init

CMakeLists.txt

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+/opt/ros/indigo/share/catkin/cmake/toplevel.cmake

robotiq-new_2_finger_models/.gitignore

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+*~
+*.py[cod]
+
+# C extensions
+*.so
+
+# Packages
+*.egg
+*.egg-info
+dist
+build
+eggs
+parts
+bin
+var
+sdist
+develop-eggs
+.installed.cfg
+lib
+lib64
+__pycache__
+
+# Installer logs
+pip-log.txt
+
+# Unit test / coverage reports
+.coverage
+.tox
+nosetests.xml
+
+# Translations
+*.mo
+
+# Mr Developer
+.mr.developer.cfg
+.project
+.pydevproject

robotiq-new_2_finger_models/.travis.yml

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+sudo: required 
+dist: trusty 
+language: generic 
+compiler:
+  - gcc
+notifications:
+  email:
+    on_success: always
+    on_failure: always
+#    recipients:
+#      - jane@doe
+env:
+  matrix:
+    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO=kinetic
+matrix:
+  allow_failures:
+    - env: USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - env: USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - env: ROS_DISTRO=kinetic
+install:
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+script: 
+  - source .ci_config/travis.sh
+#  - source ./travis.sh  # Enable this when you have a package-local script 

robotiq-new_2_finger_models/LICENSE

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+Copyright (c) 2013, ROS-Industrial
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+  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.
+
+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.

robotiq-new_2_finger_models/README.md

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+# Robotiq
+
+[ROS-Industrial][] robotiq meta-package.  See the [ROS wiki][] page for more information.  
+
+## Contents
+
+This repo holds source code for all versions > groovy. For those versions <= groovy see: [SVN repo][]
+
+[ROS-Industrial]: http://www.ros.org/wiki/Industrial
+[ROS wiki]: http://ros.org/wiki/robotiq
+[SVN repo]: https://code.google.com/p/swri-ros-pkg/source/browse
+

robotiq-new_2_finger_models/robotiq/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(robotiq)
+find_package(catkin REQUIRED)
+catkin_metapackage()

robotiq-new_2_finger_models/robotiq/package.xml

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+<package>
+  <name>robotiq</name>
+  <version>1.0.0</version>
+  <description>ROS drivers for Robotiq Adaptive Grippers and Robotiq Force Torque Sensor</description>
+  <maintainer email="sedwards@swri.org">Shaun Edwards</maintainer>
+  <license>BSD</license>
+  <url type="website">http://ros.org/wiki/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>robotiq_s_model_visualization</run_depend>
+  <run_depend>robotiq_modbus_tcp</run_depend>
+  <run_depend>robotiq_s_model_control</run_depend>
+  <run_depend>robotiq_c_model_control</run_depend>
+  <run_depend>robotiq_force_torque_sensor</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+</package>

robotiq-new_2_finger_models/robotiq_2f_controllers/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(robotiq_2f_controllers)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES robotiq_2f_controllers
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a C++ library
+# add_library(robotiq_2f_controllers
+#   src/${PROJECT_NAME}/robotiq_2f_controllers.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(robotiq_2f_controllers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(robotiq_2f_controllers_node src/robotiq_2f_controllers_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(robotiq_2f_controllers_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(robotiq_2f_controllers_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS robotiq_2f_controllers robotiq_2f_controllers_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_robotiq_2f_controllers.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

robotiq-new_2_finger_models/robotiq_2f_controllers/action/Robotiq2FCommand.action

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+Robotiq2FCommand command
+---
+float64 position  # The current gripper gap size (in meters)
+float64 effort    # The current effort exerted (in Newtons)
+bool object      # True iff the gripper is exerting max effort and not moving
+bool in_goal # True iff the gripper position has reached the commanded setpoint
+---
+float64 position  # The current gripper gap size (in meters)
+float64 effort    # The current effort exerted (in Newtons)
+bool object      # True iff the gripper is exerting max effort and not moving
+bool in_goal # True iff the gripper position has reached the commanded setpoint