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Add point head method (dependent on PR2 PointHead action). #468

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Add point head method (dependent on PR2 PointHead action). #468

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39 changes: 39 additions & 0 deletions hironx_head_action/CMakeLists.txt
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# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
cmake_minimum_required(VERSION 2.8.3)
project(hironx_head_action)

# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS
actionlib
geometry_msgs
kdl_parser
message_filters
pr2_controllers_msgs
roscpp
sensor_msgs
trajectory_msgs
tf
tf_conversions)

find_package(orocos_kdl REQUIRED)

find_package(Boost REQUIRED COMPONENTS thread)
include_directories(${Boost_INCLUDE_DIRS}
${orocos_kdl_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})

catkin_package()

add_executable(head_action src/point_frame.cpp)
target_link_libraries(head_action ${Boost_LIBRARIES}
${orocos_kdl_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(head_action ${catkin_EXPORTED_TARGETS})

install(TARGETS head_action
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(DIRECTORY test launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)

# this test depends on https://github.com/start-jsk/rtmros_common/pull/966
add_rostest(test/test-head-action.test)
14 changes: 14 additions & 0 deletions hironx_head_action/launch/head_action.launch
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<launch>

<!-- A launch file to independently (re-)launch the point head action for debugging -->

<group ns="head_controller" >
<node name="point_head_action"
pkg="hironx_head_action" type="head_action" output="screen" >
<rosparam>
success_angle_threshold: 0.01
</rosparam>
</node>
</group>

</launch>
43 changes: 43 additions & 0 deletions hironx_head_action/package.xml
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<package>
<name>hironx_head_action</name>
<version>1.1.5</version>
<description>The head action is a node that provides an action interface for
pointing the head of the robot. It passes trajectory goals to the
controller, and reports success when they have finished executing.

Originally developed at <a href = "http://wiki.ros.org/pr2_head_action">pr2_head_action</a>
</description>
<maintainer email="[email protected]">TORK</maintainer>
<license>BSD</license>
<url type="website">http://wiki.ros.org/hironx_head_action</url>
<!-- <url type="bugtracker"></url> -->

<author>Stuart Glaser</author>
<author email="[email protected]">Isaac I. Y. Saito</author>

<buildtool_depend>catkin</buildtool_depend>

<build_depend>actionlib</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>kdl_parser</build_depend>
<build_depend>message_filters</build_depend>
<build_depend>orocos_kdl</build_depend>
<build_depend>pr2_controllers_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>tf_conversions</build_depend>
<build_depend>trajectory_msgs</build_depend>

<run_depend>actionlib</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>kdl_parser</run_depend>
<run_depend>message_filters</run_depend>
<run_depend>orocos_kdl</run_depend>
<run_depend>pr2_controllers_msgs</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>tf</run_depend>
<run_depend>tf_conversions</run_depend>
<run_depend>trajectory_msgs</run_depend>
</package>
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