Bug/dependencies (#9)

* removed outdated demo file and its deps

* added travis config

* added dependencies

* removed old sdk reference

* added missing python dependencies. removed uneeded state publisher and simplified some imports

* added readme, license

.travis.yml

@@ -0,0 +1,62 @@
+# Template author: Felix Duvallet <felixd@gmail.com>
+
+################################################################################
+
+# Use ubuntu trusty (14.04) with sudo privileges.
+dist: trusty
+sudo: required
+# Use depreciated env due to python conflicts
+group: deprecated-2017Q2
+language:
+  - generic
+cache:
+  - apt
+
+# Configuration variables. 
+env:
+  global:
+    - ROS_DISTRO=indigo
+    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
+    - CI_SOURCE_PATH=$(pwd)
+    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
+    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
+    - ROS_PARALLEL_JOBS='-j8 -l6'
+
+before_install:
+  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - sudo rosdep init
+  - rosdep update
+
+install:
+  - mkdir -p ~/catkin_ws/src
+  - cd ~/catkin_ws/src
+  - catkin_init_workspace
+  - cd ~/catkin_ws
+  - catkin_make
+  - source devel/setup.bash
+  # Add the package under integration to the workspace using a symlink.
+  - cd ~/catkin_ws/src
+  - ln -s $CI_SOURCE_PATH .
+
+# Install all dependencies, using wstool first and rosdep second.
+# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+before_script:
+  # source dependencies: install using wstool.
+  - cd ~/catkin_ws/src
+  - wstool init
+  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+  - wstool up
+  # package depdencies: install using rosdep.
+  - cd ~/catkin_ws
+  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+
+script:
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - cd ~/catkin_ws
+  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
+  - source devel/setup.bash
+  - catkin_make run_tests && catkin_test_results

LICENSE.md

@@ -0,0 +1,12 @@
+Copyright 2018 Svenzva Robotics
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -0,0 +1,48 @@
+# Svenzva Robotics ROS drivers
+
+This is the active repository for the Svenzva Robotics robotic product line ROS software.
+The `svenzva_ros` package holds all thats needed to get up and running with ROS, including drivers, description    files, simulation files and interactive utilities.
+
+
+### Prerequisites
+
+Our testing platform is ROS Indigo with 14.04 and ROS Kinetic 16.04. You must have either of these installed or  have access to a system with ROS installed to use this ROS package.
+You can find out more about installing ROS [here](http://wiki.ros.org/kinetic/Installation).
+
+### Installing
+
+These instructions will get you a copy of the ROS package and its dependencies on your local machine.
+
+Clone the repository into an existing workspace
+```
+git clone https://github.com/SvenzvaRobotics/svenzva_ros.git
+```
+Use wstool to grab github source dependencies:
+```
+wstool init src PATH_TO_ROSINSTALL_FILE.rosinstall
+```
+where the rosinstall file desired is the __dependencies.rosinstall__ file in the root of the `svenzva_ros` package.
+
+Finally, use rosdep to resolve dependencies specified in package descriptors:
+```
+rosdep install --from-paths ./ --ignore-src --rosdistro=$ROS_DISTRO -y
+```
+
+
+## Deployment
+
+To bringup the ROS driver, bringup the main launch file:
+```
+roslaunch svenzva_drivers svenzva_bringup.launch
+```
+
+For additional detail on the bringing up the system, please check the [Github Wiki](https://github.com/SvenzvaRobotics/svenzva_ros/wiki).
+
+## How to Use
+
+Once the main launch file has been brought up, a number of robot features are exposed via ROS. 
+We explore these in detail in the [Github Wiki](https://github.com/SvenzvaRobotics/svenzva_ros/wiki) pages and own support documents.
+
+## License
+
+This project, unless specified otherwise, is licensed under the BSD License - see the [LICENSE.md](LICENSE.md)   file for details.

dependencies.rosinstall

@@ -0,0 +1,8 @@
+- git:
+    local-name: hrl-kdl
+    uri: https://github.com/gt-ros-pkg/hrl-kdl.git
+    version: indigo-devel
+- git:
+    local-name: mx_dynamixel
+    uri: https://github.com/SvenzvaRobotics/mx_dynamixel.git
+    version: master

svenzva_demo/CMakeLists.txt

@@ -10,12 +10,8 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
   moveit_ros_planning_interface
   svenzva_msgs
+  moveit_msgs
 )
 
 catkin_package( )
 
-
-add_executable(fkine src/fkine_demo.cpp)
-add_dependencies(fkine svenzva_demo_gencpp)
-target_link_libraries(fkine ${catkin_LIBRARIES})
-

svenzva_demo/config/book.yaml

@@ -0,0 +1,8 @@
+start1: [-0.06442719301757813, -0.3482136384521485, 1.334563283935547, -1.0093593572753907, 0.19021361748046875, 4.609612262329102]
+start2: [0.09510680874023437, -0.009203884716796876, 1.802427423706055, -0.2439029449951172, 0.19174759826660157, 4.609612262329102]
+approach3: [0.10124273188476564, -0.9188544908935548, 1.0630486847900391, -0.14112623232421875, 0.20555342534179688, 4.611146243115234]
+reach4: [-0.0015339807861328126, -1.4434759197509766, 0.3558835423828125, 0.04141748122558594, 0.20401944455566406, 4.609612262329102]
+grab5: [-0.015339807861328126, -0.8252816629394532, 1.294679783496094, 0.03528155808105469, 0.20555342534179688, 4.640291878051758]
+pullback6: [0.027611654150390626, -0.4264466585449219, 1.7855536350585939, -0.07209709694824219, 0.20555342534179688, 4.620350127832031]
+turn7: [0.5783107563720703, -0.4233786969726563, 1.9650293870361328, -0.981747703125, 0.20401944455566406, 3.969942274511719]
+move8: [0.3067961572265625, -0.696427276904297, 1.2716700717041016, -1.5677283634277346, 0.196349540625, 4.313553970605469]

svenzva_demo/config/record_player.yaml

@@ -0,0 +1,29 @@
+vertical: [-1.4894953433349611, 0.07516505852050782, 0.10584467424316407, -0.015339807861328126, -0.15339807861328125, 4.566660800317383]
+approach_1: [-0.4003689851806641, -0.06749515458984376, -0.3988350043945313, 0.5092816209960938, -0.14879613625488283, 4.982369593359375]
+approach_2: [-0.9725438184082031, 0.10124273188476564, -0.9081166253906251, 0.826815643725586, -0.14879613625488283, 4.980835612573243]
+approach_3: [-0.5829126987304688, -0.06749515458984376, -1.8852623861572266, 0.9265243948242188, -0.11965050131835939, 4.980835612573243]
+approach_4: [-0.9618059529052735, 0.015339807861328126, -1.842310924145508, 0.4816699668457032, -0.15339807861328125, 4.982369593359375]
+grab_approach_5: [-0.9848156646972657, 0.18407769433593751, -1.7149905188964845, 0.4816699668457032, -0.15339807861328125, 4.980835612573243]
+grabbed_6: [-1.0875923773681642, 0.14419419389648439, -1.268602110131836, 0.4740000629150391, -0.15339807861328125, 5.016117170654297]
+rotate_wrist_7: [-1.0753205310791016, 0.17794177119140625, -1.2716700717041016, 0.43565054326171876, -0.15339807861328125, 6.296991127075196]
+lower_record_8: [-1.007825376489258, 0.42184471618652347, -1.4603497083984376, 0.6289321223144532, -0.15186409782714844, 5.809185237084962]
+drop_record_9: [-0.7731263162109375, 0.36815538867187503, -1.4603497083984376, 0.8436894323730469, -0.15186409782714844, 5.714078428344727]
+retreat_10: [-0.7976700087890626, -0.26231071442871096, -1.4603497083984376, 0.8467573939453126, -0.15186409782714844, 5.714078428344727]
+newstuff: [0.3758252926025391, -0.00613592314453125, 0.024543692578125, -0.053689327514648444, 0.13499030917968752, 4.6663695514160155]
+start: [0.10584467424316407, 0.10737865502929689, 0.14112623232421875, 0.010737865502929688, 0.1334563283935547, 4.784486071948242]
+home: [0.2316310987060547, -0.03528155808105469, 0.11965050131835939, -0.07823302009277344, 0.12118448210449219, 4.594272454467774]
+b2: [0.09203884716796876, -0.003067961572265625, 0.11811652053222657, 1.6275536140869142, -0.036815538867187504, 4.535981184594727]
+b3: [0.026077673364257814, -0.015339807861328126, -1.8837284053710939, 1.563126421069336, -0.04448544279785156, 4.620350127832031]
+b4: [-0.004601942358398438, 0.5430291982910157, -1.872990539868164, 1.4496118428955078, -0.04601942358398438, 4.549787011669922]
+b5: [-0.3313398498046875, 0.5537670637939454, -1.653631287451172, 1.1658253974609376, -0.22549517556152346, 4.681709359277344]
+b6: [-0.48473792841796876, 0.5276893904296875, -1.6551652682373048, 1.3683108612304689, -0.22549517556152346, 5.166447287695313]
+b7: [-0.45866025505371094, 0.5292233712158203, -1.7548740193359376, 1.3790487267333986, -0.22549517556152346, 5.401146347973633]
+b8post: [-0.5384272559326172, 0.46939812055664065, -1.744136153833008, 1.1075341275878907, 0.06902913537597656, 5.605165792529297]
+b9: [-0.6227961991699219, 0.5031456978515625, -1.7456701346191408, 0.9725438184082031, 0.06902913537597656, 5.626641523535157]
+b10: [-0.49547579392089847, 0.23469906027832033, -2.054000272631836, 0.9756117799804688, -0.0700938, 5.632777446679688]
+b11: [-0.5322913327880859, 0.05215534672851563, -1.612213806225586, 1.0492428577148438, 0.06902913537597656, 5.864408545385743]
+b12: [-0.5322913327880859, -0.018407769433593752, -0.6304661031005859, 1.0523108192871093, 0.06902913537597656, 5.853670679882813]
+press1: [-1.3330293031494143, -0.08590292402343751, -1.6935147878906252, 0.5430291982910157, 0.07363107773437501, 5.898156122680664]
+press2: [-1.3084856105712892, -0.0122718462890625, -1.8591847127929688, 0.5215534672851563, 1.1244079162353517, 5.9058260266113285]
+press3: [-1.2701360909179689, 0.1825437135498047, -1.8039614044921877, 0.5031456978515625, 1.0244079162353517, 5.9058260266113285]
+press4: [-1.334563283935547, -0.14419419389648439, -1.7472041154052735, 0.5046796786376954, 1.1259418970214845, 5.8996901034667975]

svenzva_demo/package.xml

@@ -12,14 +12,13 @@
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>svenzva_msgs</build_depend>
-  <build_depend>jaco_msgs</build_depend>
-  <build_depend>moveit_utils</build_depend>
+  <build_depend>moveit_msgs</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>svenzva_msgs</run_depend>
-  <run_depend>moveit_utils</run_depend>
+  <run_depend>moveit_msgs</run_depend>
 
   <buildtool_depend>catkin</buildtool_depend>
 

svenzva_drivers/include/dynamixel_control_hw/dynamixel_hardware_interface.hpp

@@ -11,8 +11,6 @@
 #include <sensor_msgs/JointState.h>
 #include <std_msgs/Float64.h>
 
-#include <dynamixel/dynamixel.hpp>
-
 namespace dynamixel {
 
     class DynamixelHardwareInterface : public hardware_interface::RobotHW {