PickNikRobotics · zultron · Jan 28, 2019 · Jan 28, 2019 · Jan 28, 2019 · Jan 28, 2019
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package ros_control_boilerplate
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.5.0 (2019-01-28)
+------------------
+* Fix `catkin lint` warnings
+* Remove obsolete `FindGflags.cmake` script
+* Move `ros_control_boilerplate`, obscuring rrbot demo package, into
+  own subdirectory
+* Package `rrbot_control` name conflicts with `gazebo_ros_demos` repo
+  package; rename to `rrbot_control_boilerplate`
+* Make `rrbot_control_boilerplate` independent package; install launch
+  and config files for reuse by other packages
+* Update URLs in `package.xml` files
+
 0.4.1 (2017-06-20)
 ------------------
 * Changed boost::shared_ptr to typedef for Lunar support

diff --git a/cmake/FindGflags.cmake b/cmake/FindGflags.cmake
diff --git a/CMakeLists.txt → ros_control_boilerplate/CMakeLists.txt b/CMakeLists.txt → ros_control_boilerplate/CMakeLists.txt
@@ -2,26 +2,25 @@ cmake_minimum_required(VERSION 2.8.3)
 project(ros_control_boilerplate)
 
 # C++ 11
-set(CMAKE_CXX_FLAGS "-std=c++11 -Wall ${CMAKE_CXX_FLAGS}")
+add_compile_options(-std=c++11 -Wall)
 
 find_package(catkin REQUIRED COMPONENTS
+  actionlib
   cmake_modules
-  hardware_interface
+  control_msgs
+  control_toolbox
   controller_manager
+  hardware_interface
+  joint_limits_interface
   roscpp
-  control_msgs
+  rosparam_shortcuts
+  sensor_msgs
+  std_msgs
   trajectory_msgs
-  actionlib
-  urdf
-  joint_limits_interface
   transmission_interface
-  control_toolbox
-  std_msgs
-  sensor_msgs
-  rosparam_shortcuts
+  urdf
 )
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake)
 find_package(Gflags REQUIRED)
 
 ## System dependencies are found with CMake's conventions
@@ -31,18 +30,18 @@ catkin_package(
   INCLUDE_DIRS
     include
   CATKIN_DEPENDS
-    hardware_interface
+    control_msgs
+    control_toolbox
     controller_manager
+    hardware_interface
+    joint_limits_interface
     roscpp
-    control_msgs
+    rosparam_shortcuts
+    sensor_msgs
+    std_msgs
     trajectory_msgs
-    urdf
-    joint_limits_interface
     transmission_interface
-    control_toolbox
-    std_msgs
-    sensor_msgs
-    rosparam_shortcuts
+    urdf
   LIBRARIES
     generic_hw_control_loop
     generic_hw_interface
@@ -133,28 +132,26 @@ target_link_libraries(${PROJECT_NAME}_keyboard_teleop
   ${catkin_LIBRARIES}
 )
 
-add_subdirectory(rrbot_control)
-
 ## Install ------------------------------------------------------------
 
 # Install libraries
 install(TARGETS
+    controller_to_csv
+    csv_to_controller
     generic_hw_control_loop
     generic_hw_interface
     sim_hw_interface
-    controller_to_csv
-    csv_to_controller
   LIBRARY DESTINATION
     ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 
 # Install executables
 install(TARGETS
-    ${PROJECT_NAME}_sim_hw_main
-    ${PROJECT_NAME}_test_trajectory
     ${PROJECT_NAME}_controller_to_csv_main
     ${PROJECT_NAME}_csv_to_controller_main
     ${PROJECT_NAME}_keyboard_teleop
+    ${PROJECT_NAME}_sim_hw_main
+    ${PROJECT_NAME}_test_trajectory
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

diff --git a/...rol_boilerplate/generic_hw_control_loop.h → ...rol_boilerplate/generic_hw_control_loop.h b/...rol_boilerplate/generic_hw_control_loop.h → ...rol_boilerplate/generic_hw_control_loop.h
diff --git a/...ontrol_boilerplate/generic_hw_interface.h → ...ontrol_boilerplate/generic_hw_interface.h b/...ontrol_boilerplate/generic_hw_interface.h → ...ontrol_boilerplate/generic_hw_interface.h
diff --git a/...os_control_boilerplate/sim_hw_interface.h → ...os_control_boilerplate/sim_hw_interface.h b/...os_control_boilerplate/sim_hw_interface.h → ...os_control_boilerplate/sim_hw_interface.h
diff --git a/...rol_boilerplate/tools/controller_to_csv.h → ...rol_boilerplate/tools/controller_to_csv.h b/...rol_boilerplate/tools/controller_to_csv.h → ...rol_boilerplate/tools/controller_to_csv.h
diff --git a/...rol_boilerplate/tools/csv_to_controller.h → ...rol_boilerplate/tools/csv_to_controller.h b/...rol_boilerplate/tools/csv_to_controller.h → ...rol_boilerplate/tools/csv_to_controller.h
diff --git a/...ilerplate/tools/joystick_manual_control.h → ...ilerplate/tools/joystick_manual_control.h b/...ilerplate/tools/joystick_manual_control.h → ...ilerplate/tools/joystick_manual_control.h
diff --git a/package.xml → ros_control_boilerplate/package.xml b/package.xml → ros_control_boilerplate/package.xml
@@ -8,9 +8,9 @@
 
   <license>BSD</license>
 
-  <url type="website">https://github.com/davetcoleman/ros_control_boilerplate</url>
-  <url type="butracker">https://github.com/davetcoleman/ros_control_boilerplate/issues</url>
-  <url type="repository">https://github.com/davetcoleman/ros_control_boilerplate/</url>
+  <url type="website">https://github.com/PickNikRobotics/ros_control_boilerplate</url>
+  <url type="butracker">https://github.com/PickNikRobotics/ros_control_boilerplate/issues</url>
+  <url type="repository">https://github.com/PickNikRobotics/ros_control_boilerplate/</url>
 
   <author email="davetcoleman@gmail.com">Dave Coleman</author>
 

diff --git a/scripts/analyze_trajectory.m → ..._boilerplate/scripts/analyze_trajectory.m b/scripts/analyze_trajectory.m → ..._boilerplate/scripts/analyze_trajectory.m
diff --git a/src/generic_hw_control_loop.cpp → ...ilerplate/src/generic_hw_control_loop.cpp b/src/generic_hw_control_loop.cpp → ...ilerplate/src/generic_hw_control_loop.cpp
diff --git a/src/generic_hw_interface.cpp → ..._boilerplate/src/generic_hw_interface.cpp b/src/generic_hw_interface.cpp → ..._boilerplate/src/generic_hw_interface.cpp
diff --git a/src/sim_hw_interface.cpp → ...trol_boilerplate/src/sim_hw_interface.cpp b/src/sim_hw_interface.cpp → ...trol_boilerplate/src/sim_hw_interface.cpp
diff --git a/src/sim_hw_main.cpp → ros_control_boilerplate/src/sim_hw_main.cpp b/src/sim_hw_main.cpp → ros_control_boilerplate/src/sim_hw_main.cpp
diff --git a/src/tools/controller_to_csv.cpp → ...ilerplate/src/tools/controller_to_csv.cpp b/src/tools/controller_to_csv.cpp → ...ilerplate/src/tools/controller_to_csv.cpp
diff --git a/src/tools/controller_to_csv_main.cpp → ...late/src/tools/controller_to_csv_main.cpp b/src/tools/controller_to_csv_main.cpp → ...late/src/tools/controller_to_csv_main.cpp
diff --git a/src/tools/csv_to_controller.cpp → ...ilerplate/src/tools/csv_to_controller.cpp b/src/tools/csv_to_controller.cpp → ...ilerplate/src/tools/csv_to_controller.cpp
diff --git a/src/tools/csv_to_controller_main.cpp → ...late/src/tools/csv_to_controller_main.cpp b/src/tools/csv_to_controller_main.cpp → ...late/src/tools/csv_to_controller_main.cpp
diff --git a/src/tools/keyboard_teleop.cpp → ...boilerplate/src/tools/keyboard_teleop.cpp b/src/tools/keyboard_teleop.cpp → ...boilerplate/src/tools/keyboard_teleop.cpp
diff --git a/src/tools/test_trajectory.cpp → ...boilerplate/src/tools/test_trajectory.cpp b/src/tools/test_trajectory.cpp → ...boilerplate/src/tools/test_trajectory.cpp
diff --git a/rrbot_control/CMakeLists.txt → rrbot_control_boilerplate/CMakeLists.txt b/rrbot_control/CMakeLists.txt → rrbot_control_boilerplate/CMakeLists.txt
@@ -1,21 +1,40 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rrbot_control_boilerplate)
+
+# C++ 11
+add_compile_options(-std=c++11 -Wall)
+
+find_package(catkin REQUIRED COMPONENTS
+  ros_control_boilerplate
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES rrbot_hw_interface
+  CATKIN_DEPENDS ros_control_boilerplate
+)
+
+###########
+## Build ##
+###########
+
 include_directories(
-  include/
+  include
+  ${catkin_INCLUDE_DIRS}
 )
 
 # RRBot Hardware Interface
 add_library(rrbot_hw_interface
   src/rrbot_hw_interface.cpp
 )
 target_link_libraries(rrbot_hw_interface
-  generic_hw_interface
   ${catkin_LIBRARIES}
 )
 
 # Main control executable
 add_executable(rrbot_hw_main src/rrbot_hw_main.cpp)
 target_link_libraries(rrbot_hw_main
   rrbot_hw_interface
-  generic_hw_control_loop
   ${catkin_LIBRARIES}
 )
 
@@ -36,4 +55,12 @@ install(TARGETS
 )
 
 # Install header files
-install(DIRECTORY include/rrbot_control/   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/rrbot_control/config/rrbot_controllers.yaml → ...boilerplate/config/rrbot_controllers.yaml b/rrbot_control/config/rrbot_controllers.yaml → ...boilerplate/config/rrbot_controllers.yaml
diff --git a/...nclude/rrbot_control/rrbot_hw_interface.h → ..._control_boilerplate/rrbot_hw_interface.h b/...nclude/rrbot_control/rrbot_hw_interface.h → ..._control_boilerplate/rrbot_hw_interface.h
@@ -37,12 +37,12 @@
            For a more detailed simulation example, see sim_hw_interface.h
 */
 
-#ifndef RRBOT_CONTROL__RRBOT_HW_INTERFACE_H
-#define RRBOT_CONTROL__RRBOT_HW_INTERFACE_H
+#ifndef RRBOT_CONTROL_BOILERPLATE__RRBOT_HW_INTERFACE_H
+#define RRBOT_CONTROL_BOILERPLATE__RRBOT_HW_INTERFACE_H
 
 #include <ros_control_boilerplate/generic_hw_interface.h>
 
-namespace rrbot_control
+namespace rrbot_control_boilerplate
 {
 
 /// \brief Hardware interface for a robot

diff --git a/rrbot_control/launch/rrbot_hardware.launch → ..._boilerplate/launch/rrbot_hardware.launch b/rrbot_control/launch/rrbot_hardware.launch → ..._boilerplate/launch/rrbot_hardware.launch
@@ -16,7 +16,9 @@
           output="screen" launch-prefix="$(arg launch_prefix)"/>
 
     <!-- Load controller settings -->
-    <rosparam file="$(find ros_control_boilerplate)/rrbot_control/config/rrbot_controllers.yaml" command="load"/>
+    <rosparam
+        file="$(find rrbot_control_boilerplate)/config/rrbot_controllers.yaml"
+        command="load"/>
 
     <!-- Load controller manager -->
     <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"

diff --git a/rrbot_control/launch/rrbot_simulation.launch → ...oilerplate/launch/rrbot_simulation.launch b/rrbot_control/launch/rrbot_simulation.launch → ...oilerplate/launch/rrbot_simulation.launch
@@ -16,7 +16,9 @@
           output="screen" launch-prefix="$(arg launch_prefix)"/>
 
     <!-- Load controller settings -->
-    <rosparam file="$(find ros_control_boilerplate)/rrbot_control/config/rrbot_controllers.yaml" command="load"/>
+    <rosparam
+        file="$(find rrbot_control_boilerplate)/config/rrbot_controllers.yaml"
+        command="load"/>
 
     <!-- Load controller manager -->
     <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"

diff --git a/...ntrol/launch/rrbot_test_trajectory.launch → ...plate/launch/rrbot_test_trajectory.launch b/...ntrol/launch/rrbot_test_trajectory.launch → ...plate/launch/rrbot_test_trajectory.launch
@@ -12,7 +12,9 @@
     <node name="test_trajectory" pkg="ros_control_boilerplate" type="test_trajectory"
           output="screen" launch-prefix="$(arg launch_prefix)">
       <param name="action_topic" value="/rrbot/position_trajectory_controller/follow_joint_trajectory/"/>
-      <rosparam file="$(find ros_control_boilerplate)/rrbot_control/config/rrbot_controllers.yaml" command="load"/>
+      <rosparam
+          file="$(find rrbot_control_boilerplate)/config/rrbot_controllers.yaml"
+          command="load"/>
     </node>
 
   </group>

diff --git a/rrbot_control/launch/rrbot_visualize.launch → ...boilerplate/launch/rrbot_visualize.launch b/rrbot_control/launch/rrbot_visualize.launch → ...boilerplate/launch/rrbot_visualize.launch
diff --git a/rrbot_control/package.xml → rrbot_control_boilerplate/package.xml b/rrbot_control/package.xml → rrbot_control_boilerplate/package.xml
@@ -1,16 +1,16 @@
 <?xml version="1.0"?>
 <package>
-  <name>rrbot_control</name>
+  <name>rrbot_control_boilerplate</name>
   <version>0.0.1</version>
   <description>Simple simulation interface and template for setting up a hardware interface for rrbot</description>
 
   <maintainer email="someone@someone.com">Someone</maintainer>
 
   <license>BSD</license>
 
-  <url type="website">https://github.com/davetcoleman/ros_control_boilerplate</url>
-  <url type="butracker">https://github.com/davetcoleman/ros_control_boilerplate/issues</url>
-  <url type="repository">https://github.com/davetcoleman/ros_control_boilerplate/</url>
+  <url type="website">https://github.com/PickNikRobotics/ros_control_boilerplate</url>
+  <url type="butracker">https://github.com/PickNikRobotics/ros_control_boilerplate/issues</url>
+  <url type="repository">https://github.com/PickNikRobotics/ros_control_boilerplate/</url>
 
   <author email="davetcoleman@gmail.com">Dave Coleman</author>
 

diff --git a/rrbot_control/src/rrbot_hw_interface.cpp → ...ol_boilerplate/src/rrbot_hw_interface.cpp b/rrbot_control/src/rrbot_hw_interface.cpp → ...ol_boilerplate/src/rrbot_hw_interface.cpp
@@ -37,9 +37,9 @@
            For a more detailed simulation example, see sim_hw_interface.cpp
 */
 
-#include <rrbot_control/rrbot_hw_interface.h>
+#include <rrbot_control_boilerplate/rrbot_hw_interface.h>
 
-namespace rrbot_control
+namespace rrbot_control_boilerplate
 {
 
 RRBotHWInterface::RRBotHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model)

diff --git a/rrbot_control/src/rrbot_hw_main.cpp → ...control_boilerplate/src/rrbot_hw_main.cpp b/rrbot_control/src/rrbot_hw_main.cpp → ...control_boilerplate/src/rrbot_hw_main.cpp
@@ -37,7 +37,7 @@
 */
 
 #include <ros_control_boilerplate/generic_hw_control_loop.h>
-#include <rrbot_control/rrbot_hw_interface.h>
+#include <rrbot_control_boilerplate/rrbot_hw_interface.h>
 
 int main(int argc, char** argv)
 {
@@ -50,8 +50,8 @@ int main(int argc, char** argv)
   spinner.start();
 
   // Create the hardware interface specific to your robot
-  boost::shared_ptr<rrbot_control::RRBotHWInterface> rrbot_hw_interface
-    (new rrbot_control::RRBotHWInterface(nh));
+  boost::shared_ptr<rrbot_control_boilerplate::RRBotHWInterface> rrbot_hw_interface
+    (new rrbot_control_boilerplate::RRBotHWInterface(nh));
   rrbot_hw_interface->init();
 
   // Start the control loop