modify code to meet catkin_lint requirements

Alpaca-zip · Sep 9, 2023 · ca1d7d1 · ca1d7d1
1 parent 9eecb1c
commit ca1d7d1
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Showing 3 changed files with 30 additions and 16 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,2 +1,2 @@
-# VSCode
 .vscode
+compile_commands.json
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,21 +2,20 @@ cmake_minimum_required(VERSION 3.0.2)
 project(pupbot)
 
 find_package(catkin REQUIRED COMPONENTS
+  dynamixel_workbench
+  dynamixel_workbench_toolbox
+  geometry_msgs
   roscpp
-  std_msgs
   sensor_msgs
-  geometry_msgs
+  std_msgs
   trajectory_msgs
-  dynamixel_workbench_toolbox
 )
 
 catkin_package(
   INCLUDE_DIRS include
-  CATKIN_DEPENDS roscpp std_msgs sensor_msgs geometry_msgs trajectory_msgs
+  CATKIN_DEPENDS geometry_msgs roscpp sensor_msgs std_msgs trajectory_msgs
 )
 
-link_directories(${GAZEBO_LIBRARY_DIRS})
-
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
@@ -34,3 +33,11 @@ target_link_libraries(key_control ${catkin_LIBRARIES})
 target_link_libraries(posture_stabilization ${catkin_LIBRARIES})
 target_link_libraries(standing_motion ${catkin_LIBRARIES})
 target_link_libraries(trot_gait ${catkin_LIBRARIES})
+
+install(TARGETS dynamixel_control inverse_kinematics key_control posture_stabilization standing_motion trot_gait
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
diff --git a/package.xml b/package.xml
@@ -2,18 +2,25 @@
 <package format="2">
   <name>pupbot</name>
   <version>1.0.1</version>
-  <description>ROS package for quadruped robot PupBot</description>
+  <description>ROS package for quadruped robot PupBot.</description>
   <maintainer email="Alpaca-zip@todo.todo">Alpaca-zip</maintainer>
   <license>Apache 2.0</license>
   <buildtool_depend>catkin</buildtool_depend>
+  <depend>dynamixel_workbench</depend>
+  <depend>geometry_msgs</depend>
   <depend>roscpp</depend>
-  <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>trajectory_msgs</depend>
-  <depend>icm_20948</depend>
-  <depend>dynamixel_workbench</depend>
-  <depend>rqt</depend>
-  <depend>ros_control</depend>
-  <depend>ros_controllers</depend>
+  <depend>std_msgs</depend>
+  <depend>trajectory_msgs</depend>  
+  <build_depend>dynamixel_workbench_toolbox</build_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>icm_20948</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>ros_control</exec_depend>
+  <exec_depend>ros_controllers</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>rqt</exec_depend>
+  <exec_depend>rqt_plot</exec_depend>
+  <exec_depend>xacro</exec_depend>
 </package>