PR2 · airballking · Apr 14, 2014 · Apr 14, 2014 · Apr 14, 2014 · Apr 15, 2014
diff --git a/CMakeLists.txt b/CMakeLists.txt
diff --git a/Makefile b/Makefile
diff --git a/joint_trajectory_action_tools/CMakeLists.txt b/joint_trajectory_action_tools/CMakeLists.txt
@@ -1,30 +1,14 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(joint_trajectory_action_tools)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+find_package(catkin REQUIRED COMPONENTS 
+  roslib 
+  rospy
+  joint_trajectory_action
+  trajectory_msgs
+  pr2_controllers_msgs)
 
-rosbuild_init()
+catkin_package(
+  CATKIN_DEPENDS trajectory_msgs pr2_controllers_msgs)
 
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
+catkin_python_setup()
diff --git a/joint_trajectory_action_tools/Makefile b/joint_trajectory_action_tools/Makefile
diff --git a/joint_trajectory_action_tools/mainpage.dox b/joint_trajectory_action_tools/mainpage.dox
diff --git a/joint_trajectory_action_tools/manifest.xml b/joint_trajectory_action_tools/manifest.xml
diff --git a/joint_trajectory_action_tools/package.xml b/joint_trajectory_action_tools/package.xml
@@ -0,0 +1,32 @@
+<package>
+  <name>joint_trajectory_action_tools</name>
+  <version>0.0.0</version>
+  <description>
+    joint_trajectory_action_tools
+  </description>
+
+  <maintainer email="[email protected]">Austin Hendrix</maintainer>
+
+  <author>Melonee Wise</author>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/joint_trajectory_action_tools</url>
+  <url type="bugtracker">https://github.com/PR2/pr2_common_actions/issues</url>
+  <url type="repository">https://github.com/PR2/pr2_common_actions</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roslib</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>joint_trajectory_action</build_depend>
+  <build_depend>trajectory_msgs</build_depend>
+  <build_depend>pr2_controllers_msgs</build_depend>
+
+  <run_depend>roslib</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>joint_trajectory_action</run_depend>
+  <run_depend>trajectory_msgs</run_depend>
+  <run_depend>pr2_controllers_msgs</run_depend>
+
+</package>
diff --git a/joint_trajectory_action_tools/setup.py b/joint_trajectory_action_tools/setup.py
@@ -0,0 +1,11 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['joint_trajectory_action_tools'],
+    package_dir={'': 'src'},
+    requires=['roslib', 'rospy', 'joint_trajectory_action', 'trajectory_msgs', 'pr2_controllers_msgs'],
+    scripts=[]
+)
+
+setup(**d)
diff --git a/joint_trajectory_generator/CMakeLists.txt b/joint_trajectory_generator/CMakeLists.txt
@@ -1,33 +1,50 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-
-rosbuild_add_library(joint_trajectory_generation src/trajectory_generation.cpp)
-
-rosbuild_add_boost_directories()
-rosbuild_add_executable(joint_trajectory_generator src/joint_trajectory_generator.cpp)
-target_link_libraries(joint_trajectory_generator joint_trajectory_generation)
-rosbuild_link_boost(joint_trajectory_generator thread)
+cmake_minimum_required(VERSION 2.8.3)
+project(joint_trajectory_generator)
+
+find_package(catkin REQUIRED COMPONENTS 
+  roscpp 
+  urdf 
+  angles
+  actionlib
+  joint_trajectory_action)
+
+find_package(Boost REQUIRED COMPONENTS thread)
+find_package(orocos_kdl REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES joint_trajectory_generation
+  CATKIN_DEPENDS roscpp urdf angles actionlib joint_trajectory_action
+  DEPENDS Boost orocos_kdl)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${orocos_kdl_INCLUDE_DIRS})
+
+add_library(joint_trajectory_generation 
+  src/trajectory_generation.cpp)
+target_link_libraries(joint_trajectory_generation
+  ${catkin_LIBRARIES}
+  ${orocos_kdl_LIBRARIES})
+
+add_executable(${PROJECT_NAME} 
+  src/joint_trajectory_generator.cpp)
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES} 
+  ${orocos_kdl_LIBRARIES}
+  joint_trajectory_generation)
+
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE)
+
+install(TARGETS joint_trajectory_generation 
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/joint_trajectory_generator/Makefile b/joint_trajectory_generator/Makefile
diff --git a/joint_trajectory_generator/mainpage.dox b/joint_trajectory_generator/mainpage.dox
diff --git a/joint_trajectory_generator/manifest.xml b/joint_trajectory_generator/manifest.xml
diff --git a/joint_trajectory_generator/package.xml b/joint_trajectory_generator/package.xml
@@ -0,0 +1,37 @@
+<package>
+  <name>joint_trajectory_generator</name>
+  <version>0.0.0</version>
+  <description>
+    joint_trajectory_generator action takes in a trajectory specified
+    by a number of joint positions, and it generates a new smooth trajectory
+    through these joint positions.
+  </description>
+
+  <maintainer email="[email protected]">Austin Hendrix</maintainer>
+
+  <author>Eitan Marder-Eppstein</author>
+  <author>Wim Meeusen</author>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/joint_trajectory_generator</url>
+  <url type="bugtracker">https://github.com/PR2/pr2_common_actions/issues</url>
+  <url type="repository">https://github.com/PR2/pr2_common_actions</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>actionlib</build_depend>
+  <build_depend>angles</build_depend>
+  <build_depend>orocos_kdl</build_depend>
+  <build_depend>joint_trajectory_action</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>urdf</build_depend>
+
+  <run_depend>actionlib</run_depend>
+  <run_depend>angles</run_depend>
+  <run_depend>orocos_kdl</run_depend>
+  <run_depend>joint_trajectory_action</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>urdf</run_depend>
+
+</package>
diff --git a/joint_trajectory_generator/src/joint_trajectory_generator.cpp b/joint_trajectory_generator/src/joint_trajectory_generator.cpp
@@ -43,7 +43,7 @@
 
 #include <angles/angles.h>
 #include <urdf/model.h>
-#include <urdf_interface/joint.h>
+#include <urdf_model/joint.h>
 
 #include <joint_trajectory_generator/trajectory_generation.h>