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-skiller has been created at ade5c60955cc294ee840d5422df18e87b523c3d0 (commit) http://git.fawkesrobotics.org/fawkes.git/thofmann/ros-skiller - *Log* --------------------------------------------------------------- commit ade5c60955cc294ee840d5422df18e87b523c3d0 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Mon Jun 30 13:30:01 2014 +0200 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Mon Jun 30 14:19:40 2014 +0200 ros-skiller: provide a skiller interface to ROS This plugin implements a ROS action server which provides a skiller interface to ROS. ROS clients can send arbitrary skill commands to fawkes by sending requests to the /skiller action server. All necessary ROS messages are defined in the ROS package fawkes_skiller_msgs. In each loop, this plugin sends the latest request to the skiller if the request hasn't been executed yet. If multiple commands are requested, all but the last one are ignored. This plugin reads the skiller status and provides a feedback to the ROS client. http://git.fawkesrobotics.org/fawkes.git/commit/ade5c60 http://trac.fawkesrobotics.org/changeset/ade5c60 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- - *Diffs* ------------------------------------------------------------- - *commit* ade5c60955cc294ee840d5422df18e87b523c3d0 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Mon Jun 30 13:30:01 2014 +0200 Subject: ros-skiller: provide a skiller interface to ROS src/plugins/ros/Makefile | 30 +++- .../ros/{joint_plugin.cpp => skiller_plugin.cpp} | 22 +- src/plugins/ros/skiller_thread.cpp | 253 ++++++++++++++++++++ src/plugins/ros/skiller_thread.h | 103 ++++++++ 4 files changed, 394 insertions(+), 14 deletions(-) _Diff for modified files_: diff --git a/src/plugins/ros/Makefile b/src/plugins/ros/Makefile index 2fd2c8c..af00455 100644 --- a/src/plugins/ros/Makefile +++ b/src/plugins/ros/Makefile @@ -65,9 +65,13 @@ LIBS_ros_joint = fawkescore fawkesutils fawkesaspects fawkesblackboard \ fawkesinterface fawkesrosaspect JointInterface OBJS_ros_joint = joint_plugin.o joint_thread.o +LIBS_ros_skiller = fawkescore fawkesutils fawkesaspects fawkesblackboard \ + fawkesinterface fawkesrosaspect SkillerInterface +OBJS_ros_skiller = skiller_plugin.o skiller_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) $(OBJS_ros_joint) + $(OBJS_ros_cmdvel) $(OBJS_ros_navigator) $(OBJS_ros_joint) $(OBJS_ros_skiller) ifeq ($(HAVE_ROS),1) PRESUBDIRS += aspect @@ -187,6 +191,26 @@ ifeq ($(HAVE_ROS),1) else WARN_TARGETS += warning_sensor_msgs endif + ifeq ($(call ros-have-pkg,fawkes_skiller_msgs),1) + ifeq ($(call ros-have-pkg,actionlib),1) + CFLAGS_skiller_thread += $(call ros-pkg-cflags,fawkes_skiller_msgs) \ + $(call ros-pkg-cflags,actionlib) \ + $(call boost-lib-cflags,thread) \ + $(call boost-lib-cflags,system) \ + $(CFLAGS) + CFLAGS_skiller_plugin += $(CFLAGS_skiller_thread) + LDFLAGS_ros_skiller += $(call ros-pkg-lflags,fawkes_skiller_msgs) \ + $(call ros-pkg-lflags,actionlib) \ + $(call boost-lib-ldflags,thread) \ + $(call boost-lib-ldflags,system) \ + $(LDFLAGS) -lpthread + PLUGINS_all += $(PLUGINDIR)/ros-skiller.so + else + WARN_TARGETS += warning_actionlib + endif + else + WARN_TARGETS += warning_fawkes_skiller_msgs + endif else WARN_TARGETS += warning_ros endif @@ -222,9 +246,11 @@ warning_move_base_msgs: 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)" + $(SILENT)echo -e "$(INDENT_PRINT)--> $(TRED)Omitting ROS navigator and skiller plugins$(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)" +warning_fawkes_skiller_msgs: + $(SILENT)echo -e "$(INDENT_PRINT)--> $(TRED)Omitting ROS Skiller Plugin$(TNORMAL) (ROS package fawkes_skiller_msgs not found)" endif include $(BUILDSYSDIR)/base.mk -- 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
