Revision: 7624
http://playerstage.svn.sourceforge.net/playerstage/?rev=7624&view=rev
Author: natepak
Date: 2009-05-05 20:27:48 +0000 (Tue, 05 May 2009)
Log Message:
-----------
Added more cmake files
Modified Paths:
--------------
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/Media/CMakeLists.txt
code/gazebo/trunk/Media/packs/CMakeLists.txt
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/libgazebo/CMakeLists.txt
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/webgazebo/WebGazebo.cc
code/gazebo/trunk/webgazebo/WebGazebo.hh
code/gazebo/trunk/webgazebo/main.cc
Added Paths:
-----------
code/gazebo/trunk/Media/models/CMakeLists.txt
code/gazebo/trunk/Media/models/PioneerArm/CMakeLists.txt
code/gazebo/trunk/Media/models/bandit/CMakeLists.txt
code/gazebo/trunk/Media/models/blender/CMakeLists.txt
code/gazebo/trunk/Media/models/epuck/CMakeLists.txt
code/gazebo/trunk/Media/models/sonyvid30/CMakeLists.txt
code/gazebo/trunk/Media/sets/CMakeLists.txt
code/gazebo/trunk/Media/sets/pioneer2at/Pioneer2at/CMakeLists.txt
code/gazebo/trunk/Media/sets/pioneer2dx/Pioneer2dx/CMakeLists.txt
code/gazebo/trunk/webgazebo/CMakeLists.txt
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2009-05-05 02:33:12 UTC (rev 7623)
+++ code/gazebo/trunk/CMakeLists.txt 2009-05-05 20:27:48 UTC (rev 7624)
@@ -32,7 +32,6 @@
MESSAGE (STATUS "----------------------------------------")
-
ADD_SUBDIRECTORY(libgazebo)
ADD_SUBDIRECTORY(server)
ADD_SUBDIRECTORY(worlds)
Modified: code/gazebo/trunk/Media/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/CMakeLists.txt 2009-05-05 02:33:12 UTC (rev
7623)
+++ code/gazebo/trunk/Media/CMakeLists.txt 2009-05-05 20:27:48 UTC (rev
7624)
@@ -2,3 +2,5 @@
ADD_SUBDIRECTORY(fonts)
ADD_SUBDIRECTORY(materials)
ADD_SUBDIRECTORY(packs)
+ADD_SUBDIRECTORY(models)
+ADD_SUBDIRECTORY(sets)
Added: code/gazebo/trunk/Media/models/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/models/CMakeLists.txt
(rev 0)
+++ code/gazebo/trunk/Media/models/CMakeLists.txt 2009-05-05 20:27:48 UTC
(rev 7624)
@@ -0,0 +1,21 @@
+ADD_SUBDIRECTORY(bandit)
+ADD_SUBDIRECTORY(blender)
+ADD_SUBDIRECTORY(epuck)
+ADD_SUBDIRECTORY(PioneerArm)
+ADD_SUBDIRECTORY(sonyvid30)
+
+SET (files column.mesh
+ geosphere4500.mesh
+ geosphere8000.mesh
+ kitchen.mesh
+ knot.mesh
+ razor.mesh
+ robot.mesh
+ sicklms200.mesh
+ sphere.mesh
+ unitpyramid.mesh
+ wheel.mesh
+ WoodPallet.mesh
+)
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/models)
Added: code/gazebo/trunk/Media/models/PioneerArm/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/models/PioneerArm/CMakeLists.txt
(rev 0)
+++ code/gazebo/trunk/Media/models/PioneerArm/CMakeLists.txt 2009-05-05
20:27:48 UTC (rev 7624)
@@ -0,0 +1,20 @@
+SET (files Base.mesh
+ Base.mesh.xml
+ Gripper.mesh
+ Gripper.mesh.xml
+ Link01.mesh
+ Link01.mesh.xml
+ Link02.mesh
+ Link02.mesh.xml
+ Link03.mesh
+ Link03.mesh.xml
+ Link04.mesh
+ Link04.mesh.xml
+ Link05.mesh
+ Link05.mesh.xml
+ OgreXMLConverter.log
+ PioneerArm.blend
+ Scene.material
+)
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/models/PioneerArm)
Added: code/gazebo/trunk/Media/models/bandit/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/models/bandit/CMakeLists.txt
(rev 0)
+++ code/gazebo/trunk/Media/models/bandit/CMakeLists.txt 2009-05-05
20:27:48 UTC (rev 7624)
@@ -0,0 +1,19 @@
+SET (files bicep.mesh
+ body_model_1.mesh
+ eyebrow.mesh
+ head_1.mesh
+ left_forearm.mesh
+ left_hand.mesh
+ left_shoulder.mesh
+ lowerlip.mesh
+ neck_1.mesh
+ right_forearm.mesh
+ right_hand.mesh
+ right_shoulder.mesh
+ shoulder_mounting_1.mesh
+ thumb.mesh
+ upperlip.mesh
+ wrist.mesh
+)
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/models/bandit)
Added: code/gazebo/trunk/Media/models/blender/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/models/blender/CMakeLists.txt
(rev 0)
+++ code/gazebo/trunk/Media/models/blender/CMakeLists.txt 2009-05-05
20:27:48 UTC (rev 7624)
@@ -0,0 +1,2 @@
+SET (files sick_lms200.blend)
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/models/blender)
Added: code/gazebo/trunk/Media/models/epuck/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/models/epuck/CMakeLists.txt
(rev 0)
+++ code/gazebo/trunk/Media/models/epuck/CMakeLists.txt 2009-05-05 20:27:48 UTC
(rev 7624)
@@ -0,0 +1,15 @@
+SET (files camera.material
+ camera.mesh
+ chassis.material
+ chassis.mesh
+ epuck_chassis.mesh
+ new_epuck.mesh
+ plate.material
+ plate.mesh
+ ring.material
+ ring.mesh
+ turret.material
+ turret.mesh
+)
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/models/epuck)
Added: code/gazebo/trunk/Media/models/sonyvid30/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/models/sonyvid30/CMakeLists.txt
(rev 0)
+++ code/gazebo/trunk/Media/models/sonyvid30/CMakeLists.txt 2009-05-05
20:27:48 UTC (rev 7624)
@@ -0,0 +1,6 @@
+SET (files sonyvid30_bottom.mesh
+ sonyvid30_mid.mesh
+ sonyvid30_top.mesh
+)
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/models/sonyvid30)
Modified: code/gazebo/trunk/Media/packs/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/packs/CMakeLists.txt 2009-05-05 02:33:12 UTC
(rev 7623)
+++ code/gazebo/trunk/Media/packs/CMakeLists.txt 2009-05-05 20:27:48 UTC
(rev 7624)
@@ -1,7 +1,10 @@
-cubemapsJS.zip
-cubemap.zip
-dragon.zip
-fresneldemo.zip
-OgreCore.zip
-ogretestmap.zip
-skybox.zip
+SET (files cubemapsJS.zip
+ cubemap.zip
+ dragon.zip
+ fresneldemo.zip
+ OgreCore.zip
+ ogretestmap.zip
+ skybox.zip
+)
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/packs)
Added: code/gazebo/trunk/Media/sets/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/sets/CMakeLists.txt (rev 0)
+++ code/gazebo/trunk/Media/sets/CMakeLists.txt 2009-05-05 20:27:48 UTC (rev
7624)
@@ -0,0 +1,2 @@
+ADD_SUBDIRECTORY(pioneer2at/Pioneer2at)
+ADD_SUBDIRECTORY(pioneer2dx/Pioneer2dx)
Added: code/gazebo/trunk/Media/sets/pioneer2at/Pioneer2at/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/sets/pioneer2at/Pioneer2at/CMakeLists.txt
(rev 0)
+++ code/gazebo/trunk/Media/sets/pioneer2at/Pioneer2at/CMakeLists.txt
2009-05-05 20:27:48 UTC (rev 7624)
@@ -0,0 +1,13 @@
+SET (files chassis.mesh
+ chassis_top.mesh
+ Cylinder.012.mesh.xml
+ hub.mesh
+ OgreXMLConverter.log
+ Scene.material
+ sonarbank.mesh
+ sonar.mesh
+ tire.mesh
+ wheel.mesh
+)
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/sets/pioneer2at/Pioneer2at)
Added: code/gazebo/trunk/Media/sets/pioneer2dx/Pioneer2dx/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/Media/sets/pioneer2dx/Pioneer2dx/CMakeLists.txt
(rev 0)
+++ code/gazebo/trunk/Media/sets/pioneer2dx/Pioneer2dx/CMakeLists.txt
2009-05-05 20:27:48 UTC (rev 7624)
@@ -0,0 +1,11 @@
+SET (files chassis.mesh
+ chassis_top.mesh
+ hub.mesh
+ Scene.material
+ sonarbank.mesh
+ sonar.mesh
+ tire.mesh
+ wheel.mesh
+)
+
+INSTALL(FILES ${files} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/Media/sets/pioneer2dx/Pioneer2dx)
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-05-05 02:33:12 UTC
(rev 7623)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-05-05 20:27:48 UTC
(rev 7624)
@@ -163,6 +163,12 @@
SET (INCLUDE_WEBGAZEBO OFF CACHE BOOL "Build webgazebo" FORCE)
MESSAGE (STATUS "Warning: Websim not found. Webgazebo will not be built")
ELSE (NOT WEBSIM_FOUND)
+ SET (WEBSIM_INCLUDE_DIRS ${WEBSIM_INCLUDE_DIRS} CACHE INTERNAL
+ "Websim include directory")
+ SET (WEBSIM_LINK_DIRS ${WEBSIM_LINK_DIRS} CACHE INTERNAL
+ "Websim link directory")
+ SET (WEBSIM_LINK_LIBS ${WEBSIM_LIBRARIES} CACHE INTERNAL
+ "Websim libraries")
ENDIF (NOT WEBSIM_FOUND)
ELSE (PKG_CONFIG_FOUND)
@@ -234,6 +240,3 @@
ELSE (NOT LIBYAML_PATH)
MESSAGE (STATUS "Looking for yaml.h - found")
ENDIF (NOT LIBYAML_PATH)
-
-## TODO: Finish webgazebo....needs list for directories and libs. Add in glib
-
Modified: code/gazebo/trunk/libgazebo/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/libgazebo/CMakeLists.txt 2009-05-05 02:33:12 UTC (rev
7623)
+++ code/gazebo/trunk/libgazebo/CMakeLists.txt 2009-05-05 20:27:48 UTC (rev
7624)
@@ -1,6 +1,6 @@
INCLUDE (FindBoost)
-FIND_PACKAGE( Boost 1.34.1 COMPONENTS thread)
+FIND_PACKAGE( Boost 1.34.1 COMPONENTS thread signals)
SET (sources Server.cc
Client.cc
@@ -10,8 +10,13 @@
Graphics3dIface.cc
)
+SET (headers gazebo.h IfaceFactory.hh)
+
ADD_LIBRARY(gazeboshm SHARED ${sources})
+TARGET_LINK_LIBRARIES( gazeboshm ${Boost_LIBRARIES})
+
INSTALL (TARGETS gazeboshm DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+INSTALL (FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gazebo)
CONFIGURE_FILE(${CMAKE_SOURCE_DIR}/cmake/libgazeboshm_pkgconfig.cmake
${CMAKE_CURRENT_BINARY_DIR}/libgazeboshm.pc @ONLY)
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/libgazeboshm.pc DESTINATION
lib/pkgconfig COMPONENT pkgconfig)
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/libgazeboshm.pc DESTINATION
${CMAKE_INSTALL_PREFIX}/lib/pkgconfig COMPONENT pkgconfig)
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-05-05 02:33:12 UTC (rev
7623)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-05-05 20:27:48 UTC (rev
7624)
@@ -88,11 +88,11 @@
ADD_EXECUTABLE(gazebo ${gazeboserver_sources} main.cc)
-APPEND_TO_CACHED_LIST(gazeboserver_cflags ${gazeboserver_cflags_desc}
"-fPIC;-WAll")
+APPEND_TO_CACHED_LIST(gazeboserver_cflags ${gazeboserver_cflags_desc}
"-fPIC;-Wall")
LIST_TO_STRING(GAZEBO_CFLAGS "${gazeboserver_cflags}")
SET_SOURCE_FILES_PROPERTIES(${gazeboserver_sources} PROPERTIES COMPILE_FLAGS
${GAZEBO_CFLAGS})
-TARGET_LINK_LIBRARIES( gazebo ${gazeboserver_link_libs} ${FLTK_LIBRARIES}
${Boost_LIBRARIES} gazeboshm)
+TARGET_LINK_LIBRARIES( gazebo gazeboshm ${gazeboserver_link_libs}
${FLTK_LIBRARIES} ${Boost_LIBRARIES})
INSTALL (TARGETS gazebo DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
INSTALL (FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gazebo
COMPONENT headers)
Added: code/gazebo/trunk/webgazebo/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/webgazebo/CMakeLists.txt (rev 0)
+++ code/gazebo/trunk/webgazebo/CMakeLists.txt 2009-05-05 20:27:48 UTC (rev
7624)
@@ -0,0 +1,18 @@
+SET (sources WebGazebo.cc ../server/Quatern.cc ../server/Vector3.cc
../server/Angle.cc)
+
+INCLUDE_DIRECTORIES( .. ../server ${WEBSIM_INCLUDE_DIRS}
${CMAKE_SOURCE_DIR}/libgazebo )
+LINK_DIRECTORIES( ${WEBSIM_LINK_DIRS} gazeboshm)
+
+SET_SOURCE_FILES_PROPERTIES(${sources} PROPERTIES COMPILE_FLAGS
+ '-DINSTALL_PREFIX="/usr/local/"')
+ADD_LIBRARY(webgz ${sources})
+
+ADD_EXECUTABLE(webgazebo main.cc)
+ADD_EXECUTABLE(client client.cc)
+
+TARGET_LINK_LIBRARIES( webgz yaml event ${WEBSIM_LINK_LIBS})
+TARGET_LINK_LIBRARIES( webgazebo gazeboshm yaml event ${WEBSIM_LINK_LIBS}
${Boost_LIBRARIES} webgz)
+TARGET_LINK_LIBRARIES( client gazeboshm yaml event ${WEBSIM_LINK_LIBS}
${Boost_LIBRARIES} webgz)
+
+INSTALL(TARGETS webgazebo DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+INSTALL(TARGETS webgz DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
Modified: code/gazebo/trunk/webgazebo/WebGazebo.cc
===================================================================
--- code/gazebo/trunk/webgazebo/WebGazebo.cc 2009-05-05 02:33:12 UTC (rev
7623)
+++ code/gazebo/trunk/webgazebo/WebGazebo.cc 2009-05-05 20:27:48 UTC (rev
7624)
@@ -35,7 +35,7 @@
#include <time.h>
#include <string.h>
-#include "../server/Quatern.hh"
+#include "Quatern.hh"
// TODO:
// - make ghost models not collide, fall, etc.
@@ -43,7 +43,7 @@
WebGazebo::WebGazebo(const std::string& fedfile,
const std::string& host, unsigned short port,
double dtol, double atol) :
- websim::WebSim(fedfile, host, port),
+ websim::WebSim(host, port),
sq_dist_tol(dtol*dtol), sq_ang_tol(atol*atol)
{
// Hook up to Gazebo
@@ -69,6 +69,7 @@
bool
WebGazebo::GetModelPVA(const std::string& name,
+ websim::Time &t,
websim::Pose& p,
websim::Velocity& v,
websim::Acceleration& a,
@@ -108,6 +109,19 @@
return true;
}
+/** Get the current simulation time */
+websim::Time
+WebGazebo::GetTime()
+{
+ websim::Time t;
+
+ t.sec = (unsigned long)this->simIface->data->simTime;
+ t.usec = (this->simIface->data->simTime - t.sec) * 1e6;
+
+ return t;
+}
+
+
bool
WebGazebo::SetModelPVA(const std::string& name,
const websim::Pose& p,
Modified: code/gazebo/trunk/webgazebo/WebGazebo.hh
===================================================================
--- code/gazebo/trunk/webgazebo/WebGazebo.hh 2009-05-05 02:33:12 UTC (rev
7623)
+++ code/gazebo/trunk/webgazebo/WebGazebo.hh 2009-05-05 20:27:48 UTC (rev
7624)
@@ -60,11 +60,15 @@
const websim::Acceleration& a,
std::string& error);
virtual bool GetModelPVA(const std::string& name,
+ websim::Time &t,
websim::Pose& p,
websim::Velocity& v,
websim::Acceleration& a,
std::string& error);
+ /** Get the current simulation time */
+ virtual websim::Time GetTime();
+
private:
double sq_dist_tol, sq_ang_tol;
boost::mutex goMutex;
Modified: code/gazebo/trunk/webgazebo/main.cc
===================================================================
--- code/gazebo/trunk/webgazebo/main.cc 2009-05-05 02:33:12 UTC (rev 7623)
+++ code/gazebo/trunk/webgazebo/main.cc 2009-05-05 20:27:48 UTC (rev 7624)
@@ -54,7 +54,7 @@
for(;;)
{
- wg.Update();
+ //wg.Update();
wg.Go(1.0);
}
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