Changes have been pushed for the project "Fawkes Robotics Software Framework".
Gitweb: http://git.fawkesrobotics.org/fawkes.git Trac: http://trac.fawkesrobotics.org The branch, thofmann/ros-jointstate-publisher has been created at 5286290264652d3329245e65ce90ff7830f96320 (commit) http://git.fawkesrobotics.org/fawkes.git/thofmann/ros-jointstate-publisher - *Log* --------------------------------------------------------------- commit 20886677ea06d24679c582394d166f96c87fcddf Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu Sep 26 14:24:25 2013 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu Sep 26 16:26:59 2013 +0200 ros-joint: add plugin to publish joint states to ROS The ros-joint plugin publishes all JointInterfaces to ROS. http://git.fawkesrobotics.org/fawkes.git/commit/2088667 http://trac.fawkesrobotics.org/changeset/2088667 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit ce7d58cc1c7cfb86f33aee0474b375bdacc3e5e9 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu Sep 26 16:34:37 2013 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu Sep 26 16:34:37 2013 +0200 ros-joint: don't set the thread as BlockedTimingAspect loop() doesn't do anything, so the thread never needs to be woken up. http://git.fawkesrobotics.org/fawkes.git/commit/ce7d58c http://trac.fawkesrobotics.org/changeset/ce7d58c - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 5286290264652d3329245e65ce90ff7830f96320 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu Sep 26 16:39:19 2013 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu Sep 26 16:39:19 2013 +0200 ros-joint: remove loop() loop() is not used, so we don't need to overwrite it. http://git.fawkesrobotics.org/fawkes.git/commit/5286290 http://trac.fawkesrobotics.org/changeset/5286290 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/plugins/ros/joint_thread.cpp | 9 +++++++++ src/plugins/ros/joint_thread.h | 2 ++ 2 files changed, 11 insertions(+), 0 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* 20886677ea06d24679c582394d166f96c87fcddf - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu Sep 26 14:24:25 2013 +0200 Subject: ros-joint: add plugin to publish joint states to ROS src/plugins/ros/Makefile | 15 ++- .../ros/{odometry_plugin.cpp => joint_plugin.cpp} | 23 ++-- src/plugins/ros/joint_thread.cpp | 137 ++++++++++++++++++++ src/plugins/ros/{pcl_thread.h => joint_thread.h} | 48 +++---- 4 files changed, 185 insertions(+), 38 deletions(-) _Diff for modified files_: diff --git a/src/plugins/ros/Makefile b/src/plugins/ros/Makefile index bb01b2b..2ed48cc 100644 --- a/src/plugins/ros/Makefile +++ b/src/plugins/ros/Makefile @@ -61,6 +61,10 @@ LIBS_ros_navigator = m pthread fawkescore fawkesutils fawkesaspects fawkesblackb fawkesinterface fawkesrosaspect NavigatorInterface OBJS_ros_navigator = navigator_plugin.o navigator_thread.o +LIBS_ros_joint = fawkescore fawkesutils fawkesaspects fawkesblackboard \ + fawkesinterface fawkesrosaspect JointInterface +OBJS_ros_joint = joint_plugin.o joint_thread.o + OBJS_all = $(OBJS_ros) $(OBJS_ros_talkerpub) $(OBJS_ros_webview) $(OBJS_ros_tf) \ $(OBJS_ros_pcl) $(OBJS_ros_images) $(OBJS_ros_laserscan) $(OBJS_ros_odometry) \ $(OBJS_ros_cmdvel) $(OBJS_ros_navigator) @@ -175,7 +179,14 @@ ifeq ($(HAVE_ROS),1) else WARN_TARGETS += warning_move_base_msgs endif - + ifeq ($(call ros-have-pkg,sensor_msgs),1) + CFLAGS_joint_thread += $(call ros-pkg-cflags,sensor_msgs) + CFLAGS_joint_plugin = $(CFLAGS_joint_thread) + LDFLAGS_joint += $(call ros-pkg-lflags,sensor_msgs) + PLUGINS_all += $(PLUGINDIR)/ros-joint.so + else + WARN_TARGETS += warning_sensor_msgs + endif else WARN_TARGETS += warning_ros endif @@ -212,6 +223,8 @@ warning_navigator_tf: $(SILENT)echo -e "$(INDENT_PRINT)--> $(TRED)Omitting ROS navigator Plugin$(TNORMAL) (Fawkes TF library not available)" warning_actionlib: $(SILENT)echo -e "$(INDENT_PRINT)--> $(TRED)Omitting ROS navigator Plugin$(TNORMAL) (ROS package actionlib not found)" +warning_sensor_msgs: + $(SILENT)echo -e "$(INDENT_PRINT)--> $(TRED)Omitting ROS JointState Plugin$(TNORMAL) (ROS package sensor_msgs not found)" endif include $(BUILDSYSDIR)/base.mk - *commit* ce7d58cc1c7cfb86f33aee0474b375bdacc3e5e9 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu Sep 26 16:34:37 2013 +0200 Subject: ros-joint: don't set the thread as BlockedTimingAspect src/plugins/ros/joint_thread.cpp | 1 - src/plugins/ros/joint_thread.h | 1 - 2 files changed, 0 insertions(+), 2 deletions(-) _Diff for modified files_: diff --git a/src/plugins/ros/joint_thread.cpp b/src/plugins/ros/joint_thread.cpp index 272369c..91b2156 100644 --- a/src/plugins/ros/joint_thread.cpp +++ b/src/plugins/ros/joint_thread.cpp @@ -37,7 +37,6 @@ using namespace fawkes; /** Constructor. */ RosJointThread::RosJointThread() : Thread("RosJointThread", Thread::OPMODE_WAITFORWAKEUP), - BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_ACQUIRE), BlackBoardInterfaceListener("RosJointThread") { } diff --git a/src/plugins/ros/joint_thread.h b/src/plugins/ros/joint_thread.h index 96eddfb..ac961f1 100644 --- a/src/plugins/ros/joint_thread.h +++ b/src/plugins/ros/joint_thread.h @@ -46,7 +46,6 @@ class RosJointThread public fawkes::ClockAspect, public fawkes::LoggingAspect, public fawkes::ConfigurableAspect, - public fawkes::BlockedTimingAspect, public fawkes::BlackBoardAspect, public fawkes::ROSAspect, public fawkes::BlackBoardInterfaceObserver, - *commit* 5286290264652d3329245e65ce90ff7830f96320 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu Sep 26 16:39:19 2013 +0200 Subject: ros-joint: remove loop() src/plugins/ros/joint_thread.cpp | 8 -------- src/plugins/ros/joint_thread.h | 1 - 2 files changed, 0 insertions(+), 9 deletions(-) _Diff for modified files_: diff --git a/src/plugins/ros/joint_thread.cpp b/src/plugins/ros/joint_thread.cpp index 91b2156..c97f3f6 100644 --- a/src/plugins/ros/joint_thread.cpp +++ b/src/plugins/ros/joint_thread.cpp @@ -46,8 +46,6 @@ RosJointThread::~RosJointThread() { } - - void RosJointThread::init() { @@ -68,12 +66,6 @@ RosJointThread::init() } void -RosJointThread::loop() -{ -} - - -void RosJointThread::finalize() { blackboard->unregister_listener(this); diff --git a/src/plugins/ros/joint_thread.h b/src/plugins/ros/joint_thread.h index ac961f1..649c3e7 100644 --- a/src/plugins/ros/joint_thread.h +++ b/src/plugins/ros/joint_thread.h @@ -56,7 +56,6 @@ class RosJointThread virtual ~RosJointThread(); virtual void init(); - virtual void loop(); virtual void finalize(); virtual void bb_interface_created(const char *type, const char *id) throw(); -- Fawkes Robotics Framework http://www.fawkesrobotics.org _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
