[Personalrobots-commit] SF.net SVN: personalrobots:[5689] pkg/trunk

[<rob...@us...>]

Revision: 5689
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5689&view=rev
Author:   rob_wheeler
Date:     2008-10-23 00:41:07 +0000 (Thu, 23 Oct 2008)

Log Message:
-----------
Remove unnecessary dependency of ethercat_hardware on mechanism_control_rt

Modified Paths:
--------------
    pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h
    pkg/trunk/drivers/motor/ethercat_hardware/manifest.xml
    pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp
    pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp
    pkg/trunk/util/misc_utils/include/misc_utils/realtime_publisher.h
    pkg/trunk/util/misc_utils/manifest.xml

Modified: pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h	2008-10-23 00:34:08 UTC (rev 5688)
+++ pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h	2008-10-23 00:41:07 UTC (rev 5689)
@@ -37,7 +37,6 @@
 
 #include <tinyxml/tinyxml.h>
 
-#include <mechanism_control/mechanism_control.h>
 #include <hardware_interface/hardware_interface.h>
 
 #include <al/ethercat_AL.h>

Modified: pkg/trunk/drivers/motor/ethercat_hardware/manifest.xml
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/manifest.xml	2008-10-23 00:34:08 UTC (rev 5688)
+++ pkg/trunk/drivers/motor/ethercat_hardware/manifest.xml	2008-10-23 00:41:07 UTC (rev 5689)
@@ -9,7 +9,6 @@
 <depend package='eml'/>
 <depend package='tinyxml'/>
 <depend package='roscpp' />
-<depend package='mechanism_control_rt' />
 <depend package='loki' />
 <depend package='misc_utils' />
 <depend package='robot_msgs' />

Modified: pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp	2008-10-23 00:34:08 UTC (rev 5688)
+++ pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp	2008-10-23 00:41:07 UTC (rev 5689)
@@ -37,8 +37,6 @@
 #include <ethercat/ethercat_xenomai_drv.h>
 #include <dll/ethercat_dll.h>
 
-#include <ros/node.h>
-
 EthercatHardware::EthercatHardware() :
   hw_(0), ni_(0), current_buffer_(0), last_buffer_(0), buffer_size_(0), halt_motors_(true), reset_state_(0), publisher_("/diagnostics", 1)
 {
@@ -72,8 +70,6 @@
 
 void EthercatHardware::init(char *interface, bool allow_unprogrammed)
 {
-  ros::node *node = ros::node::instance();
-
   // Initialize network interface
   interface_ = interface;
   if ((ni_ = init_ec(interface)) == NULL)
@@ -180,7 +176,6 @@
 
 void EthercatHardware::initXml(TiXmlElement *config, bool allow_override)
 {
-  ros::node *node = ros::node::instance();
   unsigned int a = 0, s = 0;
 
   for (TiXmlElement *elt = config->FirstChildElement("actuator"); elt; elt = elt->NextSiblingElement("actuator"))

Modified: pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp	2008-10-23 00:34:08 UTC (rev 5688)
+++ pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp	2008-10-23 00:41:07 UTC (rev 5689)
@@ -36,7 +36,6 @@
 
 #include <math.h>
 
-#include <ros/node.h>
 
 #include <ethercat_hardware/wg0x.h>
 
@@ -189,8 +188,6 @@
 
 int WG0X::initialize(Actuator *actuator, bool allow_unprogrammed)
 {
-  ros::node *node = ros::node::instance();
-
   unsigned int revision = sh_->get_revision();
   unsigned int major = (revision >> 8) & 0xff;
   unsigned int minor = revision & 0xff;
@@ -270,7 +267,6 @@
 
 void WG0X::initXml(TiXmlElement *elt)
 {
-  ros::node *node = ros::node::instance();
   printf("Overriding actuator: %s\n", actuator_info_.name_);
 
   const char *attr;

Modified: pkg/trunk/util/misc_utils/include/misc_utils/realtime_publisher.h
===================================================================
--- pkg/trunk/util/misc_utils/include/misc_utils/realtime_publisher.h	2008-10-23 00:34:08 UTC (rev 5688)
+++ pkg/trunk/util/misc_utils/include/misc_utils/realtime_publisher.h	2008-10-23 00:41:07 UTC (rev 5689)
@@ -40,6 +40,7 @@
 
 #include <pthread.h>
 #include <string>
+#include <ros/node.h>
 #include <rosthread/mutex.h>
 #include <rosthread/member_thread.h>
 

Modified: pkg/trunk/util/misc_utils/manifest.xml
===================================================================
--- pkg/trunk/util/misc_utils/manifest.xml	2008-10-23 00:34:08 UTC (rev 5688)
+++ pkg/trunk/util/misc_utils/manifest.xml	2008-10-23 00:41:07 UTC (rev 5689)
@@ -8,6 +8,7 @@
   <license>BSD</license>
   <url>http://pr.willowgarage.com</url>
   <depend package="rosthread" />
+  <depend package="roscpp" />
   <export>
     <cpp cflags="-I${prefix}/include" />
   </export>


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