Restructure the package into adequate sub packages

This is according to the ROS2 convention.
SCHUNK-SE-Co-KG · Apr 17, 2024 · fdfdfff · fdfdfff
1 parent 7a34cd6
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diff --git a/README.md b/README.md
@@ -145,7 +145,7 @@ ros2 launch schunk_gripper schunk_launch.py
 rqt
 ```
 It is known that rqt can not get the message class for action feedback and action goals.
-![rqt](doc/rqt_interface.png)
+![rqt](resources/images/rqt_interface.png)
 
 Open:
 - Plugins/Configuration/Dynamic Reconfigure: For changing parameters.

diff --git a/doc/rqt_interface.png → resources/images/rqt_interface.png b/doc/rqt_interface.png → resources/images/rqt_interface.png
diff --git a/...schunk_gripper/schunk_gripper_wrapper.hpp → ...gripper_driver/schunk_gripper_wrapper.hpp b/...schunk_gripper/schunk_gripper_wrapper.hpp → ...gripper_driver/schunk_gripper_wrapper.hpp
diff --git a/src/schunk_gripper/launch/schunk_launch.py → ...gk_gripper_driver/launch/schunk_launch.py b/src/schunk_gripper/launch/schunk_launch.py → ...gk_gripper_driver/launch/schunk_launch.py
diff --git a/...chunk_gripper/launch/schunk_rqt_launch.py → ...ripper_driver/launch/schunk_rqt_launch.py b/...chunk_gripper/launch/schunk_rqt_launch.py → ...ripper_driver/launch/schunk_rqt_launch.py
diff --git a/...nk_gripper/src/schunk_gripper_wrapper.cpp → ...per_driver/src/schunk_gripper_wrapper.cpp b/...nk_gripper/src/schunk_gripper_wrapper.cpp → ...per_driver/src/schunk_gripper_wrapper.cpp
diff --git a/src/schunk_gripper/action/Grip.action → ...egk_gripper_interfaces/action/Grip.action b/src/schunk_gripper/action/Grip.action → ...egk_gripper_interfaces/action/Grip.action
diff --git a/...nk_gripper/action/GripWithPosition.action → ...interfaces/action/GripWithPosition.action b/...nk_gripper/action/GripWithPosition.action → ...interfaces/action/GripWithPosition.action
diff --git a/...action/GripWithPositionAndVelocity.action → ...action/GripWithPositionAndVelocity.action b/...action/GripWithPositionAndVelocity.action → ...action/GripWithPositionAndVelocity.action
diff --git a/...nk_gripper/action/GripWithVelocity.action → ...interfaces/action/GripWithVelocity.action b/...nk_gripper/action/GripWithVelocity.action → ...interfaces/action/GripWithVelocity.action
diff --git a/...pper/action/MoveToAbsolutePosition.action → ...aces/action/MoveToAbsolutePosition.action b/...pper/action/MoveToAbsolutePosition.action → ...aces/action/MoveToAbsolutePosition.action
diff --git a/...pper/action/MoveToRelativePosition.action → ...aces/action/MoveToRelativePosition.action b/...pper/action/MoveToRelativePosition.action → ...aces/action/MoveToRelativePosition.action
diff --git a/...nk_gripper/action/ReleaseWorkpiece.action → ...interfaces/action/ReleaseWorkpiece.action b/...nk_gripper/action/ReleaseWorkpiece.action → ...interfaces/action/ReleaseWorkpiece.action
diff --git a/src/schunk_gripper/msg/State.msg → ..._egu_egk_gripper_interfaces/msg/State.msg b/src/schunk_gripper/msg/State.msg → ..._egu_egk_gripper_interfaces/msg/State.msg
diff --git a/src/schunk_gripper/srv/Acknowledge.srv → ...gk_gripper_interfaces/srv/Acknowledge.srv b/src/schunk_gripper/srv/Acknowledge.srv → ...gk_gripper_interfaces/srv/Acknowledge.srv
diff --git a/src/schunk_gripper/srv/BrakeTest.srv → ..._egk_gripper_interfaces/srv/BrakeTest.srv b/src/schunk_gripper/srv/BrakeTest.srv → ..._egk_gripper_interfaces/srv/BrakeTest.srv
diff --git a/src/schunk_gripper/srv/ChangeIp.srv → ...u_egk_gripper_interfaces/srv/ChangeIp.srv b/src/schunk_gripper/srv/ChangeIp.srv → ...u_egk_gripper_interfaces/srv/ChangeIp.srv
diff --git a/src/schunk_gripper/srv/FastStop.srv → ...u_egk_gripper_interfaces/srv/FastStop.srv b/src/schunk_gripper/srv/FastStop.srv → ...u_egk_gripper_interfaces/srv/FastStop.srv
diff --git a/src/schunk_gripper/srv/GripperInfo.srv → ...gk_gripper_interfaces/srv/GripperInfo.srv b/src/schunk_gripper/srv/GripperInfo.srv → ...gk_gripper_interfaces/srv/GripperInfo.srv
diff --git a/src/schunk_gripper/srv/ParameterGet.srv → ...k_gripper_interfaces/srv/ParameterGet.srv b/src/schunk_gripper/srv/ParameterGet.srv → ...k_gripper_interfaces/srv/ParameterGet.srv
diff --git a/src/schunk_gripper/srv/ParameterSet.srv → ...k_gripper_interfaces/srv/ParameterSet.srv b/src/schunk_gripper/srv/ParameterSet.srv → ...k_gripper_interfaces/srv/ParameterSet.srv
diff --git a/...schunk_gripper/srv/PrepareForShutdown.srv → ...per_interfaces/srv/PrepareForShutdown.srv b/...schunk_gripper/srv/PrepareForShutdown.srv → ...per_interfaces/srv/PrepareForShutdown.srv
diff --git a/..._gripper/srv/ReleaseForManualMovement.srv → ...terfaces/srv/ReleaseForManualMovement.srv b/..._gripper/srv/ReleaseForManualMovement.srv → ...terfaces/srv/ReleaseForManualMovement.srv
diff --git a/src/schunk_gripper/srv/Softreset.srv → ..._egk_gripper_interfaces/srv/Softreset.srv b/src/schunk_gripper/srv/Softreset.srv → ..._egk_gripper_interfaces/srv/Softreset.srv
diff --git a/src/schunk_gripper/srv/Stop.srv → ...k_egu_egk_gripper_interfaces/srv/Stop.srv b/src/schunk_gripper/srv/Stop.srv → ...k_egu_egk_gripper_interfaces/srv/Stop.srv
diff --git a/src/schunk_gripper/CMakeLists.txt → ...nk_egu_egk_gripper_library/CMakeLists.txt b/src/schunk_gripper/CMakeLists.txt → ...nk_egu_egk_gripper_library/CMakeLists.txt
@@ -74,58 +74,69 @@ ament_export_dependencies(rosidl_default_runtime)
 ament_export_include_directories(include)
 ament_export_dependencies(sensor_msgs control_msgs action_msgs diagnostic_msgs)
 
-# Declare a C++ library for schunk_gripper_driver
+#--------------------------------------------------------------------------------
+# Build
+#--------------------------------------------------------------------------------
+
+# The driver
 add_library(schunk_gripper_driver SHARED
   src/schunk_gripper_wrapper.cpp
   src/schunk_gripper_lib.cpp
   src/communication.cpp
 )
-
-# Define compilation definition for schunk_gripper_driver
-target_compile_definitions(schunk_gripper_driver
-  PRIVATE "COMPOSITION_BUILDING_DLL"
+target_include_directories(schunk_gripper_driver PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
 )
-
-# Link libraries to schunk_gripper_driver
 target_link_libraries(schunk_gripper_driver
   ${CURL_LIBRARIES}
+  ${cpp_typesupport_target}
 )
-
-# Add dependencies for schunk_gripper_driver
 ament_target_dependencies(schunk_gripper_driver
-"rclcpp" "sensor_msgs" "control_msgs" "rclcpp_action" "rclcpp_components" "diagnostic_updater" "diagnostic_msgs" 
+  rclcpp
+  sensor_msgs
+  control_msgs
+  rclcpp_action
+  rclcpp_components
+  diagnostic_updater
+  diagnostic_msgs 
 )
-rosidl_get_typesupport_target(cpp_typesupport_target  "${PROJECT_NAME}" "rosidl_typesupport_cpp")
-target_link_libraries(schunk_gripper_driver "${cpp_typesupport_target}")
+
+rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
 # Register schunk_gripper_driver as a component node
 rclcpp_components_register_nodes(schunk_gripper_driver "SchunkGripperNode")
 
-# Link libraries to schunk_gripper_driver
-target_link_libraries(schunk_gripper_driver
-  ${CURL_LIBRARIES}
+# Example
+add_executable(schunk_gripper_example
+  src/gripper_example.cpp
 )
-
-# Install schunk_gripper_example executable
-add_executable(schunk_gripper_example src/gripper_example.cpp)
 ament_target_dependencies(schunk_gripper_example
-"rclcpp" "sensor_msgs" "control_msgs" "rclcpp_action" "rclcpp_components" "diagnostic_updater" "diagnostic_msgs"  
+  rclcpp
+  sensor_msgs
+  control_msgs
+  rclcpp_action
+  rclcpp_components
+  diagnostic_updater
+  diagnostic_msgs
+)
+target_link_libraries(schunk_gripper_example
+  "${cpp_typesupport_target}"
+  schunk_gripper_driver
 )
 
-target_link_libraries(schunk_gripper_example "${cpp_typesupport_target}" schunk_gripper_driver)
-
-# Install targets
+#--------------------------------------------------------------------------------
+# Install
+#--------------------------------------------------------------------------------
 install(TARGETS
   schunk_gripper_driver
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
-
 install(TARGETS
   schunk_gripper_example
   DESTINATION lib/${PROJECT_NAME}
 )
-
 install(DIRECTORY 
   include/
   DESTINATION include

diff --git a/.../include/schunk_gripper/communication.hpp → ...egu_egk_gripper_library/communication.hpp b/.../include/schunk_gripper/communication.hpp → ...egu_egk_gripper_library/communication.hpp
diff --git a/...k_gripper/include/schunk_gripper/json.hpp → ...e/schunk_egu_egk_gripper_library/json.hpp b/...k_gripper/include/schunk_gripper/json.hpp → ...e/schunk_egu_egk_gripper_library/json.hpp
diff --git a/...ude/schunk_gripper/schunk_gripper_lib.hpp → ...gk_gripper_library/schunk_gripper_lib.hpp b/...ude/schunk_gripper/schunk_gripper_lib.hpp → ...gk_gripper_library/schunk_gripper_lib.hpp
diff --git a/src/schunk_gripper/package.xml → schunk_egu_egk_gripper_library/package.xml b/src/schunk_gripper/package.xml → schunk_egu_egk_gripper_library/package.xml
diff --git a/src/schunk_gripper/src/communication.cpp → ...egk_gripper_library/src/communication.cpp b/src/schunk_gripper/src/communication.cpp → ...egk_gripper_library/src/communication.cpp
diff --git a/src/schunk_gripper/src/gripper_example.cpp → ...k_gripper_library/src/gripper_example.cpp b/src/schunk_gripper/src/gripper_example.cpp → ...k_gripper_library/src/gripper_example.cpp
diff --git a/...schunk_gripper/src/schunk_gripper_lib.cpp → ...ripper_library/src/schunk_gripper_lib.cpp b/...schunk_gripper/src/schunk_gripper_lib.cpp → ...ripper_library/src/schunk_gripper_lib.cpp