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added ros node for direct sdax communication #21

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Mar 16, 2018
Merged

added ros node for direct sdax communication #21

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11ff9fa
added ros node for direct sdax communication
benmaidel Mar 5, 2018
0f07d5f
remove launch file
floweisshardt Mar 16, 2018
d8c0909
mojin robotics copyright
floweisshardt Mar 16, 2018
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16 changes: 14 additions & 2 deletions cob_hand_bridge/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
std_srvs
)

find_package(Boost REQUIRED COMPONENTS thread)
find_package(Boost REQUIRED COMPONENTS chrono system thread)

add_message_files(
FILES
Expand Down Expand Up @@ -44,12 +44,24 @@ catkin_package(
include_directories(
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
client
client/src
client/pigpio
)

add_executable(${PROJECT_NAME}_node src/cob_hand_bridge_node.cpp)
target_link_libraries(${PROJECT_NAME}_node ${Boost_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_library(cob_hand_pigpio STATIC client/pigpio/pigpio.c client/pigpio/command.c)
target_compile_definitions(cob_hand_pigpio PRIVATE DISABLE_SER_CHECK_INITED)

add_executable(cob_hand_node src/cob_hand_node.cpp)
target_link_libraries(cob_hand_node cob_hand_pigpio ${Boost_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(cob_hand_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})



### INSTALL ###
install(TARGETS ${PROJECT_NAME}_node
install(TARGETS ${PROJECT_NAME}_node cob_hand_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
15 changes: 15 additions & 0 deletions cob_hand_bridge/launch/sdhx.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
<?xml version="1.0"?>
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we don't need this launch file, it's in cob_bringup (see ipa320/cob_robots#753). please remove

<launch>

<arg name="port" default="/dev/ttyACM0"/>
<arg name="component_name" default="gripper"/>

<group ns="/$(arg component_name)">

<node pkg="cob_hand_bridge" type="cob_hand_node" name="cob_hand_node">
<rosparam param="sdhx/joint_names" subst_value="True">[$(arg component_name)_finger_1_joint, $(arg component_name)_finger_2_joint]</rosparam>
<param name="sdhx/port" value="$(arg port)"/>
</node>
</group>

</launch>
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