Commit d4373dc4 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Fix namespace problems for compiling.

parent c70cd3dc
......@@ -35,7 +35,7 @@
#define ODEBUG4FULL(x)
#define ODEBUG4(x)
using namespace hardware_interface;
using namespace talos_hardware_interface;
using namespace rc_sot_system;
namespace talos_sot_controller
......@@ -67,7 +67,7 @@ namespace talos_sot_controller
}
bool RCSotController::
initRequest (hardware_interface::RobotHW * robot_hw,
initRequest (talos_hardware_interface::RobotHW * robot_hw,
ros::NodeHandle &robot_nh,
ros::NodeHandle &controller_nh,
std::set<std::string> & claimed_resources)
......@@ -87,7 +87,7 @@ namespace talos_sot_controller
}
bool RCSotController::
initInterfaces(hardware_interface::RobotHW * robot_hw,
initInterfaces(talos_hardware_interface::RobotHW * robot_hw,
ros::NodeHandle &,
ros::NodeHandle &,
std::set<std::string> & claimed_resources)
......@@ -103,7 +103,7 @@ namespace talos_sot_controller
if (! pos_iface_)
{
ROS_ERROR("This controller requires a hardware interface of type '%s'."
" Make sure this is registered in the hardware_interface::RobotHW class.",
" Make sure this is registered in the talos_hardware_interface::RobotHW class.",
getHardwareInterfaceType().c_str());
return false ;
}
......@@ -113,7 +113,7 @@ namespace talos_sot_controller
if (! effort_iface_)
{
ROS_ERROR("This controller requires a hardware interface of type '%s'."
" Make sure this is registered in the hardware_interface::RobotHW class.",
" Make sure this is registered in the talos_hardware_interface::RobotHW class.",
getHardwareInterfaceType().c_str());
return false ;
}
......@@ -123,7 +123,7 @@ namespace talos_sot_controller
if (! ft_iface_ )
{
ROS_ERROR("This controller requires a hardware interface of type '%s '. "
" Make sure this is registered inthe hardware_interface::RobotHW class.",
" Make sure this is registered inthe talos_hardware_interface::RobotHW class.",
internal :: demangledTypeName<ForceTorqueSensorInterface>().c_str());
return false ;
}
......@@ -132,7 +132,7 @@ namespace talos_sot_controller
if (! imu_iface_)
{
ROS_ERROR("This controller requires a hardware interface of type '%s'."
" Make sure this is registered in the hardware_interface::RobotHW class.",
" Make sure this is registered in the talos_hardware_interface::RobotHW class.",
internal :: demangledTypeName<ImuSensorInterface>().c_str());
return false ;
}
......@@ -145,7 +145,7 @@ namespace talos_sot_controller
if (!act_temp_iface_)
{
ROS_ERROR("This controller requires a hardware interface of type '%s'."
" Make sure this is registered in the hardware_interface::RobotHW class.",
" Make sure this is registered in the talos_hardware_interface::RobotHW class.",
internal :: demangledTypeName<ActuatorTemperatureSensorInterface>().c_str());
return false ;
}
......@@ -662,10 +662,10 @@ namespace talos_sot_controller
getHardwareInterfaceType() const
{
//return type_name_;
return hardware_interface::internal::demangledTypeName<hardware_interface::PositionJointInterface>();
return talos_hardware_interface::internal::demangledTypeName<talos_hardware_interface::PositionJointInterface>();
}
PLUGINLIB_EXPORT_CLASS(talos_sot_controller::RCSotController,
controller_interface::ControllerBase);
talos_controller_interface::ControllerBase);
}
......@@ -53,7 +53,7 @@ namespace talos_sot_controller
This class encapsulates the Stack of Tasks inside the ros-control infra-structure.
*/
class RCSotController : public controller_interface::ControllerBase,
class RCSotController : public talos_controller_interface::ControllerBase,
SotLoaderBasic
{
......@@ -68,33 +68,33 @@ namespace talos_sot_controller
/// @{ \name Ros-control related fields
/// \brief Vector of joint handles.
std::vector<hardware_interface::JointHandle> joints_;
std::vector<talos_hardware_interface::JointHandle> joints_;
std::vector<std::string> joints_name_;
/// \brief Vector towards the IMU.
std::vector<hardware_interface::ImuSensorHandle> imu_sensor_;
std::vector<talos_hardware_interface::ImuSensorHandle> imu_sensor_;
/// \brief Vector of 6D force sensor.
std::vector<hardware_interface::ForceTorqueSensorHandle> ft_sensors_;
std::vector<talos_hardware_interface::ForceTorqueSensorHandle> ft_sensors_;
/// \brief Vector of temperature sensors for the actuators.
std::vector<hardware_interface::ActuatorTemperatureSensorHandle>
std::vector<talos_hardware_interface::ActuatorTemperatureSensorHandle>
act_temp_sensors_;
/// \brief Interface to the joints controlled in position.
hardware_interface::PositionJointInterface * pos_iface_;
talos_hardware_interface::PositionJointInterface * pos_iface_;
/// \brief Interface to the joints controlled in force.
hardware_interface::EffortJointInterface * effort_iface_;
talos_hardware_interface::EffortJointInterface * effort_iface_;
/// \brief Interface to the sensors (IMU).
hardware_interface::ImuSensorInterface* imu_iface_;
talos_hardware_interface::ImuSensorInterface* imu_iface_;
/// \brief Interface to the sensors (Force).
hardware_interface::ForceTorqueSensorInterface* ft_iface_;
talos_hardware_interface::ForceTorqueSensorInterface* ft_iface_;
/// \brief Interface to the actuator temperature sensor.
hardware_interface::ActuatorTemperatureSensorInterface * act_temp_iface_;
talos_hardware_interface::ActuatorTemperatureSensorInterface * act_temp_iface_;
/// @}
......@@ -127,7 +127,7 @@ namespace talos_sot_controller
/// \brief Read the configuration files,
/// claims the request to the robot and initialize the Stack-Of-Tasks.
bool initRequest (hardware_interface::RobotHW * robot_hw,
bool initRequest (talos_hardware_interface::RobotHW * robot_hw,
ros::NodeHandle &robot_nh,
ros::NodeHandle &controller_nh,
std::set<std::string> & claimed_resources);
......@@ -150,7 +150,7 @@ namespace talos_sot_controller
protected:
/// Initialize the roscontrol interfaces
bool initInterfaces(hardware_interface::RobotHW * robot_hw,
bool initInterfaces(talos_hardware_interface::RobotHW * robot_hw,
ros::NodeHandle &,
ros::NodeHandle &,
std::set<std::string> & claimed_resources);
......
<?xml version="1.0"?>
<package>
<name>talos_roscontrol_sot_talos</name>
<version>0.0.0</version>
<version>0.0.1</version>
<description>Wrapping Stack-of-tasks for Talos in ros-control</description>
<!-- Maintainer email -->
......
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