[Personalrobots-commit] SF.net SVN: personalrobots:[20845] pkg/trunk/stacks

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

Revision: 20845
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20845&view=rev
Author:   rob_wheeler
Date:     2009-08-05 22:07:38 +0000 (Wed, 05 Aug 2009)

Log Message:
-----------
Move PressureState and AccelerometerState messages to pr2_msgs.

Modified Paths:
--------------
    pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/docsrc/doc.dox
    pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/manifest.xml
    pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/rectangle_viz.py
    pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/sim_sensor.py
    pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/sphere_viz.py
    pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/src/fingertip_pressure/fingertip_panel.py
    pkg/trunk/stacks/pr2_drivers/ethercat_hardware/CMakeLists.txt
    pkg/trunk/stacks/pr2_drivers/ethercat_hardware/include/ethercat_hardware/wg0x.h
    pkg/trunk/stacks/pr2_drivers/ethercat_hardware/manifest.xml
    pkg/trunk/stacks/pr2_drivers/ethercat_hardware/src/wg0x.cpp

Added Paths:
-----------
    pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/AccelerometerState.msg
    pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/PressureState.msg

Removed Paths:
-------------
    pkg/trunk/stacks/pr2_drivers/ethercat_hardware/msg/
    pkg/trunk/stacks/pr2_drivers/ethercat_hardware/scripts/

Modified: pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/docsrc/doc.dox
===================================================================
--- pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/docsrc/doc.dox	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/docsrc/doc.dox	2009-08-05 22:07:38 UTC (rev 20845)
@@ -87,7 +87,7 @@
 \subsubsection topics ROS topics
 
 Subscribes to:
-- \b "/pressure/<gripper_motor_name>" "in": [ethercat_hardware/PressureState] Raw
+- \b "/pressure/<gripper_motor_name>" "in": [pr2_msgs/PressureState] Raw
 	data from the pressure sensor
 
 - \b "/pressure/<gripper_motor_name>_info" "in": [fingertip_pressure/PressureInfo] Sensor calibration, geometry and tf frame.

Modified: pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/manifest.xml
===================================================================
--- pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/manifest.xml	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/manifest.xml	2009-08-05 22:07:38 UTC (rev 20845)
@@ -6,7 +6,7 @@
 <license>BSD</license>
 <review status="unreviewed" notes=""/>
 <url>http://pr.willowgarage.com</url>
-<depend package='ethercat_hardware'/>
+<depend package='pr2_msgs'/>
 <depend package='rospy' />
 <depend package='robot_msgs' />
 <depend package='geometry_msgs' />

Modified: pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/rectangle_viz.py
===================================================================
--- pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/rectangle_viz.py	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/rectangle_viz.py	2009-08-05 22:07:38 UTC (rev 20845)
@@ -45,7 +45,7 @@
 import threading
 
 from fingertip_pressure.msg import PressureInfo, PressureInfoElement
-from ethercat_hardware.msg import PressureState
+from pr2_msgs.msg import PressureState
 from visualization_msgs.msg import Marker
 from robot_msgs.msg import Vector3
 from fingertip_pressure.colormap import color

Modified: pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/sim_sensor.py
===================================================================
--- pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/sim_sensor.py	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/sim_sensor.py	2009-08-05 22:07:38 UTC (rev 20845)
@@ -44,7 +44,7 @@
 from math import sin, cos
 import threading
 
-from ethercat_hardware.msg import PressureState
+from pr2_msgs.msg import PressureState
 
 class pressureSimulator:
     def callback(self, pressurestate):

Modified: pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/sphere_viz.py
===================================================================
--- pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/sphere_viz.py	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/scripts/sphere_viz.py	2009-08-05 22:07:38 UTC (rev 20845)
@@ -45,7 +45,7 @@
 import threading
 
 from fingertip_pressure.msg import PressureInfo, PressureInfoElement
-from ethercat_hardware.msg import PressureState
+from pr2_msgs.msg import PressureState
 from visualization_msgs.msg import Marker
 from fingertip_pressure.colormap import color
 from robot_msgs.msg import Vector3

Modified: pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/src/fingertip_pressure/fingertip_panel.py
===================================================================
--- pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/src/fingertip_pressure/fingertip_panel.py	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/ethercat_drivers/fingertip_pressure/src/fingertip_pressure/fingertip_panel.py	2009-08-05 22:07:38 UTC (rev 20845)
@@ -39,7 +39,7 @@
 
 import sys
 import rospy
-from ethercat_hardware.msg import PressureState
+from pr2_msgs.msg import PressureState
 import math
 
 from fingertip_pressure.colormap import color255

Modified: pkg/trunk/stacks/pr2_drivers/ethercat_hardware/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/pr2_drivers/ethercat_hardware/CMakeLists.txt	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/pr2_drivers/ethercat_hardware/CMakeLists.txt	2009-08-05 22:07:38 UTC (rev 20845)
@@ -1,8 +1,6 @@
 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 rospack(ethercat_hardware)
-genmsg()
-gensrv()
 
 rospack_add_boost_directories()
 

Modified: pkg/trunk/stacks/pr2_drivers/ethercat_hardware/include/ethercat_hardware/wg0x.h
===================================================================
--- pkg/trunk/stacks/pr2_drivers/ethercat_hardware/include/ethercat_hardware/wg0x.h	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/pr2_drivers/ethercat_hardware/include/ethercat_hardware/wg0x.h	2009-08-05 22:07:38 UTC (rev 20845)
@@ -38,8 +38,8 @@
 #include <ethercat_hardware/ethercat_device.h>
 
 #include <realtime_tools/realtime_publisher.h>
-#include <ethercat_hardware/PressureState.h>
-#include <ethercat_hardware/AccelerometerState.h>
+#include <pr2_msgs/PressureState.h>
+#include <pr2_msgs/AccelerometerState.h>
 
 struct WG0XMbxHdr
 {
@@ -353,8 +353,8 @@
   bool use_ros_;
 private:
   uint32_t last_pressure_time_;
-  realtime_tools::RealtimePublisher<ethercat_hardware::PressureState> *pressure_publisher_;
-  realtime_tools::RealtimePublisher<ethercat_hardware::AccelerometerState> *accel_publisher_;
+  realtime_tools::RealtimePublisher<pr2_msgs::PressureState> *pressure_publisher_;
+  realtime_tools::RealtimePublisher<pr2_msgs::AccelerometerState> *accel_publisher_;
 };
 
 #endif /* WG0X_H */

Modified: pkg/trunk/stacks/pr2_drivers/ethercat_hardware/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2_drivers/ethercat_hardware/manifest.xml	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/pr2_drivers/ethercat_hardware/manifest.xml	2009-08-05 22:07:38 UTC (rev 20845)
@@ -6,6 +6,7 @@
 <license>BSD</license>
 <review status="unreviewed" notes="API review in progress (Rob)"/>
 <url>http://pr.willowgarage.com</url>
+<depend package='pr2_msgs'/>
 <depend package='hardware_interface'/>
 <depend package='eml'/>
 <depend package='tinyxml'/>
@@ -14,7 +15,7 @@
 <depend package='realtime_tools' />
 <depend package='diagnostic_msgs' />
 <export>
-  <cpp cflags="-I${prefix}/include -I${prefix}/msg/cpp" lflags="-L${prefix}/lib -lethercat_hardware -Wl,-rpath,${prefix}/lib -lloki"/>
+  <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -lethercat_hardware -Wl,-rpath,${prefix}/lib -lloki"/>
 </export>
 <repository>http://pr.willowgarage.com/repos</repository>
 </package>

Modified: pkg/trunk/stacks/pr2_drivers/ethercat_hardware/src/wg0x.cpp
===================================================================
--- pkg/trunk/stacks/pr2_drivers/ethercat_hardware/src/wg0x.cpp	2009-08-05 22:03:20 UTC (rev 20844)
+++ pkg/trunk/stacks/pr2_drivers/ethercat_hardware/src/wg0x.cpp	2009-08-05 22:07:38 UTC (rev 20845)
@@ -222,14 +222,14 @@
     string topic = "pressure";
     if (!actuator->name_.empty())
       topic = topic + "/" + string(actuator->name_);
-    pressure_publisher_ = new realtime_tools::RealtimePublisher<ethercat_hardware::PressureState>(ros::NodeHandle(), topic, 1);
+    pressure_publisher_ = new realtime_tools::RealtimePublisher<pr2_msgs::PressureState>(ros::NodeHandle(), topic, 1);
 
     if (fw_major_ >= 1)
     {
       topic = "/accelerometer/";
       if (!actuator->name_.empty())
         topic += actuator->name_;
-      accel_publisher_ = new realtime_tools::RealtimePublisher<ethercat_hardware::AccelerometerState>(ros::NodeHandle(), topic, 1);
+      accel_publisher_ = new realtime_tools::RealtimePublisher<pr2_msgs::AccelerometerState>(ros::NodeHandle(), topic, 1);
     }
 
   }

Copied: pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/AccelerometerState.msg (from rev 20835, pkg/trunk/stacks/pr2_drivers/ethercat_hardware/msg/AccelerometerState.msg)
===================================================================
--- pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/AccelerometerState.msg	                        (rev 0)
+++ pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/AccelerometerState.msg	2009-08-05 22:07:38 UTC (rev 20845)
@@ -0,0 +1,4 @@
+Header header
+float32[] x
+float32[] y
+float32[] z


Property changes on: pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/AccelerometerState.msg
___________________________________________________________________
Added: svn:mergeinfo
   + /pkg/branches/gazebo-branch-merge/drivers/motor/ethercat_hardware/msg/AccelerometerState.msg:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334

Copied: pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/PressureState.msg (from rev 20835, pkg/trunk/stacks/pr2_drivers/ethercat_hardware/msg/PressureState.msg)
===================================================================
--- pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/PressureState.msg	                        (rev 0)
+++ pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/PressureState.msg	2009-08-05 22:07:38 UTC (rev 20845)
@@ -0,0 +1,3 @@
+Header header
+int16[] data0
+int16[] data1


Property changes on: pkg/trunk/stacks/pr2_drivers/pr2_msgs/msg/PressureState.msg
___________________________________________________________________
Added: svn:mergeinfo
   + /pkg/branches/gazebo-branch-merge/drivers/motor/ethercat_hardware/msg/PressureState.msg:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334


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