Merge pull request #9 from alpyca/refactor_structure

Refactor structure
alpyca · Jan 15, 2019 · 800f850 · 800f850
2 parents dc7b9d7 + db3e8f3
commit 800f850
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Showing 24 changed files with 61 additions and 25 deletions.
diff --git a/alpyca_comm/CMakeLists.txt b/alpyca_comm/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(alpyca_comm)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  message_generation 
+  std_msgs)
+
+catkin_python_setup()
+
+add_service_files(DIRECTORY srv FILES ExampleSrv.srv)
+generate_messages(DEPENDENCIES std_msgs)
+
+catkin_install_python(PROGRAMS
+    src/alpyca/__init__.py
+    src/alpyca/comm/__init__.py
+    src/alpyca/comm/communication.py
+    src/alpyca/comm/example.py
+DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/aplyca)
+
diff --git a/src/alpyca/comm/README.md → alpyca_comm/README.md b/src/alpyca/comm/README.md → alpyca_comm/README.md
diff --git a/package.xml → alpyca_comm/package.xml b/package.xml → alpyca_comm/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
-  <name>alpyca</name>
+  <name>alpyca_comm</name>
   <version>0.0.1</version>
   <description>The main idea of Alpyca is to make robot development with ROS as easy as possible.</description>
 
@@ -12,16 +12,10 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>std_msgs</build_depend>
-  <build_depend>pybind11_catkin</build_depend>
-  <build_depend>gazebo_ros</build_depend>
-  <build_depend>roscpp</build_depend>
 
   <run_depend>message_runtime</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>roslaunch</run_depend>
   <run_depend>std_msgs</run_depend>
-  <run_depend>pybind11_catkin</run_depend>
-  <run_depend>gazebo_ros</run_depend>
-  <run_depend>roscpp</run_depend>
 
 </package>
diff --git a/setup.py → alpyca_comm/setup.py b/setup.py → alpyca_comm/setup.py
diff --git a/src/alpyca/__init__.py → alpyca_comm/src/alpyca/__init__.py b/src/alpyca/__init__.py → alpyca_comm/src/alpyca/__init__.py
diff --git a/src/alpyca/comm/__init__.py → alpyca_comm/src/alpyca/comm/__init__.py b/src/alpyca/comm/__init__.py → alpyca_comm/src/alpyca/comm/__init__.py
diff --git a/src/alpyca/comm/communication.py → alpyca_comm/src/alpyca/comm/communication.py b/src/alpyca/comm/communication.py → alpyca_comm/src/alpyca/comm/communication.py
diff --git a/src/alpyca/comm/example.py → alpyca_comm/src/alpyca/comm/example.py b/src/alpyca/comm/example.py → alpyca_comm/src/alpyca/comm/example.py
diff --git a/srv/ExampleSrv.srv → alpyca_comm/srv/ExampleSrv.srv b/srv/ExampleSrv.srv → alpyca_comm/srv/ExampleSrv.srv
diff --git a/tests/test_dummy.py → alpyca_comm/tests/test_dummy.py b/tests/test_dummy.py → alpyca_comm/tests/test_dummy.py
diff --git a/CMakeLists.txt → alpyca_sim/CMakeLists.txt b/CMakeLists.txt → alpyca_sim/CMakeLists.txt
@@ -1,27 +1,23 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(alpyca)
+project(alpyca_sim)
 
 find_package(PythonLibs REQUIRED)
 
 find_package(catkin REQUIRED COMPONENTS
-  rospy
-  message_generation 
-  std_msgs
   gazebo_ros
   roscpp
-  pybind11_catkin)
+  pybind11_catkin
+)
 
 catkin_python_setup()
 
-add_service_files(DIRECTORY srv FILES ExampleSrv.srv)
-generate_messages(DEPENDENCIES std_msgs)
-
 catkin_package(
     LIBRARIES
     CATKIN_DEPENDS pybind11_catkin
 )
 
 find_package(gazebo REQUIRED)
+
 find_package(PythonLibs REQUIRED)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
@@ -40,12 +36,3 @@ pybind_add_module(py_contact_sensor MODULE src/alpyca/sim/py_contact_sensor.cpp)
 
 add_library(plugin_runner SHARED src/alpyca/sim/plugin_runner.cpp)
 target_link_libraries(plugin_runner ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${PYTHON_LIBRARIES})
-
-
-catkin_install_python(PROGRAMS
-    src/alpyca/__init__.py
-    src/alpyca/comm/__init__.py
-    src/alpyca/comm/communication.py
-    src/alpyca/comm/example.py
-DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/aplyca)
-
diff --git a/src/alpyca/sim/README.md → alpyca_sim/README.md b/src/alpyca/sim/README.md → alpyca_sim/README.md
@@ -7,7 +7,7 @@ writing plugins keeps being a hard task. Error messages are often cryptic, debug
 It would be much nicer to write plugins in Python. This is what alpyca/sim is for.  
 
 ## Example usage
-You can write a contact sensor plugin, exactly as in the [Gazebo tutorials](http://gazebosim.org/tutorials?tut=contact_sensor), but completely in Python. An example can be found in [contact_plugin.py](contact_plugin.py).
+You can write a contact sensor plugin, exactly as in the [Gazebo tutorials](http://gazebosim.org/tutorials?tut=contact_sensor), but completely in Python. An example can be found in [contact_plugin.py](src/alpyca/sim/contact_plugin.py).
 
 ```python
 class ContactPlugin:

diff --git a/include/alpyca/sim/contact_sensor_wrapper.h → ...clude/alpyca/sim/contact_sensor_wrapper.h b/include/alpyca/sim/contact_sensor_wrapper.h → ...clude/alpyca/sim/contact_sensor_wrapper.h
diff --git a/include/alpyca/sim/plugin_runner.h → ...ca_sim/include/alpyca/sim/plugin_runner.h b/include/alpyca/sim/plugin_runner.h → ...ca_sim/include/alpyca/sim/plugin_runner.h
diff --git a/include/alpyca/sim/sensor_wrapper.h → ...a_sim/include/alpyca/sim/sensor_wrapper.h b/include/alpyca/sim/sensor_wrapper.h → ...a_sim/include/alpyca/sim/sensor_wrapper.h
diff --git a/alpyca_sim/package.xml b/alpyca_sim/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package>
+  <name>alpyca_sim</name>
+  <version>0.0.1</version>
+  <description>The alpyca_sim package</description>
+
+  <maintainer email="amiller89@gmx.de">amiller</maintainer>
+  <author email="amiller89@gmx.de">Artur Miller</author>
+  <author email="boehle@gmail.com">Sebastian Boehle</author>
+
+  <license>MIT</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>pybind11_catkin</build_depend>
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+
+  <run_depend>pybind11_catkin</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>roscpp</run_depend>
+
+</package>
+
diff --git a/alpyca_sim/setup.py b/alpyca_sim/setup.py
@@ -0,0 +1,11 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['alpyca'],
+    package_dir={'': 'src'})
+
+setup(**setup_args)
diff --git a/src/alpyca/sim/__init__.py → alpyca_sim/src/alpyca/__init__.py b/src/alpyca/sim/__init__.py → alpyca_sim/src/alpyca/__init__.py
diff --git a/alpyca_sim/src/alpyca/sim/__init__.py b/alpyca_sim/src/alpyca/sim/__init__.py
diff --git a/src/alpyca/sim/contact_plugin.py → alpyca_sim/src/alpyca/sim/contact_plugin.py b/src/alpyca/sim/contact_plugin.py → alpyca_sim/src/alpyca/sim/contact_plugin.py
diff --git a/src/alpyca/sim/plugin_runner.cpp → alpyca_sim/src/alpyca/sim/plugin_runner.cpp b/src/alpyca/sim/plugin_runner.cpp → alpyca_sim/src/alpyca/sim/plugin_runner.cpp
diff --git a/src/alpyca/sim/py_contact_sensor.cpp → ..._sim/src/alpyca/sim/py_contact_sensor.cpp b/src/alpyca/sim/py_contact_sensor.cpp → ..._sim/src/alpyca/sim/py_contact_sensor.cpp
diff --git a/src/alpyca/sim/py_sensor.cpp → alpyca_sim/src/alpyca/sim/py_sensor.cpp b/src/alpyca/sim/py_sensor.cpp → alpyca_sim/src/alpyca/sim/py_sensor.cpp
diff --git a/worlds/contact.world → alpyca_sim/worlds/contact.world b/worlds/contact.world → alpyca_sim/worlds/contact.world