merged with master

added op3_bringup package
2018-04-16 17:47:15 +09:00
parent 2122f8c493
commit 66f3b91ce9
48 changed files with 1024 additions and 263 deletions
--- a/op3_demo/CHANGELOG.rst
+++ b/op3_demo/CHANGELOG.rst
@@ -0,0 +1,12 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package op3_demo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2018-03-30)
+------------------
+* first release
+* added launch files in order to move the camera setting to op3_camera_setting package
+* added missing package in find_package()
+* refacoring to release
+* splited repositoryfrom ROBOTIS-OP3
+* Contributors: Kayman, Yoshimaru Tanaka, Pyo
--- a/op3_demo/CMakeLists.txt
+++ b/op3_demo/CMakeLists.txt
@@ -1,28 +1,32 @@
 ################################################################################
-# CMake
+# Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 2.8.3)
 project(op3_demo)

 ################################################################################
-# Packages
+# Find catkin packages and libraries for catkin and system dependencies
 ################################################################################
 find_package(catkin REQUIRED COMPONENTS
  roscpp
  roslib
+  std_msgs
  sensor_msgs
-  ball_detector
+  geometry_msgs
+  robotis_controller_msgs
  op3_walking_module_msgs
  op3_action_module_msgs
-  robotis_controller_msgs
  cmake_modules
  robotis_math
+  ball_detector
 )

+find_package(Boost REQUIRED COMPONENTS thread)
 find_package(Eigen3 REQUIRED)

 ## Resolve system dependency on yaml-cpp, which apparently does not
 ## provide a CMake find_package() module.
+## Insert your header file compatible specified path like '#include <yaml-cpp/yaml.h>'
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
 find_path(YAML_CPP_INCLUDE_DIR
@@ -39,6 +43,10 @@ if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
 add_definitions(-DHAVE_NEW_YAMLCPP)
 endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")

+################################################################################
+# Setup for python modules and scripts
+################################################################################
+
 ################################################################################
 # Declare ROS messages, services and actions
 ################################################################################
@@ -48,12 +56,23 @@ endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
 ################################################################################

 ################################################################################
-# Catkin specific configuration
+# Declare catkin specific configuration to be passed to dependent projects
 ################################################################################
 catkin_package(
  INCLUDE_DIRS include
-  CATKIN_DEPENDS roscpp sensor_msgs cmake_modules
-  DEPENDS EIGEN3
+  CATKIN_DEPENDS
+    roscpp
+    roslib
+    std_msgs
+    sensor_msgs
+    geometry_msgs
+    robotis_controller_msgs
+    op3_walking_module_msgs
+    op3_action_module_msgs
+    cmake_modules
+    robotis_math
+    ball_detector
+  DEPENDS Boost EIGEN3
 )

 ################################################################################
@@ -62,6 +81,7 @@ catkin_package(
 include_directories(
  include
  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
  ${YAML_CPP_INCLUDE_DIRS}
 )
@@ -76,11 +96,16 @@ add_executable(op_demo_node
  src/vision/face_tracker.cpp
 )

-add_dependencies(op_demo_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(op_demo_node 
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)

 target_link_libraries(op_demo_node
  ${catkin_LIBRARIES}
-  yaml-cpp
+  ${Boost_LIBRARIES}
+  ${Eigen3_LIBRARIES}
+  ${YAML_CPP_LIBRARIES}
 )

 add_executable(self_test_node 
@@ -95,48 +120,32 @@ add_executable(self_test_node
  src/test/mic_test.cpp
 )

-add_dependencies(self_test_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(self_test_node
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)

 target_link_libraries(self_test_node
  ${catkin_LIBRARIES}
-  ${Eigen3_LIBRARIES} 
+  ${Boost_LIBRARIES}
+  ${Eigen3_LIBRARIES}
  ${YAML_CPP_LIBRARIES}
 )

 ################################################################################
 # Install
 ################################################################################
+install(TARGETS op_demo_node self_test_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)

-## 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 ball_tracking ball_tracking_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}
-# )
+install(DIRECTORY data launch list 
+	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

 ################################################################################
 # Test
--- a/op3_demo/include/op3_demo/action_demo.h
+++ b/op3_demo/include/op3_demo/action_demo.h
@@ -19,14 +19,14 @@
 #ifndef ACTION_DEMO_H_
 #define ACTION_DEMO_H_

-#include <boost/thread.hpp>
-#include <yaml-cpp/yaml.h>
-
 #include <ros/ros.h>
 #include <ros/package.h>
 #include <std_msgs/Int32.h>
 #include <std_msgs/String.h>

+#include <boost/thread.hpp>
+#include <yaml-cpp/yaml.h>
+
 #include "op3_demo/op_demo.h"
 #include "robotis_controller_msgs/JointCtrlModule.h"
 #include "robotis_controller_msgs/SetModule.h"
--- a/op3_demo/include/op3_demo/ball_follower.h
+++ b/op3_demo/include/op3_demo/ball_follower.h
@@ -20,16 +20,16 @@
 #define BALL_FOLLOWER_H_

 #include <math.h>
-#include <yaml-cpp/yaml.h>
-
 #include <ros/ros.h>
 #include <ros/package.h>
 #include <std_msgs/String.h>
 #include <std_msgs/Int32.h>
 #include <sensor_msgs/JointState.h>
+#include <geometry_msgs/Point.h>
+#include <yaml-cpp/yaml.h>

 #include "robotis_controller_msgs/JointCtrlModule.h"
-#include "ball_detector/circleSetStamped.h"
+#include "ball_detector/CircleSetStamped.h"
 #include "op3_walking_module_msgs/WalkingParam.h"
 #include "op3_walking_module_msgs/GetWalkingParam.h"

--- a/op3_demo/include/op3_demo/ball_tracker.h
+++ b/op3_demo/include/op3_demo/ball_tracker.h
@@ -20,17 +20,16 @@
 #define BALL_TRACKING_H_

 #include <math.h>
-#include <yaml-cpp/yaml.h>
-
 #include <ros/ros.h>
 #include <ros/package.h>
 #include <std_msgs/String.h>
 #include <std_msgs/Int32.h>
-//#include <std_msgs/Float64MultiArray.h>
 #include <sensor_msgs/JointState.h>
+#include <geometry_msgs/Point.h>
+#include <yaml-cpp/yaml.h>

 #include "robotis_controller_msgs/JointCtrlModule.h"
-#include "ball_detector/circleSetStamped.h"
+#include "ball_detector/CircleSetStamped.h"
 #include "op3_walking_module_msgs/WalkingParam.h"
 #include "op3_walking_module_msgs/GetWalkingParam.h"

@@ -80,7 +79,7 @@ protected:
  const int WAITING_THRESHOLD;
  const bool DEBUG_PRINT;

-  void ballPositionCallback(const ball_detector::circleSetStamped::ConstPtr &msg);
+  void ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg);
  void ballTrackerCommandCallback(const std_msgs::String::ConstPtr &msg);
  void publishHeadJoint(double pan, double tilt);
  void scanBall();
--- a/op3_demo/include/op3_demo/button_test.h
+++ b/op3_demo/include/op3_demo/button_test.h
@@ -19,14 +19,12 @@
 #ifndef BUTTON_TEST_H_
 #define BUTTON_TEST_H_

-#include <boost/thread.hpp>
-
 #include <ros/ros.h>
 #include <ros/package.h>
 #include <std_msgs/String.h>
+#include <boost/thread.hpp>

 #include "op3_demo/op_demo.h"
-
 #include "robotis_controller_msgs/SyncWriteItem.h"

 namespace robotis_op
--- a/op3_demo/include/op3_demo/face_tracker.h
+++ b/op3_demo/include/op3_demo/face_tracker.h
@@ -20,8 +20,6 @@
 #define FACE_TRACKING_H_

 #include <math.h>
-#include <yaml-cpp/yaml.h>
-
 #include <ros/ros.h>
 #include <ros/package.h>
 #include <std_msgs/Bool.h>
@@ -29,6 +27,7 @@
 #include <std_msgs/Int32.h>
 #include <sensor_msgs/JointState.h>
 #include <geometry_msgs/Point.h>
+#include <yaml-cpp/yaml.h>

 namespace robotis_op
 {
--- a/op3_demo/include/op3_demo/mic_test.h
+++ b/op3_demo/include/op3_demo/mic_test.h
@@ -20,14 +20,12 @@
 #define MIC_TEST_H_

 #include <signal.h>
-#include <boost/thread.hpp>
-
 #include <ros/ros.h>
 #include <ros/package.h>
 #include <std_msgs/String.h>
+#include <boost/thread.hpp>

 #include "op3_demo/op_demo.h"
-
 #include "robotis_controller_msgs/SyncWriteItem.h"

 namespace robotis_op
--- a/op3_demo/include/op3_demo/soccer_demo.h
+++ b/op3_demo/include/op3_demo/soccer_demo.h
@@ -23,15 +23,18 @@
 #include <std_msgs/String.h>
 #include <sensor_msgs/Imu.h>
 #include <boost/thread.hpp>
+#include <eigen3/Eigen/Eigen>
+#include <yaml-cpp/yaml.h>
+
+#include "op3_action_module_msgs/IsRunning.h"
+#include "robotis_controller_msgs/SyncWriteItem.h"
+#include "robotis_controller_msgs/JointCtrlModule.h"
+#include "robotis_controller_msgs/SetJointModule.h"

 #include "op3_demo/op_demo.h"
 #include "op3_demo/ball_tracker.h"
 #include "op3_demo/ball_follower.h"
 #include "robotis_math/robotis_linear_algebra.h"
-#include "op3_action_module_msgs/IsRunning.h"
-#include "robotis_controller_msgs/SyncWriteItem.h"
-#include "robotis_controller_msgs/JointCtrlModule.h"
-#include "robotis_controller_msgs/SetJointModule.h"

 namespace robotis_op
 {
--- a/op3_demo/include/op3_demo/vision_demo.h
+++ b/op3_demo/include/op3_demo/vision_demo.h
@@ -19,19 +19,18 @@
 #ifndef VISION_DEMO_H_
 #define VISION_DEMO_H_

-#include <boost/thread.hpp>
-
 #include <ros/ros.h>
 #include <std_msgs/String.h>
 #include <std_msgs/Int32MultiArray.h>
 #include <geometry_msgs/Point.h>
-
-#include "op3_demo/op_demo.h"
-#include "op3_demo/face_tracker.h"
+#include <boost/thread.hpp>

 #include "robotis_controller_msgs/SyncWriteItem.h"
 #include "robotis_controller_msgs/SetModule.h"

+#include "op3_demo/op_demo.h"
+#include "op3_demo/face_tracker.h"
+
 namespace robotis_op
 {

--- a/op3_demo/launch/demo.launch
+++ b/op3_demo/launch/demo.launch
@@ -1,7 +1,5 @@
 <?xml version="1.0"?>
-
 <launch>    
-
    <!-- robotis op3 manager -->
    <include file="$(find op3_manager)/launch/op3_manager.launch"/>

--- a/op3_demo/launch/face_detection_op3.launch
+++ b/op3_demo/launch/face_detection_op3.launch
@@ -7,16 +7,16 @@
  <arg name="face_cascade_name_4"  default="$(find face_detection)/include/face_detection/lbpCascades/lbpcascade_frontalface.xml" />

  <node pkg="face_detection" type="face_tracking" name="face_tracking"
-      args="$(arg face_cascade_name_0)
-      $(arg face_cascade_name_1)
-      $(arg face_cascade_name_2)
-      $(arg face_cascade_name_3)
-      $(arg face_cascade_name_4)"
-      output="screen">      
-        <param name="imageInput" type="string" value="/usb_cam_node/image_raw" />
-        <param name="displayed_Image" type="int" value="0" />
-        <!-- <param name="publish" type="int" value="2" /> -->
-        <param name="publish" type="int" value="3" />
+        args="$(arg face_cascade_name_0)
+              $(arg face_cascade_name_1)
+              $(arg face_cascade_name_2)
+              $(arg face_cascade_name_3)
+              $(arg face_cascade_name_4)"
+         output="screen">      
+    <param name="imageInput" type="string" value="/usb_cam_node/image_raw" />
+    <param name="displayed_Image" type="int" value="0" />
+    <!-- <param name="publish" type="int" value="2" /> -->
+    <param name="publish" type="int" value="3" />
 		<param name="start_condition" type="bool" value="false" />
  </node>
 </launch>
--- a/op3_demo/launch/self_test.launch
+++ b/op3_demo/launch/self_test.launch
@@ -1,30 +1,29 @@
 <?xml version="1.0"?>
 <!-- Launches an UVC camera, the ball detector and its visualization  -->
 <launch>    
+  <!-- robotis op3 manager -->
+  <include file="$(find op3_manager)/launch/op3_manager.launch"/> 

-    <!-- robotis op3 manager -->
-    <include file="$(find op3_manager)/launch/op3_manager.launch"/> 
-
-    <!-- Camera and Ball detector -->
-    <include file="$(find ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
+  <!-- Camera and Ball detector -->
+  <include file="$(find ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
   
-    <!-- face tracking -->
-    <include file="$(find op3_demo)/launch/face_detection_op3.launch" />
+  <!-- face tracking -->
+  <include file="$(find op3_demo)/launch/face_detection_op3.launch" />

-    <!-- camera setting tool -->
-    <include file="$(find op3_camera_setting_tool)/launch/op3_camera_setting_tool.launch" />
+  <!-- camera setting tool -->
+  <include file="$(find op3_camera_setting_tool)/launch/op3_camera_setting_tool.launch" />
    
-    <!-- sound player -->
-    <node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen"/>
+  <!-- sound player -->
+  <node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen"/>
    
-    <!-- web setting -->
-    <include file="$(find op3_web_setting_tool)/launch/web_setting_server.launch" />
+  <!-- web setting -->
+  <include file="$(find op3_web_setting_tool)/launch/web_setting_server.launch" />
    
-    <!-- robotis op3 self test demo -->
-    <node pkg="op3_demo" type="self_test_node" name="op3_self_test" output="screen">
-      <param name="grass_demo" type="bool" value="False" />
-      <param name="p_gain" value="0.45" />
-      <param name="d_gain" value="0.045" />
-    </node>
+  <!-- robotis op3 self test demo -->
+  <node pkg="op3_demo" type="self_test_node" name="op3_self_test" output="screen">
+    <param name="grass_demo" type="bool" value="False" />
+    <param name="p_gain" value="0.45" />
+    <param name="d_gain" value="0.045" />
+  </node>
 </launch>

--- a/op3_demo/list/action_script.yaml
+++ b/op3_demo/list/action_script.yaml
@@ -0,0 +1,23 @@
+# combination action page number and mp3 file path
+action_and_sound: 
+  4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Thank you.mp3"
+  41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Introduction.mp3"
+  24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Wow.mp3"
+  23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Yes go.mp3"
+  15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Sit down.mp3"
+  1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Stand up.mp3"
+  54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Clap please.mp3"
+  27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
+  38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Bye bye.mp3"
+#  101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
+  110 : ""
+  111 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Intro01.mp3"
+  115 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Intro02.mp3"
+  118 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Intro03.mp3"
+
+# play list
+prev_default: [4, 41, 24, 23, 15, 1, 54, 27, 38]
+default: [4, 110, 111, 115, 118, 24, 54, 27, 38]
+
+# example of play list
+#certification: [101]
--- a/op3_demo/script/action_script_bk.yaml
+++ b/op3_demo/script/action_script_bk.yaml
@@ -1,15 +1,15 @@
 # combination action page number and mp3 file path
 action_and_sound: 
-  4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Thank you.mp3"
-  41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Introduction.mp3"
-  24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Wow.mp3"
-  23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Yes go.mp3"
-  15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Sit down.mp3"
-  1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Stand up.mp3"
-  54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Clap please.mp3"
-  27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Oops.mp3"
-  38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Bye bye.mp3"
-  101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Oops.mp3"
+  4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Thank you.mp3"
+  41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Introduction.mp3"
+  24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Wow.mp3"
+  23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Yes go.mp3"
+  15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Sit down.mp3"
+  1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Stand up.mp3"
+  54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Clap please.mp3"
+  27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
+  38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Bye bye.mp3"
+  101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"

 # play list
 default: [4, 41, 24, 23, 15, 1, 54, 27, 38]
--- a/op3_demo/package.xml
+++ b/op3_demo/package.xml
@@ -1,25 +1,36 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>op3_demo</name>
-  <version>0.1.1</version>
+  <version>0.1.0</version>
  <description>
-    op3 default demo
+    OP3 default demo
    It includes three demontrations(soccer demo, vision demo, action script demo)
  </description>
-  <license>Apache License 2.0</license>
-  <author email="kmjung@robotis.com">kayman</author>
+  <license>Apache 2.0</license>
+  <author email="kmjung@robotis.com">Kayman</author>
  <maintainer email="pyo@robotis.com">Pyo</maintainer>
-
+  <url type="website">http://wiki.ros.org/op3_demo</url>
+  <url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
  <buildtool_depend>catkin</buildtool_depend>
  <depend>roscpp</depend>
  <depend>roslib</depend>
+  <depend>std_msgs</depend>
  <depend>sensor_msgs</depend>
-  <depend>ball_detector</depend>
+  <depend>geometry_msgs</depend>
  <depend>robotis_controller_msgs</depend>
  <depend>op3_walking_module_msgs</depend>
  <depend>op3_action_module_msgs</depend>
  <depend>cmake_modules</depend>
  <depend>robotis_math</depend>
+  <depend>ball_detector</depend>
+  <depend>boost</depend>
  <depend>eigen</depend>
  <depend>yaml-cpp</depend>
+  <exec_depend>op3_manager</exec_depend>
+  <exec_depend>op3_camera_setting_tool</exec_depend>
+  <exec_depend>op3_web_setting_tool</exec_depend>
+  <exec_depend>ros_madplay_player</exec_depend>
+  <!-- <exec_depend>face_detection</exec_depend> -->
 </package>
--- a/op3_demo/script/action_script.yaml
+++ b/op3_demo/script/action_script.yaml
@@ -1,23 +0,0 @@
-# combination action page number and mp3 file path
-action_and_sound: 
-  4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Thank you.mp3"
-  41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Introduction.mp3"
-  24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Wow.mp3"
-  23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Yes go.mp3"
-  15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Sit down.mp3"
-  1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Stand up.mp3"
-  54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Clap please.mp3"
-  27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Oops.mp3"
-  38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Bye bye.mp3"
-#  101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Oops.mp3"
-  110 : ""
-  111 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Intro01.mp3"
-  115 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Intro02.mp3"
-  118 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Intro03.mp3"
-
-# play list
-prev_default: [4, 41, 24, 23, 15, 1, 54, 27, 38]
-default: [4, 110, 111, 115, 118, 24, 54, 27, 38]
-
-# example of play list
-#certification: [101]
--- a/op3_demo/src/action/action_demo.cpp
+++ b/op3_demo/src/action/action_demo.cpp
@@ -31,7 +31,7 @@ ActionDemo::ActionDemo()

  ros::NodeHandle nh(ros::this_node::getName());

-  std::string default_path = ros::package::getPath("op3_demo") + "/script/action_script.yaml";
+  std::string default_path = ros::package::getPath("op3_demo") + "/list/action_script.yaml";
  script_path_ = nh.param<std::string>("action_script", default_path);

  std::string default_play_list = "default";
--- a/op3_demo/src/demo_node.cpp
+++ b/op3_demo/src/demo_node.cpp
@@ -77,7 +77,7 @@ int main(int argc, char **argv)
  ros::Subscriber buttuon_sub = nh.subscribe("/robotis/open_cr/button", 1, buttonHandlerCallback);
  ros::Subscriber mode_command_sub = nh.subscribe("/robotis/mode_command", 1, demoModeCommandCallback);

-  default_mp3_path = ros::package::getPath("op3_demo") + "/Data/mp3/";
+  default_mp3_path = ros::package::getPath("op3_demo") + "/data/mp3/";

  ros::start();

--- a/op3_demo/src/soccer/ball_tracker.cpp
+++ b/op3_demo/src/soccer/ball_tracker.cpp
@@ -59,7 +59,7 @@ BallTracker::~BallTracker()

 }

-void BallTracker::ballPositionCallback(const ball_detector::circleSetStamped::ConstPtr &msg)
+void BallTracker::ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg)
 {
  for (int idx = 0; idx < msg->circles.size(); idx++)
  {
--- a/op3_demo/src/test/button_test.cpp
+++ b/op3_demo/src/test/button_test.cpp
@@ -33,7 +33,7 @@ ButtonTest::ButtonTest()
  boost::thread queue_thread = boost::thread(boost::bind(&ButtonTest::callbackThread, this));
  boost::thread process_thread = boost::thread(boost::bind(&ButtonTest::processThread, this));

-  default_mp3_path_ = ros::package::getPath("op3_demo") + "/Data/mp3/test/";
+  default_mp3_path_ = ros::package::getPath("op3_demo") + "/data/mp3/test/";
 }

 ButtonTest::~ButtonTest()
--- a/op3_demo/src/test/mic_test.cpp
+++ b/op3_demo/src/test/mic_test.cpp
@@ -36,8 +36,8 @@ MicTest::MicTest()
  boost::thread queue_thread = boost::thread(boost::bind(&MicTest::callbackThread, this));
  boost::thread process_thread = boost::thread(boost::bind(&MicTest::processThread, this));

-  recording_file_name_ = ros::package::getPath("op3_demo") + "/Data/mp3/test/mic-test.wav";
-  default_mp3_path_ = ros::package::getPath("op3_demo") + "/Data/mp3/test/";
+  recording_file_name_ = ros::package::getPath("op3_demo") + "/data/mp3/test/mic-test.wav";
+  default_mp3_path_ = ros::package::getPath("op3_demo") + "/data/mp3/test/";

  start_time_ = ros::Time::now();
 }
--- a/op3_demo/src/test_node.cpp
+++ b/op3_demo/src/test_node.cpp
@@ -84,7 +84,7 @@ int main(int argc, char **argv)
  ros::Subscriber buttuon_sub = nh.subscribe("/robotis/open_cr/button", 1, buttonHandlerCallback);
  ros::Subscriber mode_command_sub = nh.subscribe("/robotis/mode_command", 1, demoModeCommandCallback);

-  default_mp3_path = ros::package::getPath("op3_demo") + "/Data/mp3/";
+  default_mp3_path = ros::package::getPath("op3_demo") + "/data/mp3/";

  ros::start();