From 2e83a5260504229360cd1a45df9dd47474f2fd13 Mon Sep 17 00:00:00 2001 From: Dmitri Date: Thu, 24 Jun 2021 11:20:15 -0400 Subject: [PATCH 1/7] catkin_make_isolated works. --- xarm_api/CMakeLists.txt | 31 ++++++++++++------------------- xarm_sdk/CMakeLists.txt | 18 ++++++++++++++++-- 2 files changed, 28 insertions(+), 21 deletions(-) diff --git a/xarm_api/CMakeLists.txt b/xarm_api/CMakeLists.txt index eabd436e..0f0e1796 100755 --- a/xarm_api/CMakeLists.txt +++ b/xarm_api/CMakeLists.txt @@ -34,7 +34,6 @@ catkin_package( ########### include_directories( include - ${xarm_cxx_sdk_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) @@ -43,7 +42,7 @@ add_library(xarm_ros_client ) # Make sure xarm_msgs header files are generated before building xarm_ros_client -add_dependencies(xarm_ros_client xarm_msgs_generate_messages_cpp xarm_cxx_sdk) +# add_dependencies(xarm_ros_client xarm_msgs_generate_messages_cpp xarm_cxx_sdk) ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context @@ -53,7 +52,7 @@ add_executable(xarm_driver_node src/xarm_driver.cpp # src/xarm_driver_callback.cpp ) -add_dependencies(xarm_driver_node xarm_msgs_generate_messages_cpp xarm_cxx_sdk) +# add_dependencies(xarm_driver_node xarm_msgs_generate_messages_cpp xarm_cxx_sdk) add_executable(example1_report_norm_node test/example1_report_norm.cc @@ -97,22 +96,18 @@ add_executable(test_xarm_states ## Specify libraries to link a library or executable target against target_link_libraries(xarm_ros_client - xarm_cxx_sdk ${catkin_LIBRARIES} ) target_link_libraries(example1_report_norm_node - xarm_cxx_sdk ${catkin_LIBRARIES} ) target_link_libraries(xarm_driver_node - xarm_cxx_sdk ${catkin_LIBRARIES} ) target_link_libraries(move_test - xarm_cxx_sdk ${catkin_LIBRARIES} ) @@ -122,7 +117,6 @@ target_link_libraries(test_tool_modbus ) target_link_libraries(servo_cart_test - xarm_cxx_sdk ${catkin_LIBRARIES} ) @@ -137,7 +131,6 @@ target_link_libraries(test_xarm_velo_move ) target_link_libraries(test_xarm_states - xarm_cxx_sdk ${catkin_LIBRARIES} ) @@ -149,16 +142,16 @@ target_link_libraries(test_xarm_states # ) # ## Mark executables and/or libraries for installation -# install(TARGETS xarm_api -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) +install(TARGETS xarm_ros_client xarm_driver_node example1_report_norm_node move_test test_tool_modbus servo_cart_test test_xarm_ros_client test_xarm_velo_move test_xarm_states + 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/ -# DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) +install(DIRECTORY include/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) diff --git a/xarm_sdk/CMakeLists.txt b/xarm_sdk/CMakeLists.txt index 521ee841..5518b033 100644 --- a/xarm_sdk/CMakeLists.txt +++ b/xarm_sdk/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_sdk) ## Compile as C++11, supported in ROS Kinetic and newer @@ -78,7 +78,7 @@ add_library(xarm_cxx_sdk ${CXX_SDK_SRC_SERIAL}/impl/list_ports/list_ports_win.cc ) -add_dependencies(xarm_cxx_sdk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +#dd_dependencies(xarm_cxx_sdk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) if(MSVC) target_link_libraries(xarm_cxx_sdk @@ -86,3 +86,17 @@ if(MSVC) ${catkin_LIBRARIES} ) endif() + +install(TARGETS xarm_cxx_sdk + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +# this is a bit non-standard, but doing otherwise would require changes to the external cxx sdk - TODO: later +install(DIRECTORY ${CXX_SDK_INC}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/.. + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + From 1a1a6dffbf6513e98d94db594f7b6a968ee7fda9 Mon Sep 17 00:00:00 2001 From: Dmitri Date: Thu, 24 Jun 2021 11:40:23 -0400 Subject: [PATCH 2/7] adding missing install directives --- dual_xarm6_moveit_config/CMakeLists.txt | 2 +- xarm_api/CMakeLists.txt | 2 +- xarm_bringup/CMakeLists.txt | 4 +++- xarm_controller/CMakeLists.txt | 8 ++++++-- xarm_description/CMakeLists.txt | 6 ++++-- xarm_device/CMakeLists.txt | 2 +- xarm_gazebo/CMakeLists.txt | 6 +++++- xarm_gripper/CMakeLists.txt | 2 +- xarm_msgs/CMakeLists.txt | 2 +- xarm_planner/CMakeLists.txt | 12 ++++++++++-- 10 files changed, 33 insertions(+), 13 deletions(-) diff --git a/dual_xarm6_moveit_config/CMakeLists.txt b/dual_xarm6_moveit_config/CMakeLists.txt index bbe26718..3f4f41d9 100644 --- a/dual_xarm6_moveit_config/CMakeLists.txt +++ b/dual_xarm6_moveit_config/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(dual_xarm6_moveit_config) find_package(catkin REQUIRED) diff --git a/xarm_api/CMakeLists.txt b/xarm_api/CMakeLists.txt index 0f0e1796..61e7ab32 100755 --- a/xarm_api/CMakeLists.txt +++ b/xarm_api/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_api) ## Compile as C++11, supported in ROS Kinetic and newer diff --git a/xarm_bringup/CMakeLists.txt b/xarm_bringup/CMakeLists.txt index 0bd197ea..d2d16eee 100755 --- a/xarm_bringup/CMakeLists.txt +++ b/xarm_bringup/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_bringup) ## Compile as C++11, supported in ROS Kinetic and newer @@ -183,6 +183,8 @@ include_directories( # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} # ) +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + ############# ## Testing ## ############# diff --git a/xarm_controller/CMakeLists.txt b/xarm_controller/CMakeLists.txt index f4a41397..20f1b217 100755 --- a/xarm_controller/CMakeLists.txt +++ b/xarm_controller/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_controller) ## Compile as C++11, supported in ROS Kinetic and newer @@ -199,11 +199,15 @@ install(TARGETS xarm_hw xarm_combined_hw ## Mark cpp header files for installation install(DIRECTORY include/ - DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE ) +install(FILES xarm_hw_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + ## Mark other files for installation (e.g. launch and bag files, etc.) # install(FILES # # myfile1 diff --git a/xarm_description/CMakeLists.txt b/xarm_description/CMakeLists.txt index b84f38c2..3a6d1e93 100755 --- a/xarm_description/CMakeLists.txt +++ b/xarm_description/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_description) ## Compile as C++11, supported in ROS Kinetic and newer @@ -180,7 +180,9 @@ include_directories( # # myfile2 # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} # ) - +install(DIRECTORY launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) ############# ## Testing ## ############# diff --git a/xarm_device/CMakeLists.txt b/xarm_device/CMakeLists.txt index bd725048..729a3f3a 100644 --- a/xarm_device/CMakeLists.txt +++ b/xarm_device/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_device) ## Compile as C++11, supported in ROS Kinetic and newer diff --git a/xarm_gazebo/CMakeLists.txt b/xarm_gazebo/CMakeLists.txt index 54fafdf8..7ea160dd 100755 --- a/xarm_gazebo/CMakeLists.txt +++ b/xarm_gazebo/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_gazebo) ## Compile as C++11, supported in ROS Kinetic and newer @@ -181,6 +181,10 @@ include_directories( # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} # ) +install(DIRECTORY launch worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + ############# ## Testing ## ############# diff --git a/xarm_gripper/CMakeLists.txt b/xarm_gripper/CMakeLists.txt index 44fb6668..b9d54600 100755 --- a/xarm_gripper/CMakeLists.txt +++ b/xarm_gripper/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_gripper) diff --git a/xarm_msgs/CMakeLists.txt b/xarm_msgs/CMakeLists.txt index 0f2bd77f..b29e57ed 100755 --- a/xarm_msgs/CMakeLists.txt +++ b/xarm_msgs/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_msgs) ## Compile as C++11, supported in ROS Kinetic and newer diff --git a/xarm_planner/CMakeLists.txt b/xarm_planner/CMakeLists.txt index 4ea98438..74e92004 100755 --- a/xarm_planner/CMakeLists.txt +++ b/xarm_planner/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(xarm_planner) ## Compile as C++11, supported in ROS Kinetic and newer @@ -222,4 +222,12 @@ target_link_libraries(xarm_simple_planner_test ${catkin_LIBRARIES}) add_executable(xarm_gripper_planner src/xarm_gripper_planner.cpp) add_dependencies(xarm_gripper_planner ${${PROJECT_NAME}_EXPORTED_TARGETS}) -target_link_libraries(xarm_gripper_planner ${catkin_LIBRARIES}) \ No newline at end of file +target_link_libraries(xarm_gripper_planner ${catkin_LIBRARIES}) + +install(TARGETS xarm_simple_planner xarm_gripper_planner xarm_simple_planner_test + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) \ No newline at end of file From 870f1a78f6621b0fcf809e728940fbf9fd025bbe Mon Sep 17 00:00:00 2001 From: Dmitri Date: Thu, 24 Jun 2021 11:50:07 -0400 Subject: [PATCH 3/7] temporary fix to let it compile, TODO: fix include directories --- xarm_api/CMakeLists.txt | 2 +- xarm_controller/CMakeLists.txt | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/xarm_api/CMakeLists.txt b/xarm_api/CMakeLists.txt index 61e7ab32..e97ca20e 100755 --- a/xarm_api/CMakeLists.txt +++ b/xarm_api/CMakeLists.txt @@ -150,7 +150,7 @@ install(TARGETS xarm_ros_client xarm_driver_node example1_report_norm_node move_ # ## Mark cpp header files for installation install(DIRECTORY include/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/.. FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE ) diff --git a/xarm_controller/CMakeLists.txt b/xarm_controller/CMakeLists.txt index 20f1b217..54afabf1 100755 --- a/xarm_controller/CMakeLists.txt +++ b/xarm_controller/CMakeLists.txt @@ -199,7 +199,7 @@ install(TARGETS xarm_hw xarm_combined_hw ## Mark cpp header files for installation install(DIRECTORY include/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/.. FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE ) From d15ce6a5d9dc53788615e038e1da6ace9ae6c165 Mon Sep 17 00:00:00 2001 From: Dmitri Date: Thu, 24 Jun 2021 12:43:51 -0400 Subject: [PATCH 4/7] added install for launch and config in xarm_controller --- xarm_controller/CMakeLists.txt | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/xarm_controller/CMakeLists.txt b/xarm_controller/CMakeLists.txt index 54afabf1..855cf934 100755 --- a/xarm_controller/CMakeLists.txt +++ b/xarm_controller/CMakeLists.txt @@ -195,7 +195,7 @@ install(TARGETS xarm_hw xarm_combined_hw 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/ @@ -204,6 +204,8 @@ install(DIRECTORY include/ PATTERN ".svn" EXCLUDE ) +install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + install(FILES xarm_hw_plugin.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) @@ -236,3 +238,9 @@ target_link_libraries(xarm_traj_controller xarm_hw ${catkin_LIBRARIES}) add_executable(xarm_combined_traj_controller src/xarm_combined_control_node.cpp) target_link_libraries(xarm_combined_traj_controller xarm_combined_hw ${catkin_LIBRARIES}) + +install(TARGETS sample_motion xarm_traj_controller xarm_combined_traj_controller + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) \ No newline at end of file From 54a69d64b67b3266f32525e319c316018f143847 Mon Sep 17 00:00:00 2001 From: Dmitri Date: Sun, 4 Jul 2021 21:22:59 -0400 Subject: [PATCH 5/7] allows launch to terminate if the arm cannot be reached (yet) --- xarm_bringup/launch/xarm_robot.launch | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/xarm_bringup/launch/xarm_robot.launch b/xarm_bringup/launch/xarm_robot.launch index c1b89dfd..58a67758 100755 --- a/xarm_bringup/launch/xarm_robot.launch +++ b/xarm_bringup/launch/xarm_robot.launch @@ -7,7 +7,8 @@ - + - + + From c23d5cb8d2ab0c54e4a5aafa4660eec435295830 Mon Sep 17 00:00:00 2001 From: Dmitri Date: Sun, 11 Jul 2021 14:41:52 -0400 Subject: [PATCH 6/7] wip - UNDO --- xarm_description/urdf/xarm5_robot_macro.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/xarm_description/urdf/xarm5_robot_macro.xacro b/xarm_description/urdf/xarm5_robot_macro.xacro index 2e847db2..2c63f721 100755 --- a/xarm_description/urdf/xarm5_robot_macro.xacro +++ b/xarm_description/urdf/xarm5_robot_macro.xacro @@ -27,7 +27,7 @@ Date: Sun, 11 Jul 2021 23:30:47 -0400 Subject: [PATCH 7/7] wip, redo --- xarm_bringup/launch/xarm_driver_common.launch | 2 +- xarm_bringup/launch/xarm_robot.launch | 2 +- xarm_controller/config/xarm5_traj_controller.yaml | 10 +++++----- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/xarm_bringup/launch/xarm_driver_common.launch b/xarm_bringup/launch/xarm_driver_common.launch index d3b0fbab..6420dde9 100755 --- a/xarm_bringup/launch/xarm_driver_common.launch +++ b/xarm_bringup/launch/xarm_driver_common.launch @@ -14,6 +14,6 @@ - + diff --git a/xarm_bringup/launch/xarm_robot.launch b/xarm_bringup/launch/xarm_robot.launch index 58a67758..67ff9b82 100755 --- a/xarm_bringup/launch/xarm_robot.launch +++ b/xarm_bringup/launch/xarm_robot.launch @@ -7,7 +7,7 @@ - + diff --git a/xarm_controller/config/xarm5_traj_controller.yaml b/xarm_controller/config/xarm5_traj_controller.yaml index baab8756..72706d19 100644 --- a/xarm_controller/config/xarm5_traj_controller.yaml +++ b/xarm_controller/config/xarm5_traj_controller.yaml @@ -14,11 +14,11 @@ xarm: constraints: goal_time: 0.5 stopped_velocity_tolerance: 0.05 - joint1: {trajectory: 1, goal: 0.01} - joint2: {trajectory: 1, goal: 0.01} - joint3: {trajectory: 1, goal: 0.01} - joint4: {trajectory: 1, goal: 0.01} - joint5: {trajectory: 1, goal: 0.01} + joint1: {trajectory: 0.1, goal: 0.01} + joint2: {trajectory: 0.1, goal: 0.01} + joint3: {trajectory: 0.1, goal: 0.01} + joint4: {trajectory: 0.1, goal: 0.01} + joint5: {trajectory: 0.1, goal: 0.01} stop_trajectory_duration: 0.2 state_publish_rate: 25 action_monitor_rate: 10