(hironx_ros_bridge) Fix #45 Add versioned build_dependency.

start-jsk · Mar 7, 2014 · 4b576ad · 4b576ad
1 parent f5febe8
commit 4b576ad
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diff --git a/hironx_ros_bridge/package.xml b/hironx_ros_bridge/package.xml
@@ -15,9 +15,11 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend version_gte="315.1.8">hrpsys</build_depend> <!-- See https://github.com/tork-a/rtmros_nextage/issues/51. Even though hrpsys is transitively depended via hrpsys_ros_bridge, still define it here explicitly to clarify, especially the version dependency. -->
   <build_depend>hrpsys_ros_bridge</build_depend> <!-- Needed to transitively depend on openhrp3. See https://github.com/start-jsk/rtmros_hironx/pull/30#commitcomment-5535604 -->
   <build_depend>unzip</build_depend>
 
+  <run_depend version_gte="315.1.8">hrpsys</run_depend> <!-- See https://github.com/tork-a/rtmros_nextage/issues/51 -->
   <run_depend>hrpsys_ros_bridge</run_depend>
 
   <!-- <test_depend>hrpsys_ros_bridge</test_depend> -->

diff --git a/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py b/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py
@@ -839,7 +839,7 @@ class level. Please consider opening an enhancement ticket for that
         return HrpsysConfigurator.setJointAnglesOfGroup(self, gname, pose, tm,
                                                         wait)
 
-    def setTargetPose(self, gname, pos, rpy, tm):
+    def setTargetPose(self, gname, pos, rpy, tm, ref_frame_name=None):
         '''
         @see: HrpsysConfigurator.setTargetPose
 
@@ -850,8 +850,11 @@ def setTargetPose(self, gname, pos, rpy, tm):
         @type pos: float
         @type rpy: TODO: ??
         @rtype: bool
+        @type ref_frame_name: str
+        @param ref_frame_name: Name of the frame that this particular command
+                               reference to.
         '''
-        return HrpsysConfigurator.setTargetPose(self, gname, pos, rpy, tm)
+        return HrpsysConfigurator.setTargetPose(self, gname, pos, rpy, tm, ref_frame_name)
 
     def setTargetPoseRelative(self, gname, eename, dx=0, dy=0, dz=0,
                               dr=0, dp=0, dw=0, tm=10, wait=True):