Everything compiles in Hydro

davetcoleman · Aug 24, 2013 · 46c05e2 · 46c05e2
1 parent 399356b
commit 46c05e2
Show file tree

Hide file tree

Showing 9 changed files with 30 additions and 31 deletions.
diff --git a/clam_block_manipulation/src/block_perception_server.cpp b/clam_block_manipulation/src/block_perception_server.cpp
@@ -43,7 +43,7 @@
 
 #include <tf/transform_listener.h>
 
-#include <pcl/ros/conversions.h>
+#include <pcl/conversions.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/filters/passthrough.h>
@@ -246,7 +246,7 @@ class BlockPerceptionServer
     // Transform to whatever frame we're working in, probably the arm's base frame, ie "base_link"
     ROS_INFO_STREAM_NAMED("perception","Waiting for transform...");
     ros::spinOnce();
-    tf_listener_.waitForTransform(base_link, cloud.header.frame_id, cloud.header.stamp, ros::Duration(2.0));
+    tf_listener_.waitForTransform(base_link, cloud.header.frame_id, pointcloud_msg->header.stamp, ros::Duration(2.0));
 
     if(!pcl_ros::transformPointCloud(base_link, cloud, *cloud_transformed, tf_listener_))
     {
@@ -431,8 +431,10 @@ class BlockPerceptionServer
     try
     {
       sensor_msgs::ImagePtr image_msg(new sensor_msgs::Image);
-      //      pcl::toROSMsg (*pointcloud_msg, *image_msg);
-      pcl::toROSMsg (*cloud_transformed, *image_msg);
+      //const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr  cloud_transformed,
+      sensor_msgs::PointCloud2 temp_cloud;
+      pcl::toROSMsg(*cloud_transformed, temp_cloud);
+      pcl::toROSMsg (temp_cloud, *image_msg);
       cv_bridge::CvImagePtr input_bridge = cv_bridge::toCvCopy(image_msg, "rgb8");
       full_input_image = input_bridge->image;
     }
@@ -669,8 +671,8 @@ class BlockPerceptionServer
           const cv::Point mini_center = cv::Point( mini_width/2, mini_height/2 );
 
           // Find contours
-          vector<vector<cv::Point> > contours;
-          vector<cv::Vec4i> hierarchy;
+          std::vector<std::vector<cv::Point> > contours;
+          std::vector<cv::Vec4i> hierarchy;
           cv::findContours( canny_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0) );
           ROS_INFO_STREAM_NAMED("perception","Contours");
 

diff --git a/clam_moveit_ikfast_plugin/CMakeLists.txt b/clam_moveit_ikfast_plugin/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
   moveit_core
   pluginlib
   roscpp
+  tf_conversions
 )
 
 include_directories(${catkin_INCLUDE_DIRS})
@@ -19,6 +20,7 @@ catkin_package(
   moveit_core
   pluginlib
   roscpp
+  tf_conversions
 )
 
 include_directories(include)
@@ -38,19 +40,4 @@ install(
   clam_moveit_ikfast_plugin_description.xml
   DESTINATION
   ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+)
diff --git a/clam_moveit_ikfast_plugin/package.xml b/clam_moveit_ikfast_plugin/package.xml
@@ -45,4 +45,6 @@
   <run_depend>pluginlib</run_depend>
   <build_depend>roscpp</build_depend>
   <run_depend>roscpp</run_depend>
+  <build_depend>tf_conversions</build_depend>
+  <run_depend>tf_conversions</run_depend>
 </package>
diff --git a/clam_moveit_ikfast_plugin/src/clam_arm_ikfast_moveit_plugin.cpp b/clam_moveit_ikfast_plugin/src/clam_arm_ikfast_moveit_plugin.cpp
@@ -57,6 +57,7 @@ namespace ikfast_kinematics_plugin
 {
 
 #define IKFAST_NO_MAIN // Don't include main() from IKFast
+#define IKTYPE_TRANSFORM_6D
 
 // Code generated by IKFast56/61
 #include "clam_arm_ikfast_solver.cpp"

diff --git a/clam_moveit_plugins/CMakeLists.txt b/clam_moveit_plugins/CMakeLists.txt
@@ -41,21 +41,21 @@ catkin_package(
 #  tf_conversions
 #  eigen_conversions
 #  control_msgs
-#  clam_msgs
+  clam_msgs
 #  dynamixel_hardware_interface
   )
 
 # Enable gdb to show line numbers
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -g")
-set(CMAKE_BUILD_TYPE Debug)
+#set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -g")
+#set(CMAKE_BUILD_TYPE Debug)
 
 include_directories(clam_moveit_controller_manager/include)
 
 add_subdirectory(clam_moveit_controller_manager)
 
 install(
   FILES
-  clam_moveit_controller_manager_plugin_description.xml
+    clam_moveit_controller_manager_plugin_description.xml
   DESTINATION
-  ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
+    ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/clam_msgs/CMakeLists.txt b/clam_msgs/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(clam_msgs)
 
+# List message types we depend on in our messages
 set(MSG_DEPS
   std_msgs
   actionlib_msgs

diff --git a/clam_pick_place/CMakeLists.txt b/clam_pick_place/CMakeLists.txt
@@ -37,4 +37,4 @@ link_directories(${catkin_LIBRARY_DIRS})
 
 add_executable(simple_pick_place src/simple_pick_place.cpp)
 target_link_libraries(simple_pick_place ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(simple_pick_place gazebo_msgs_gencpp ${PROJECT_NAME}_gencfg) # wait for msgs to be built
+add_dependencies(simple_pick_place clam_msgs_gencpp ${PROJECT_NAME}_gencfg) # wait for msgs to be built
diff --git a/clam_vision/src/calibrate_kinect_checkerboard.cpp b/clam_vision/src/calibrate_kinect_checkerboard.cpp
@@ -196,14 +196,17 @@ class CalibrateKinectCheckerboard
     ROS_INFO("[calibrate] Got image info!");
   }
 
+  /* \\ what is this function for?
   void pointcloudCallback(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& msg)
   {
     sensor_msgs::ImagePtr image_msg(new sensor_msgs::Image);
-    pcl::toROSMsg (*msg, *image_msg);
+    //    pcl::toROSMsg (*msg, *image_msg);
+    pcl_conversions::fromPCL(*msg, *image_msg);
   
     imageCallback(image_msg);
   }
-
+  */
+
   void imageCallback(const sensor_msgs::ImageConstPtr& image_msg)
   {
     try

diff --git a/create_plugin_ikfast.sh b/create_plugin_ikfast.sh
@@ -0,0 +1,3 @@
+# be careful - this will overwrite changes
+#rosrun moveit_ikfast_converter create_ikfast_moveit_plugin.py clam arm clam_moveit_ikfast_plugin ~/ros/clam/src/clam_ik/clam_openrave/output_ikfast61.cpp 
+rosrun moveit_ikfast create_ikfast_moveit_plugin.py clam arm clam_moveit_ikfast_plugin clam_moveit_ikfast_plugin/src/clam_arm_ikfast_solver.cpp