.dynamic-graph-bridge?= ${PREFER.ros-base}
+SYSTEM_PREFIX.dynamic-graph-bridge?= ${SYSTEM_PREFIX.ros-base}
+
+DEPEND_USE+= dynamic-graph-bridge
+ROS_DEPEND_USE+= dynamic-graph-bridge
+
+DEPEND_ABI.ros+= ros>=groovy
+
+DEPEND_ABI.dynamic-graph-bridge?= dynamic-graph-bridge>=1.0.0
+DEPEND_DIR.dynamic-graph-bridge?= ../../motion/dynamic-graph-bridge
+
+DEPEND_ABI.dynamic-graph-bridge.groovy?= dynamic-graph-bridge>=1.0.0
+DEPEND_ABI.dynamic-graph-bridge.hydro?= dynamic-graph-bridge>=1.0.0
+
+SYSTEM_SEARCH.dynamic-graph-bridge=\
+ 'include/dynamic_graph_bridge/Matrix.h'\
+ 'share/realtime_tools/${ROS_STACKAGE}'\
+ 'lib/pkgconfig/dynamic_graph_bridge.pc'\
+ 'lib/librobot_model.so'\
+ 'lib/dynamic_graph_bridge/robot_pose_publisher'\
+ '${PYTHON_SITELIB}/dynamic_graph/ros/ros.py'
+
+endif # ROS_REALTIMETOOLS_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/dynamic-graph-bridge/distinfo b/dynamic-graph-bridge/distinfo
new file mode 100644
index 00000000..1b603130
--- /dev/null
+++ b/dynamic-graph-bridge/distinfo
@@ -0,0 +1,5 @@
+SHA1 (dynamic_graph_bridge-1.0.0.tar.gz) = 644116a81529fdd606db567e8de3e5739a96eef9
+RMD160 (dynamic_graph_bridge-1.0.0.tar.gz) = 9c55c95353479bda4b5e3cde79790c18788499a9
+Size (dynamic_graph_bridge-1.0.0.tar.gz) = 101838 bytes
+SHA1 (patch-aa) = 9b131ca3ce53dc8bbe54aa94cd301ddb45d49897
+SHA1 (patch-ab) = acf1b743f11302c2123a49febbe48c4e53be3ef4
diff --git a/dynamic-graph-bridge/patches/patch-aa b/dynamic-graph-bridge/patches/patch-aa
new file mode 100644
index 00000000..d56ce52b
--- /dev/null
+++ b/dynamic-graph-bridge/patches/patch-aa
@@ -0,0 +1,15 @@
+in robotpkg, realtime_tools is not installed as a catkin package
+
+
+--- CMakeLists.txt~ 2013-12-02 15:54:49.000000000 +0100
++++ CMakeLists.txt 2013-12-15 07:48:25.678062000 +0100
+@@ -21,7 +21,8 @@
+
+ project(dynamic_graph_bridge)
+
+-find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf realtime_tools)
++find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf)
++find_package(realtime_tools)
+ find_package(Boost REQUIRED COMPONENTS program_options)
+
+ add_message_files(FILES Matrix.msg Vector.msg)
diff --git a/dynamic-graph-bridge/patches/patch-ab b/dynamic-graph-bridge/patches/patch-ab
new file mode 100644
index 00000000..d1b17ffe
--- /dev/null
+++ b/dynamic-graph-bridge/patches/patch-ab
@@ -0,0 +1,15 @@
+add libros_bridge installation to allow standalone use
+
+--- CMakeLists.txt2 2013-12-19 08:36:09.598413000 +0100
++++ CMakeLists.txt 2013-12-19 08:36:33.642277000 +0100
+@@ -79,9 +79,9 @@
+ include/dynamic_graph_bridge/ros_init.hh src/ros_init.cpp
+ src/sot_to_ros.hh src/sot_to_ros.cpp
+ )
+-
+ pkg_config_use_dependency(ros_bridge jrl-mal)
+ pkg_config_use_dependency(ros_bridge bullet)
++install(TARGETS ros_bridge DESTINATION lib)
+
+ # Make sure rpath are preserved during the install as ROS dependencies
+ # are not installed.
--
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