Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Clean up packages to store model file #211

Open
wants to merge 5 commits into
base: indigo-devel
Choose a base branch
from
Open

Clean up packages to store model file #211

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
ce5f5c9
[description] Add a command to generate .dae file at build time. Add …
Nov 26, 2014
6d2a156
[description/CMakeLists.txt] Cleanup
130s Dec 17, 2015
398994c
[description] Rename the generated dae to main.dae for consistency
130s Dec 17, 2015
291859d
[ros_bridge] Remove dae generation step that is now done in nextage_d…
130s Dec 17, 2015
af00e12
[ros_bridge] Add test to ensure if model is loaded. Remove install ru…
130s Dec 17, 2015
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
128 changes: 14 additions & 114 deletions nextage_description/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,75 +8,21 @@ find_package(catkin REQUIRED COMPONENTS
urdf
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## BEGIN: Moved from nextage_ros_bridge/CMakeLists.txt
# To enable openhrp3
find_package(PkgConfig)
pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
set(OPENHRP3 ${openhrp3_PREFIX}/share/openhrp3) # for longfloor.wrl
set(COLLADA_EXPORTER ${openhrp3_PREFIX}/share/openhrp3/export-collada)

set(ROBOT_NAME main) # Aiming main.dae. Use same file prefix with VRML for intuitition
message("++ Generate collada file from vrml. nextage_description/models/main.wrl -> ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae")
add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae
COMMAND ${COLLADA_EXPORTER} -i ${PROJECT_SOURCE_DIR}/models/main.wrl -o ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae
DEPENDS ${PROJECT_SOURCE_DIR}/models/main.wrl)
add_custom_target(${PROJECT_NAME}_model_copy ALL DEPENDS ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae)
## END: Moved from nextage_ros_bridge/CMakeLists.txt


## 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 and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * 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
# )

###################################
## 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 nextage_description
Expand All @@ -95,59 +41,13 @@ include_directories(
${catkin_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(nextage_description
# src/${PROJECT_NAME}/nextage_description.cpp
# )

## Declare a cpp executable
# add_executable(nextage_description_node src/nextage_description_node.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(nextage_description_node nextage_description_generate_messages_cpp)

## Specify libraries to link a library or executable target against
# target_link_libraries(nextage_description_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 nextage_description nextage_description_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}
# )

## Mark cpp header files for installation
install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY www DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
Expand Down
1 change: 1 addition & 0 deletions nextage_description/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
<url type="repository">https://github.com/tork-a/rtmros_nextage</url>

<buildtool_depend>catkin</buildtool_depend>
<build_depend>openhrp3</build_depend>
<build_depend>urdf</build_depend>
<run_depend>urdf</run_depend>

Expand Down
18 changes: 2 additions & 16 deletions nextage_ros_bridge/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ roslint_python()
find_package(PkgConfig)
pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
set(OPENHRP3 ${openhrp3_PREFIX}/share/openhrp3) # for longfloor.wrl
set(ROBOT_NAME nextage)
set(ROBOT_NAME main) # Aiming main.dae. Use same file prefix with VRML for intuitition

message("hironx_ros_bridge_SOURCE_DIR => ${hironx_ros_bridge_SOURCE_DIR}")
message("hironx_ros_bridge_SOURCE_PREFIX => ${hironx_ros_bridge_SOURCE_PREFIX}")
Expand All @@ -55,20 +55,6 @@ configure_file(${hironx_ros_bridge_SOURCE_DIR}/conf/conf.in
configure_file(${hironx_ros_bridge_SOURCE_DIR}/conf/nosim.conf.in ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}_nosim.conf)
add_custom_target(${PROJECT_NAME}_model_files ALL DEPENDS ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}.RobotHardware.conf ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}_nosim.RobotHardware.conf ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}.xml ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}_nosim.xml ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}.conf ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}_nosim.conf)

#compile_openhrp_model(${nextage_description_SOURCE_DIR}/models/main.wrl)
message("++ nextage_description/models/main.dae -> ${nextage_description_SOURCE_DIR}/models/main.dae")
if(NOT EXISTS ${nextage_description_SOURCE_DIR}/models/main.dae)
if(EXISTS ${nextage_description_SOURCE_PREFIX}/models/main.dae)
set(nextage_description_SOURCE_DIR ${nextage_description_SOURCE_PREFIX})
else(EXISTS ${nextage_description_SOURCE_PREFIX}/models/main.dae)
set(nextage_description_SOURCE_DIR ${nextage_description_PREFIX}/share/nextage_description)
endif(EXISTS ${nextage_description_SOURCE_PREFIX}/models/main.dae)
endif()
add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae
COMMAND ${CMAKE_COMMAND} -E copy ${nextage_description_SOURCE_DIR}/models/main.dae ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae
DEPENDS ${nextage_description_SOURCE_DIR}/models/main.dae)
add_custom_target(${PROJECT_NAME}_model_copy ALL DEPENDS ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae)

#############
## Install ##
#############
Expand Down Expand Up @@ -101,7 +87,6 @@ add_custom_target(${PROJECT_NAME}_model_copy ALL DEPENDS ${PROJECT_SOURCE_DIR}/m
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY script DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)
install(DIRECTORY conf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} PATTERN "*.in" EXCLUDE)
install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
#install(DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)

install(CODE "
Expand Down Expand Up @@ -132,3 +117,4 @@ install(DIRECTORY test
USE_SOURCE_PERMISSIONS)

add_rostest(test/nxo.test)
add_rostest(test/ros_model.test)
29 changes: 29 additions & 0 deletions nextage_ros_bridge/test/ros_model.test
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,29 @@
<launch>
<!-- This .test is to check joint status, which indirectly ensures if model is successfully loaded. -->

<arg name="COLLADA_FILE" default="$(find nextage_description)/models/main.dae" />
<arg name="corbaport" default="2809" />
<arg name="GUI" default='false' />
<arg name="VRML_FILE" default="$(find nextage_description)/models/main.wrl" />

<!-- Define name for testing model availability at runtime -->
<arg name="TESTNAME_ENSURE_MODEL" default="hz_joints" />

<!-- See https://github.com/start-jsk/rtmros_common/issues/416#issuecomment-46846623 -->
<node name="start_omninames" pkg="rtmbuild" type="start_omninames.sh"
args="$(arg corbaport)" />

<include file="$(find nextage_ros_bridge)/launch/nextage_ros_bridge_simulation.launch" >
<arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)" />
<arg name="CORBAPORT" value="$(arg corbaport)" />
<arg name="GUI" value="$(arg GUI)" />
<arg name="MODEL_FILE" value="$(arg VRML_FILE)" />
</include>

<param name="$(arg TESTNAME_ENSURE_MODEL)/hz" value="200.0" />
<param name="$(arg TESTNAME_ENSURE_MODEL)/hzerror" value="30.0" />
<param name="$(arg TESTNAME_ENSURE_MODEL)/test_duration" value="10.0" />
<param name="$(arg TESTNAME_ENSURE_MODEL)/topic" value="joint_states" />
<param name="$(arg TESTNAME_ENSURE_MODEL)/wait_time" value="180.0" />
<test pkg="rostest" type="hztest" name="$(arg TESTNAME_ENSURE_MODEL)" test-name="test_$(arg TESTNAME_ENSURE_MODEL)" />
</launch>