move realtime tools in ros control, and create empty constructors for…

… handles
ros-controls · Dec 23, 2012 · 2a3c118 · 2a3c118
1 parent cef7857
commit 2a3c118
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Showing 13 changed files with 61 additions and 36 deletions.
diff --git a/hardware_interface/include/hardware_interface/joint_command_interface.h b/hardware_interface/include/hardware_interface/joint_command_interface.h
@@ -37,6 +37,7 @@ namespace hardware_interface
 class JointHandle : public JointStateHandle
 {
 public:
+  JointHandle() {};
   JointHandle(const JointStateHandle& js, double* cmd)
     : JointStateHandle(js), cmd_(cmd)
   {}

diff --git a/hardware_interface/include/hardware_interface/joint_state_interface.h b/hardware_interface/include/hardware_interface/joint_state_interface.h
@@ -43,6 +43,7 @@ namespace hardware_interface{
 class JointStateHandle
 {
 public:
+  JointStateHandle() {};
   JointStateHandle(const std::string& name, const double* pos, const double* vel, const double* eff)
     : name_(name), pos_(pos), vel_(vel), eff_(eff)
   {}

diff --git a/realtime_tools/CMakeLists.txt b/realtime_tools/CMakeLists.txt
@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+rosbuild_init()
+#rosbuild_genmsg()
+rosbuild_add_boost_directories()
diff --git a/realtime_tools/Makefile b/realtime_tools/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
diff --git a/realtime_utils/doc.dox → realtime_tools/doc.dox b/realtime_utils/doc.dox → realtime_tools/doc.dox
diff --git a/...ils/include/realtime_utils/realtime_box.h → ...ols/include/realtime_tools/realtime_box.h b/...ils/include/realtime_utils/realtime_box.h → ...ols/include/realtime_tools/realtime_box.h
@@ -29,15 +29,15 @@
 
 // Author: Stuart Glaser
 
-#ifndef REALTIME_UTILS_REALTIME_BOX_H__
-#define REALTIME_UTILS_REALTIME_BOX_H__
+#ifndef REALTIME_BOX_H__
+#define REALTIME_BOX_H__
 
 #include <string>
 #include <ros/node_handle.h>
 #include <boost/thread/mutex.hpp>
 #include <boost/thread/thread.hpp>
 
-namespace realtime_utils {
+namespace realtime_tools {
 
 /*!
 

diff --git a/...clude/realtime_utils/realtime_publisher.h → ...clude/realtime_tools/realtime_publisher.h b/...clude/realtime_utils/realtime_publisher.h → ...clude/realtime_tools/realtime_publisher.h
@@ -35,8 +35,8 @@
  *
  * Author: Stuart Glaser
  */
-#ifndef REALTIME_UTILS_REALTIME_PUBLISHER_H
-#define REALTIME_UTILS_REALTIME_PUBLISHER_H
+#ifndef REALTIME_PUBLISHER_H
+#define REALTIME_PUBLISHER_H
 
 #include <string>
 #include <ros/node_handle.h>
@@ -45,7 +45,7 @@
 #include <boost/thread/thread.hpp>
 #include <boost/thread/condition.hpp>
 
-namespace realtime_utils {
+namespace realtime_tools {
 
 template <class Msg>
 class RealtimePublisher : boost::noncopyable

diff --git a/realtime_tools/manifest.xml b/realtime_tools/manifest.xml
@@ -0,0 +1,27 @@
+<package>
+  <description brief="Realtime tools">
+    This package contains a set of tools that can be used from a hard
+    realtime thread, without breaking the realtime behavior.  The
+    tools currently only provides the realtime publisher, which makes
+    it possible to publish messages to a ROS topic from a realtime
+    thread. We plan to add a basic implementation of a realtime
+    buffer, to make it possible to get data from a (non-realtime)
+    topic callback into tha realtime loop. Once the lockfree buffer is
+    created, the realtime publisher will start using it, which will
+    result in major API changes for the realtime publisher (removal of
+    all lock methods).
+  </description>
+  <author>Stuart Glaser &lt;sglaser@willowgarage.com&gt;</author>
+  <license>BSD</license>
+  <review status="doc reviewed"/>
+  <url>http://ros.org/wiki/realtime_tools</url>
+  <depend package="roscpp"/>
+  <depend package="rospy" />
+  <export>
+    <cpp cflags="-I${prefix}/include " />
+  </export>
+  <platform os="ubuntu" version="9.04"/>
+  <platform os="ubuntu" version="9.10"/>
+  <platform os="ubuntu" version="10.04"/>
+</package>
+
diff --git a/realtime_utils/scripts/channelecho.py → realtime_tools/scripts/channelecho.py b/realtime_utils/scripts/channelecho.py → realtime_tools/scripts/channelecho.py
diff --git a/realtime_utils/CMakeLists.txt b/realtime_utils/CMakeLists.txt
diff --git a/realtime_utils/Makefile b/realtime_utils/Makefile
diff --git a/realtime_utils/manifest.xml b/realtime_utils/manifest.xml
diff --git a/stack.xml b/stack.xml
@@ -0,0 +1,20 @@
+<stack>
+  <description brief="ROS Control">
+    The new ros controller manager
+  </description>
+  <author>Maintained by Wim Meeussen</author>
+  <license>BSD</license>
+  <review status="Doc reviewed" notes="2009-11-13"/>
+  <url>http://ros.org/wiki/ros_control</url>
+  <depend stack="pluginlib" /> <!-- pluginlib -->
+  <depend stack="ros_comm" /> <!-- std_msgs, std_srvs, rosparam, rospy, roscpp -->
+  <depend stack="ros" />
+
+  <depend stack="common_msgs" /> <!-- geometry_msgs, sensor_msgs, diagnostic_msgs -->
+  <depend stack="diagnostics" /> <!-- diagnostic_updater -->
+  <depend stack="geometry" /> <!-- angles -->
+  <depend stack="pr2_common" /> <!-- pr2_description -->
+  <depend stack="robot_model" /> <!-- urdf_interface, robot_state_publisher, urdf, kdl_parser -->
+
+
+</stack>