From a835e024fab5f8d83d1e7672eebb3698efe7e160 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 5 Sep 2015 14:09:49 +0200 Subject: [PATCH 1/2] irb120: minor manifest and build script cleanups. --- abb_irb120_support/CMakeLists.txt | 13 ++++++++----- abb_irb120_support/package.xml | 28 +++++++++++++++++++--------- 2 files changed, 27 insertions(+), 14 deletions(-) diff --git a/abb_irb120_support/CMakeLists.txt b/abb_irb120_support/CMakeLists.txt index ded26d64..1d26e390 100644 --- a/abb_irb120_support/CMakeLists.txt +++ b/abb_irb120_support/CMakeLists.txt @@ -8,10 +8,13 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(tests/roslaunch_test.xml) + roslaunch_add_file_check(tests/roslaunch_test.xml + DEPENDENCIES + # not nice, but industrial_robot_client doesn't prefix its targets + joint_trajectory_action + abb_driver_robot_state + abb_driver_motion_download_interface) endif() -foreach(dir config launch meshes urdf) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach() +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/abb_irb120_support/package.xml b/abb_irb120_support/package.xml index 0924dd08..b16bd781 100644 --- a/abb_irb120_support/package.xml +++ b/abb_irb120_support/package.xml @@ -1,20 +1,23 @@ + abb_irb120_support - 0.2.0 + 0.1.0

ROS-Industrial support for the ABB IRB 120 (and variants).

This package contains configuration data, 3D models and launch files - for ABB IRB 120 manipulators. This includes the base model (120) and the 120T. + for ABB IRB 120 manipulators. This includes the base model (120) and + the 120T.

- Joint limits and max joint velocities are based on the information in the - ABB - IRB 120 technical data sheet (Version: ROB0149EN_D, May 2012). All URDFs / XACROs are - based on the default motion and joint velocity limits, unless noted otherwise (ie: no - support for high speed joints, extended / limited motion ranges or other options). + Joint limits and max joint velocities are based on the information in the + + ABB IRB 120 technical data sheet (Version: ROB0149EN_D, May 2012). + All urdfs / xacros are based on the default motion and joint velocity + limits, unless noted otherwise (ie: no support for high speed joints, + extended / limited motion ranges or other options).

Before using any of the configuration files and / or meshes included @@ -24,18 +27,25 @@ Mark Culleton (Trinity College Dublin) Mark Culleton (Trinity College Dublin) + Levi Armstrong (SwRI) Apache2 - http://wiki.ros.org/abb + http://ros.org/wiki/abb_irb120_support https://github.com/ros-industrial/abb_experimental/issues https://github.com/ros-industrial/abb_experimental catkin - roslaunch + roslaunch abb_driver + abb_resources joint_state_publisher robot_state_publisher rviz + xacro + + + + From bc893126656a0c2753157e24c18507a1300ccf4c Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Sat, 5 Sep 2015 14:10:05 +0200 Subject: [PATCH 2/2] irb4400: minor manifest and build script cleanups. --- abb_irb120_support/package.xml | 2 +- abb_irb4400_support/CMakeLists.txt | 16 +++++++--------- abb_irb4400_support/package.xml | 30 ++++++++++++++++++------------ 3 files changed, 26 insertions(+), 22 deletions(-) diff --git a/abb_irb120_support/package.xml b/abb_irb120_support/package.xml index b16bd781..c5e2b302 100644 --- a/abb_irb120_support/package.xml +++ b/abb_irb120_support/package.xml @@ -30,7 +30,7 @@ Levi Armstrong (SwRI) Apache2 - http://ros.org/wiki/abb_irb120_support + http://wiki.ros.org/abb_irb120_support https://github.com/ros-industrial/abb_experimental/issues https://github.com/ros-industrial/abb_experimental diff --git a/abb_irb4400_support/CMakeLists.txt b/abb_irb4400_support/CMakeLists.txt index 30b47984..38ff8fa7 100644 --- a/abb_irb4400_support/CMakeLists.txt +++ b/abb_irb4400_support/CMakeLists.txt @@ -9,14 +9,12 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) roslaunch_add_file_check(tests/roslaunch_test.xml - DEPENDENCIES - # not nice, but industrial_robot_client doesn't prefix its targets - joint_trajectory_action - abb_driver_robot_state - abb_driver_motion_download_interface) + DEPENDENCIES + # not nice, but industrial_robot_client doesn't prefix its targets + joint_trajectory_action + abb_driver_robot_state + abb_driver_motion_download_interface) endif() -foreach(dir config launch meshes urdf) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach() +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/abb_irb4400_support/package.xml b/abb_irb4400_support/package.xml index f85816a2..be538af2 100644 --- a/abb_irb4400_support/package.xml +++ b/abb_irb4400_support/package.xml @@ -1,33 +1,34 @@ + abb_irb4400_support 0.1.0

- ROS Industrial support for the ABB IRB4400 (and variants). + ROS-Industrial support for the ABB IRB 4400 (and variants).

- This package contains configuration data, 3D models and launch files - for ABB IRB4400 manipulators. This currently includes the L30. + This package contains configuration data, 3D models and launch files + for ABB IRB 4400 manipulators. This currently includes the L30.

- Joint limits and max joint velocities are based on the information in the + Joint limits and max joint velocities are based on the information in the - ABB IRB 4400 product specification document (Article No: 3HAC 8770-1). - All urdfs / xacros are based on the default motion and joint velocity - limits, unless noted otherwise (ie: no support for high speed joints, + ABB IRB 4400 product specification document (Article No: 3HAC 8770-1). + All urdfs / xacros are based on the default motion and joint velocity + limits, unless noted otherwise (ie: no support for high speed joints, extended / limited motion ranges or other options).

- Before using any of the configuration files and / or meshes included - in this package, be sure to check they are correct for the particular + Before using any of the configuration files and / or meshes included + in this package, be sure to check they are correct for the particular robot model and configuration you intend to use them with.

- Dan Solomon (Southwest Research Institute) - Shaun Edwards (Southwest Research Institute) + Dan Solomon + Shaun Edwards (SwRI) Apache2 - http://ros.org/wiki/abb_irb4400_support + http://wiki.ros.org/abb_irb4400_support https://github.com/ros-industrial/abb_experimental/issues https://github.com/ros-industrial/abb_experimental @@ -36,8 +37,13 @@ roslaunch abb_driver + abb_resources joint_state_publisher robot_state_publisher rviz + xacro + + +