Update configuration for the library package

SCHUNK-SE-Co-KG · Apr 17, 2024 · f5b8451 · f5b8451
1 parent e6e6dbb
commit f5b8451
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Showing 8 changed files with 34 additions and 158 deletions.
diff --git a/schunk_egu_egk_gripper_library/COLCON_IGNORE → ...nk_egu_egk_gripper_examples/COLCON_IGNORE b/schunk_egu_egk_gripper_library/COLCON_IGNORE → ...nk_egu_egk_gripper_examples/COLCON_IGNORE
diff --git a/...k_gripper_library/src/gripper_example.cpp → ..._gripper_examples/src/gripper_example.cpp b/...k_gripper_library/src/gripper_example.cpp → ..._gripper_examples/src/gripper_example.cpp
diff --git a/schunk_egu_egk_gripper_library/CMakeLists.txt b/schunk_egu_egk_gripper_library/CMakeLists.txt
@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 3.5)
-project(schunk_gripper)
+cmake_minimum_required(VERSION 3.22)
+project(schunk_egu_egk_gripper_library)
 
 # Set C++ standard to 17 if not set
 if(NOT CMAKE_CXX_STANDARD)
@@ -12,146 +12,48 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 # Find required packages
-#find_package(PythonInterp 3.10 REQUIRED)
-#find_package(Python3 3.10 REQUIRED)
-find_package(ament_cmake REQUIRED)
-find_package(ament_index_cpp REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(control_msgs REQUIRED)
-find_package(action_msgs REQUIRED)
-find_package(rosidl_default_generators)
-find_package(rclcpp_components REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(diagnostic_updater REQUIRED)
-find_package(diagnostic_msgs REQUIRED)
 find_package(CURL REQUIRED)
 
-# Additional include directories
-include_directories(
-  include
-  ${CURL_INCLUDE_DIR}
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
-)
-
-# Generate ROS interfaces
-set(msg_files 
-"msg/State.msg"
-)
-
-set(srv_files
-  "srv/BrakeTest.srv"
-  "srv/Acknowledge.srv"
-  "srv/ChangeIp.srv"
-  "srv/Stop.srv"
-  "srv/FastStop.srv"
-  "srv/GripperInfo.srv"
-  "srv/Softreset.srv"
-  "srv/ParameterGet.srv"
-  "srv/ParameterSet.srv"
-  "srv/PrepareForShutdown.srv"
-  "srv/ReleaseForManualMovement.srv"
-)
-set(action_files
-  "action/GripWithPositionAndVelocity.action"
-  "action/GripWithPosition.action"
-  "action/GripWithVelocity.action"
-  "action/Grip.action"
-  "action/MoveToAbsolutePosition.action"
-  "action/MoveToRelativePosition.action" 
-  "action/ReleaseWorkpiece.action" 
-)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  ${msg_files}
-  ${srv_files}
-  ${action_files}
-  DEPENDENCIES sensor_msgs control_msgs action_msgs diagnostic_msgs
-)
-
-# Export dependencies
-ament_export_dependencies(rosidl_default_runtime)
-ament_export_include_directories(include)
-ament_export_dependencies(sensor_msgs control_msgs action_msgs diagnostic_msgs)
-
 #--------------------------------------------------------------------------------
 # Build
 #--------------------------------------------------------------------------------
 
-# The driver
-add_library(schunk_gripper_driver SHARED
-  src/schunk_gripper_wrapper.cpp
+add_library(${PROJECT_NAME}
+  SHARED
   src/schunk_gripper_lib.cpp
   src/communication.cpp
 )
-target_include_directories(schunk_gripper_driver PUBLIC
+target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
+  ${CURL_INCLUDE_DIR}
 )
-target_link_libraries(schunk_gripper_driver
+target_link_libraries(${PROJECT_NAME}
   ${CURL_LIBRARIES}
-  ${cpp_typesupport_target}
-)
-ament_target_dependencies(schunk_gripper_driver
-  rclcpp
-  sensor_msgs
-  control_msgs
-  rclcpp_action
-  rclcpp_components
-  diagnostic_updater
-  diagnostic_msgs 
-)
-
-rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
-# Register schunk_gripper_driver as a component node
-rclcpp_components_register_nodes(schunk_gripper_driver "SchunkGripperNode")
-
-# Example
-add_executable(schunk_gripper_example
-  src/gripper_example.cpp
-)
-ament_target_dependencies(schunk_gripper_example
-  rclcpp
-  sensor_msgs
-  control_msgs
-  rclcpp_action
-  rclcpp_components
-  diagnostic_updater
-  diagnostic_msgs
-)
-target_link_libraries(schunk_gripper_example
-  "${cpp_typesupport_target}"
-  schunk_gripper_driver
 )
 
 #--------------------------------------------------------------------------------
 # Install
 #--------------------------------------------------------------------------------
-install(TARGETS
-  schunk_gripper_driver
+
+install(TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}_targets
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
 )
-install(TARGETS
-  schunk_gripper_example
-  DESTINATION lib/${PROJECT_NAME}
-)
-install(DIRECTORY 
-  include/
-  DESTINATION include
-)
-install(DIRECTORY
-  launch
-  DESTINATION share/${PROJECT_NAME}/
+
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+  FILES_MATCHING
+  PATTERN "*.h"
+  PATTERN "*.hpp"
 )
 
 #--------------------------------------------------------------------------------
 # Test
 #--------------------------------------------------------------------------------
-if(BUILD_TESTING)
-endif()
-
-# Ament package configuration
-ament_package()
+enable_testing()
 
diff --git a/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/communication.hpp b/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/communication.hpp
@@ -18,7 +18,7 @@
 #include <iomanip>
 #include <type_traits>
 #include <sstream>
-#include <schunk_gripper/json.hpp>
+#include <schunk_egu_egk_gripper_library/json.hpp>
 
 //Control double word
 #define FAST_STOP 0x01000000
@@ -400,4 +400,4 @@ inline void AnybusCom::updateSaveData(std::vector<paramtype> &vector, const size
         }
     }
 }
-#endif
+#endif
diff --git a/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/schunk_gripper_lib.hpp b/schunk_egu_egk_gripper_library/include/schunk_egu_egk_gripper_library/schunk_gripper_lib.hpp
@@ -12,7 +12,7 @@
 #ifndef SCHUNK_GRIPPER_HPP
 #define SCHUNK_GRIPPER_HPP
 
-#include "schunk_gripper/communication.hpp"
+#include "schunk_egu_egk_gripper_library/communication.hpp"
 #include <chrono>
 #include <thread>
 #include <mutex>
@@ -97,4 +97,4 @@ inline void Gripper::changeVectorParameter(const char inst[7], std::vector<param
       std::string instance = inst;
       postParameter(instance, value);                                         //Post
 }
-#endif
+#endif
diff --git a/schunk_egu_egk_gripper_library/package.xml b/schunk_egu_egk_gripper_library/package.xml
@@ -1,43 +1,17 @@
 <?xml version="1.0"?>
-
 <package format="3">
-  <name>schunk_gripper</name>
-  <version>0.0.0</version>
-  <description>The schunk_gripper package</description>
-
+  <name>schunk_egu_egk_gripper_library</name>
+  <version>1.0.0</version>
+  <description>Standalone C++ library for Schunk's EGU/EGK grippers</description>
   <author>Viktora Krimer</author>
   <author>Fabian Reinwald</author>
-  <maintainer email="[email protected]">Viktoria Krimer</maintainer>
-
-  <license>BSD</license>
-  <license>MIT</license>
-  <license>curl</license>
+  <maintainer email="[email protected]">Stefan Scherzinger</maintainer>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-
-  <depend>ament_index_cpp</depend>
-  <depend>rclcpp</depend>
-  <depend>action_msgs</depend>
-  <depend>control_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>diagnostic_msgs</depend>
-  <depend>diagnostic_updater</depend>
-  <depend>rclcpp_action</depend>
-  <depend>rclcpp_components</depend>
+  <license>todo</license>
 
-  <exec_depend>ros2launch</exec_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
- <member_of_group>rosidl_interface_packages</member_of_group>
-
-  <!-- The export tag contains other, unspecified, tags -->
+  <buildtool_depend>cmake</buildtool_depend>
   <export>
-    <!-- Other tools can request additional information be placed here -->
-     <build_type>ament_cmake</build_type>
-
+    <build_type>cmake</build_type>
   </export>
+
 </package>
diff --git a/schunk_egu_egk_gripper_library/src/communication.cpp b/schunk_egu_egk_gripper_library/src/communication.cpp
@@ -9,7 +9,7 @@
  * and posting a ByteString if any action needs to be performed by the gripper.
  */
 
-#include "schunk_gripper/communication.hpp"
+#include "schunk_egu_egk_gripper_library/communication.hpp"
 //Write server response for storage in the Program
 size_t writeCallback(void* contents, size_t size, size_t nmemb, void* userp)
 {
@@ -352,4 +352,4 @@ void AnybusCom::getMetadata(const std::string &instance)
 AnybusCom::~AnybusCom()
 {
    curl_easy_cleanup(curl);
-}
+}
diff --git a/schunk_egu_egk_gripper_library/src/schunk_gripper_lib.cpp b/schunk_egu_egk_gripper_library/src/schunk_gripper_lib.cpp
@@ -9,7 +9,7 @@
  * 
  */
 
-#include "schunk_gripper/schunk_gripper_lib.hpp"
+#include "schunk_egu_egk_gripper_library/schunk_gripper_lib.hpp"
 
 std::recursive_mutex lock_mutex;  //Locks if something is receiving or posting data
 //Commands for using in ROS