From 27885eb900087ae675a46da018d31d33b570fc3e Mon Sep 17 00:00:00 2001 From: Pyo Date: Wed, 9 Aug 2017 15:31:48 +0900 Subject: [PATCH 01/14] updated the CHANGELOG and version to release binary packages --- LICENSE | 8 ++++---- robotis_controller/CHANGELOG.rst | 8 ++++++++ robotis_controller/package.xml | 2 +- robotis_device/CHANGELOG.rst | 6 ++++++ robotis_device/package.xml | 2 +- robotis_framework/CHANGELOG.rst | 8 ++++++++ robotis_framework/package.xml | 2 +- robotis_framework_common/CHANGELOG.rst | 4 ++++ robotis_framework_common/package.xml | 2 +- 9 files changed, 34 insertions(+), 8 deletions(-) diff --git a/LICENSE b/LICENSE index 5298325..8954985 100755 --- a/LICENSE +++ b/LICENSE @@ -1,8 +1,8 @@ Software License Agreement (BSD License) - -Copyright (c) 2014, ROBOTIS Inc. + +Copyright (c) 2014-2017, ROBOTIS CO., LTD. All rights reserved. - + Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright @@ -13,7 +13,7 @@ modification, are permitted provided that the following conditions are met: * Neither the name of ROBOTIS nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. - + THIS SOFTWARE IS PROVIDED BY ROBOTIS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. diff --git a/robotis_controller/CHANGELOG.rst b/robotis_controller/CHANGELOG.rst index 5a4eb37..9b4a8db 100755 --- a/robotis_controller/CHANGELOG.rst +++ b/robotis_controller/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package robotis_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.6 (2017-08-09) +----------- +* multi thread bug fixed. +* unnecessary debug print removed. +* OpenCR control table item name changed. (torque_enable -> dynamixel_power) +* fixed to not update update_time_stamp\_ if bulk read fails. +* Contributors: Zerom + 0.2.5 (2017-06-09) ----------- * updated for yaml-cpp dependencies diff --git a/robotis_controller/package.xml b/robotis_controller/package.xml index 3ba70e6..09a7d65 100755 --- a/robotis_controller/package.xml +++ b/robotis_controller/package.xml @@ -1,7 +1,7 @@ robotis_controller - 0.2.5 + 0.2.6 The main package that controls THORMANG3. diff --git a/robotis_device/CHANGELOG.rst b/robotis_device/CHANGELOG.rst index 8a0f671..eda74db 100755 --- a/robotis_device/CHANGELOG.rst +++ b/robotis_device/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package robotis_device ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.6 (2017-08-09) +----------- +* OpenCR control table item name changed. (torque_enable -> dynamixel_power) +* fixed to not update update_time_stamp\_ if bulk read fails. +* Contributors: Zerom + 0.2.5 (2017-06-09) ----------- * none diff --git a/robotis_device/package.xml b/robotis_device/package.xml index 00fd5c1..6ad1fa0 100755 --- a/robotis_device/package.xml +++ b/robotis_device/package.xml @@ -1,7 +1,7 @@ robotis_device - 0.2.5 + 0.2.6 The package that manages device information of ROBOTIS robots. This package is used when reading device information with the robot information file diff --git a/robotis_framework/CHANGELOG.rst b/robotis_framework/CHANGELOG.rst index 59cfa8c..173b194 100755 --- a/robotis_framework/CHANGELOG.rst +++ b/robotis_framework/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package robotis_framework ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.6 (2017-08-09) +----------- +* multi thread bug fixed. +* unnecessary debug print removed. +* OpenCR control table item name changed. (torque_enable -> dynamixel_power) +* fixed to not update update_time_stamp\_ if bulk read fails. +* Contributors: Zerom + 0.2.5 (2017-06-09) ----------- * updated for yaml-cpp dependencies (robotis_controller) diff --git a/robotis_framework/package.xml b/robotis_framework/package.xml index 5a661bc..e5fae21 100755 --- a/robotis_framework/package.xml +++ b/robotis_framework/package.xml @@ -1,7 +1,7 @@ robotis_framework - 0.2.5 + 0.2.6 ROS packages for the robotis_framework (meta package) BSD Zerom diff --git a/robotis_framework_common/CHANGELOG.rst b/robotis_framework_common/CHANGELOG.rst index a1adecf..af8081d 100755 --- a/robotis_framework_common/CHANGELOG.rst +++ b/robotis_framework_common/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package robotis_framework_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.6 (2017-08-09) +----------- +* none + 0.2.5 (2017-06-09) ----------- * none diff --git a/robotis_framework_common/package.xml b/robotis_framework_common/package.xml index 3b6194b..86e845d 100755 --- a/robotis_framework_common/package.xml +++ b/robotis_framework_common/package.xml @@ -1,7 +1,7 @@ robotis_framework_common - 0.2.5 + 0.2.6 The package contains commonly used Headers for the ROBOTIS Framework. From 21e9a81af0d61ea6fd5d7df675934939b9cafd38 Mon Sep 17 00:00:00 2001 From: SCH Date: Wed, 29 Nov 2017 13:51:25 +0900 Subject: [PATCH 02/14] - Modified to prevent duplicate indirect address write --- .../robotis_controller/robotis_controller.cpp | 20 +++++++++++++++---- 1 file changed, 16 insertions(+), 4 deletions(-) diff --git a/robotis_controller/src/robotis_controller/robotis_controller.cpp b/robotis_controller/src/robotis_controller/robotis_controller.cpp index be70a4e..691df50 100755 --- a/robotis_controller/src/robotis_controller/robotis_controller.cpp +++ b/robotis_controller/src/robotis_controller/robotis_controller.cpp @@ -485,6 +485,8 @@ void RobotisController::initializeDevice(const std::string init_file_path) { if (dxl->bulk_read_items_.size() != 0) { + uint16_t data16 = 0; + bulkread_start_addr = dxl->bulk_read_items_[0]->address_; bulkread_data_length = 0; @@ -498,7 +500,11 @@ void RobotisController::initializeDevice(const std::string init_file_path) for (int l = 0; l < addr_leng; l++) { // ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table[dxl->bulk_read_items[i]->item_name]->address + _l); - write2Byte(joint_name, indirect_addr, dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l); + read2Byte(joint_name, indirect_addr, &data16); + if (data16 != dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l) + { + write2Byte(joint_name, indirect_addr, dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l); + } indirect_addr += 2; } } @@ -552,6 +558,8 @@ void RobotisController::initializeDevice(const std::string init_file_path) { if (sensor->bulk_read_items_.size() != 0) { + uint16_t data16 = 0; + bulkread_start_addr = sensor->bulk_read_items_[0]->address_; bulkread_data_length = 0; @@ -565,9 +573,13 @@ void RobotisController::initializeDevice(const std::string init_file_path) for (int l = 0; l < addr_leng; l++) { // ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", sensor_name.c_str(), indirect_addr, sensor->ctrl_table[sensor->bulk_read_items[i]->item_name]->address + _l); - write2Byte(sensor_name, - indirect_addr, - sensor->ctrl_table_[sensor->bulk_read_items_[i]->item_name_]->address_ + l); + read2Byte(sensor_name, indirect_addr, &data16); + if (data16 != sensor->ctrl_table_[sensor->bulk_read_items_[i]->item_name_]->address_ + l) + { + write2Byte(sensor_name, + indirect_addr, + sensor->ctrl_table_[sensor->bulk_read_items_[i]->item_name_]->address_ + l); + } indirect_addr += 2; } } From 91d4452a71f128af1165075363fd5a4e5e2cd2ce Mon Sep 17 00:00:00 2001 From: SCH Date: Wed, 29 Nov 2017 15:34:20 +0900 Subject: [PATCH 03/14] - fixed a bug that occur when handling bulk read item that does not exist. --- robotis_device/src/robotis_device/robot.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/robotis_device/src/robotis_device/robot.cpp b/robotis_device/src/robotis_device/robot.cpp index 94d4133..bcbda3a 100755 --- a/robotis_device/src/robotis_device/robot.cpp +++ b/robotis_device/src/robotis_device/robot.cpp @@ -154,6 +154,13 @@ Robot::Robot(std::string robot_file_path, std::string dev_desc_dir_path) uint16_t indirect_data_addr = dxl->ctrl_table_[INDIRECT_DATA_1]->address_; for (int _i = 0; _i < sub_tokens.size(); _i++) { + std::map::iterator bulkread_it = dxl->ctrl_table_.find(sub_tokens[_i]); + if(bulkread_it == dxl->ctrl_table_.end()) + { + fprintf(stderr, "\n ##### BULK READ ITEM [ %s ] NOT FOUND!! #####\n\n", sub_tokens[_i].c_str()); + continue; + } + dxl->bulk_read_items_.push_back(new ControlTableItem()); ControlTableItem *dest_item = dxl->bulk_read_items_[_i]; ControlTableItem *src_item = dxl->ctrl_table_[sub_tokens[_i]]; From 6ad9f4da3f805e8f463a5587c269b5fe82cfd7cd Mon Sep 17 00:00:00 2001 From: Yoonseok Pyo Date: Fri, 2 Mar 2018 16:39:43 +0900 Subject: [PATCH 04/14] Create .travis.yml --- .travis.yml | 35 +++++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) create mode 100644 .travis.yml diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..ee670e4 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,35 @@ +# This config file for Travis CI utilizes ros-industrial/industrial_ci package. +# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst + +dist: trusty +sudo: required +services: + - docker +language: generic +python: + - "2.7" +compiler: + - gcc +notifications: + email: + on_success: always + on_failure: always + recipients: + - pyo@robotis.com +env: + matrix: + - ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true + - ROS_DISTRO="kinetic" PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0 +matrix: + allow_failures: + - env: ROS_DISTRO="kinetic" PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0 +branches: + only: + - master + - develop + - kinetic-devel +install: + - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config +script: + - source .ci_config/travis.sh + From ee6f240f900bcaf99ad5d5cde8fc0407fae83b1f Mon Sep 17 00:00:00 2001 From: robotis Date: Wed, 7 Mar 2018 18:42:28 +0900 Subject: [PATCH 05/14] - changed all values read by bulk read are saved to dxl_state_->bulk_read_table_. --- .../src/robotis_controller/robotis_controller.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/robotis_controller/src/robotis_controller/robotis_controller.cpp b/robotis_controller/src/robotis_controller/robotis_controller.cpp index 691df50..7a66038 100755 --- a/robotis_controller/src/robotis_controller/robotis_controller.cpp +++ b/robotis_controller/src/robotis_controller/robotis_controller.cpp @@ -499,7 +499,7 @@ void RobotisController::initializeDevice(const std::string init_file_path) bulkread_data_length += addr_leng; for (int l = 0; l < addr_leng; l++) { -// ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table[dxl->bulk_read_items[i]->item_name]->address + _l); + //ROS_WARN("[%12s] INDIR_ADDR: %d, ITEM_ADDR: %d", joint_name.c_str(), indirect_addr, dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l); read2Byte(joint_name, indirect_addr, &data16); if (data16 != dxl->ctrl_table_[dxl->bulk_read_items_[i]->item_name_]->address_ + l) { @@ -946,8 +946,8 @@ void RobotisController::process() dxl->dxl_state_->goal_velocity_ = dxl->convertValue2Velocity(data); else if (dxl->goal_current_item_ != 0 && item->item_name_ == dxl->goal_current_item_->item_name_) dxl->dxl_state_->goal_torque_ = dxl->convertValue2Torque(data); - else - dxl->dxl_state_->bulk_read_table_[item->item_name_] = data; + + dxl->dxl_state_->bulk_read_table_[item->item_name_] = data; } } @@ -1166,8 +1166,8 @@ void RobotisController::process() dxl->dxl_state_->goal_velocity_ = dxl->convertValue2Velocity(data); else if (dxl->goal_current_item_ != 0 && item->item_name_ == dxl->goal_current_item_->item_name_) dxl->dxl_state_->goal_torque_ = dxl->convertValue2Torque(data); - else - dxl->dxl_state_->bulk_read_table_[item->item_name_] = data; + + dxl->dxl_state_->bulk_read_table_[item->item_name_] = data; } } @@ -1251,7 +1251,7 @@ void RobotisController::process() if (result_state == NULL) { - fprintf(stderr, "[%s] %s", (*module_it)->getModuleName().c_str(), joint_name.c_str()); + ROS_ERROR("[%s] %s ", (*module_it)->getModuleName().c_str(), joint_name.c_str()); continue; } From 82765b785510e8e40125f480ddc234dd3553f449 Mon Sep 17 00:00:00 2001 From: Pyo Date: Thu, 15 Mar 2018 08:59:43 +0900 Subject: [PATCH 06/14] modified the LICENSE and package information for release --- .travis.yml | 11 +-- LICENSE | 221 ++++++++++++++++++++++++++++++++++++++++++++++------ README.md | 11 ++- 3 files changed, 210 insertions(+), 33 deletions(-) diff --git a/.travis.yml b/.travis.yml index ee670e4..1145575 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,8 +1,8 @@ # This config file for Travis CI utilizes ros-industrial/industrial_ci package. # For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst -dist: trusty sudo: required +dist: trusty services: - docker language: generic @@ -18,11 +18,8 @@ notifications: - pyo@robotis.com env: matrix: - - ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true - - ROS_DISTRO="kinetic" PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0 -matrix: - allow_failures: - - env: ROS_DISTRO="kinetic" PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=0 + - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian +# - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=jessie branches: only: - master @@ -32,4 +29,4 @@ install: - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config script: - source .ci_config/travis.sh - + \ No newline at end of file diff --git a/LICENSE b/LICENSE index 8954985..c0ee812 100755 --- a/LICENSE +++ b/LICENSE @@ -1,26 +1,201 @@ -Software License Agreement (BSD License) + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ -Copyright (c) 2014-2017, ROBOTIS CO., LTD. -All rights reserved. + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of ROBOTIS nor the names of its contributors may be - used to endorse or promote products derived from this software - without specific prior written permission. + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright {yyyy} {name of copyright owner} + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md index 02d6b48..8c6b748 100755 --- a/README.md +++ b/README.md @@ -1,4 +1,9 @@ -# ROBOTIS-Framework -ROBOTIS Framework GIT REP MAIN +# robotis_framework -Documents : [ROBOTIS Framework WIKI](https://github.com/ROBOTIS-GIT/ROBOTIS-Documents/wiki/ROBOTIS-ROS-Framework-Documents) +[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-Framework.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-Framework) [![Build Status](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-Framework.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-Framework) + +ROS packages for the robotis_framework (meta package) + +# Documents +- ROS Wiki: http://wiki.ros.org/robotis_framework +- ROBOTIS e-Manual: http://emanual.robotis.com/docs/en/software/robotis_framework_packages/ From 74fd344c67105654f979bc6b68ed28d2484d2a6d Mon Sep 17 00:00:00 2001 From: Pyo Date: Thu, 15 Mar 2018 09:22:17 +0900 Subject: [PATCH 07/14] change the License and package format to version 2 --- robotis_controller/CMakeLists.txt | 11 ++--- .../robotis_controller/robotis_controller.h | 42 +++++++------------ robotis_controller/package.xml | 37 ++++++---------- .../robotis_controller/robotis_controller.cpp | 42 +++++++------------ robotis_device/CMakeLists.txt | 7 ++-- .../robotis_device/control_table_item.h | 42 +++++++------------ .../include/robotis_device/device.h | 42 +++++++------------ .../include/robotis_device/dynamixel.h | 42 +++++++------------ .../include/robotis_device/dynamixel_state.h | 42 +++++++------------ robotis_device/include/robotis_device/robot.h | 42 +++++++------------ .../include/robotis_device/sensor.h | 42 +++++++------------ .../include/robotis_device/sensor_state.h | 42 +++++++------------ .../include/robotis_device/time_stamp.h | 42 +++++++------------ robotis_device/package.xml | 12 ++---- .../src/robotis_device/dynamixel.cpp | 42 +++++++------------ robotis_device/src/robotis_device/robot.cpp | 42 +++++++------------ robotis_device/src/robotis_device/sensor.cpp | 42 +++++++------------ robotis_framework/package.xml | 14 ++++--- robotis_framework_common/CMakeLists.txt | 2 + .../robotis_framework_common/motion_module.h | 42 +++++++------------ .../robotis_framework_common/sensor_module.h | 42 +++++++------------ .../robotis_framework_common/singleton.h | 42 +++++++------------ robotis_framework_common/package.xml | 10 ++--- 23 files changed, 264 insertions(+), 501 deletions(-) diff --git a/robotis_controller/CMakeLists.txt b/robotis_controller/CMakeLists.txt index 491f965..9ffde36 100755 --- a/robotis_controller/CMakeLists.txt +++ b/robotis_controller/CMakeLists.txt @@ -12,16 +12,17 @@ set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") find_package(catkin REQUIRED COMPONENTS roscpp roslib - sensor_msgs std_msgs + sensor_msgs robotis_controller_msgs + dynamixel_sdk + robotis_device robotis_framework_common cmake_modules ) -set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${CATKIN_DEVEL_PREFIX}/lib/pkgconfig") -find_package(PkgConfig) -pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) +find_package(PkgConfig REQUIRED) +pkg_check_modules(YAML_CPP REQUIRED yaml-cpp) ################################################################################ # Declare ROS messages, services and actions @@ -37,7 +38,7 @@ pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) catkin_package( INCLUDE_DIRS include LIBRARIES robotis_controller - CATKIN_DEPENDS roscpp roslib sensor_msgs std_msgs robotis_framework_common + CATKIN_DEPENDS roscpp roslib std_msgs sensor_msgs robotis_controller_msgs dynamixel_sdk robotis_device robotis_framework_common cmake_modules ) ################################################################################ diff --git a/robotis_controller/include/robotis_controller/robotis_controller.h b/robotis_controller/include/robotis_controller/robotis_controller.h index f811b24..1f16099 100755 --- a/robotis_controller/include/robotis_controller/robotis_controller.h +++ b/robotis_controller/include/robotis_controller/robotis_controller.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * robotis_controller.h diff --git a/robotis_controller/package.xml b/robotis_controller/package.xml index 09a7d65..9960d78 100755 --- a/robotis_controller/package.xml +++ b/robotis_controller/package.xml @@ -1,36 +1,25 @@ - + robotis_controller 0.2.6 - The main package that controls THORMANG3. + robotis_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series - BSD + Apache 2.0 Zerom Pyo https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues https://github.com/ROBOTIS-GIT/ROBOTIS-Framework http://wiki.ros.org/robotis_controller catkin - roscpp - roslib - std_msgs - sensor_msgs - dynamixel_sdk - robotis_device - robotis_controller_msgs - robotis_framework_common - cmake_modules - yaml-cpp - roscpp - roslib - std_msgs - sensor_msgs - dynamixel_sdk - robotis_device - robotis_controller_msgs - robotis_framework_common - cmake_modules - yaml-cpp - + roscpp + roslib + std_msgs + sensor_msgs + robotis_controller_msgs + dynamixel_sdk + robotis_device + robotis_framework_common + cmake_modules + yaml-cpp diff --git a/robotis_controller/src/robotis_controller/robotis_controller.cpp b/robotis_controller/src/robotis_controller/robotis_controller.cpp index 7a66038..f234e29 100755 --- a/robotis_controller/src/robotis_controller/robotis_controller.cpp +++ b/robotis_controller/src/robotis_controller/robotis_controller.cpp @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * robotis_controller.cpp diff --git a/robotis_device/CMakeLists.txt b/robotis_device/CMakeLists.txt index 45a1fc8..3b981d3 100755 --- a/robotis_device/CMakeLists.txt +++ b/robotis_device/CMakeLists.txt @@ -9,7 +9,6 @@ project(robotis_device) ################################################################################ find_package(catkin REQUIRED COMPONENTS roscpp - rospy dynamixel_sdk ) @@ -27,7 +26,7 @@ find_package(catkin REQUIRED COMPONENTS catkin_package( INCLUDE_DIRS include LIBRARIES robotis_device - CATKIN_DEPENDS roscpp rospy dynamixel_sdk + CATKIN_DEPENDS roscpp dynamixel_sdk ) ################################################################################ @@ -59,8 +58,8 @@ install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) -install(DIRECTORY devices/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +install(DIRECTORY devices + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) ################################################################################ diff --git a/robotis_device/include/robotis_device/control_table_item.h b/robotis_device/include/robotis_device/control_table_item.h index aa09131..ed7b956 100755 --- a/robotis_device/include/robotis_device/control_table_item.h +++ b/robotis_device/include/robotis_device/control_table_item.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * control_table_item.h diff --git a/robotis_device/include/robotis_device/device.h b/robotis_device/include/robotis_device/device.h index a2e5a1c..b3b2936 100755 --- a/robotis_device/include/robotis_device/device.h +++ b/robotis_device/include/robotis_device/device.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * device.h diff --git a/robotis_device/include/robotis_device/dynamixel.h b/robotis_device/include/robotis_device/dynamixel.h index f9b60f7..43e8981 100755 --- a/robotis_device/include/robotis_device/dynamixel.h +++ b/robotis_device/include/robotis_device/dynamixel.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * dynamixel.h diff --git a/robotis_device/include/robotis_device/dynamixel_state.h b/robotis_device/include/robotis_device/dynamixel_state.h index 1651eb2..b287bb3 100755 --- a/robotis_device/include/robotis_device/dynamixel_state.h +++ b/robotis_device/include/robotis_device/dynamixel_state.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * dynamixel_state.h diff --git a/robotis_device/include/robotis_device/robot.h b/robotis_device/include/robotis_device/robot.h index 684fe6a..58b7a77 100755 --- a/robotis_device/include/robotis_device/robot.h +++ b/robotis_device/include/robotis_device/robot.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * robot.h diff --git a/robotis_device/include/robotis_device/sensor.h b/robotis_device/include/robotis_device/sensor.h index dda755f..dc98eaa 100755 --- a/robotis_device/include/robotis_device/sensor.h +++ b/robotis_device/include/robotis_device/sensor.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * sensor.h diff --git a/robotis_device/include/robotis_device/sensor_state.h b/robotis_device/include/robotis_device/sensor_state.h index 01ec952..2cfc98d 100755 --- a/robotis_device/include/robotis_device/sensor_state.h +++ b/robotis_device/include/robotis_device/sensor_state.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * sensor_state.h diff --git a/robotis_device/include/robotis_device/time_stamp.h b/robotis_device/include/robotis_device/time_stamp.h index 1dc7510..8662ad7 100755 --- a/robotis_device/include/robotis_device/time_stamp.h +++ b/robotis_device/include/robotis_device/time_stamp.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * time_stamp.h diff --git a/robotis_device/package.xml b/robotis_device/package.xml index 6ad1fa0..94290df 100755 --- a/robotis_device/package.xml +++ b/robotis_device/package.xml @@ -1,5 +1,5 @@ - + robotis_device 0.2.6 @@ -7,17 +7,13 @@ This package is used when reading device information with the robot information file from the robotis_controller package. - BSD + Apache 2.0 Zerom Pyo https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues https://github.com/ROBOTIS-GIT/ROBOTIS-Framework http://wiki.ros.org/robotis_device catkin - roscpp - rospy - dynamixel_sdk - roscpp - rospy - dynamixel_sdk + roscpp + dynamixel_sdk diff --git a/robotis_device/src/robotis_device/dynamixel.cpp b/robotis_device/src/robotis_device/dynamixel.cpp index 16ef12e..500393c 100755 --- a/robotis_device/src/robotis_device/dynamixel.cpp +++ b/robotis_device/src/robotis_device/dynamixel.cpp @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * dynamixel.cpp diff --git a/robotis_device/src/robotis_device/robot.cpp b/robotis_device/src/robotis_device/robot.cpp index bcbda3a..6214d16 100755 --- a/robotis_device/src/robotis_device/robot.cpp +++ b/robotis_device/src/robotis_device/robot.cpp @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * robot.cpp diff --git a/robotis_device/src/robotis_device/sensor.cpp b/robotis_device/src/robotis_device/sensor.cpp index 3507342..ba7bf29 100755 --- a/robotis_device/src/robotis_device/sensor.cpp +++ b/robotis_device/src/robotis_device/sensor.cpp @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * sensor.cpp diff --git a/robotis_framework/package.xml b/robotis_framework/package.xml index e5fae21..0901721 100755 --- a/robotis_framework/package.xml +++ b/robotis_framework/package.xml @@ -1,17 +1,19 @@ - + robotis_framework 0.2.6 - ROS packages for the robotis_framework (meta package) - BSD + + ROS packages for the robotis_framework (meta package) + + Apache 2.0 Zerom Pyo https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues https://github.com/ROBOTIS-GIT/ROBOTIS-Framework http://wiki.ros.org/robotis_framework catkin - robotis_framework_common - robotis_device - robotis_controller + robotis_framework_common + robotis_device + robotis_controller diff --git a/robotis_framework_common/CMakeLists.txt b/robotis_framework_common/CMakeLists.txt index ed263f9..ce7bbd4 100755 --- a/robotis_framework_common/CMakeLists.txt +++ b/robotis_framework_common/CMakeLists.txt @@ -36,11 +36,13 @@ include_directories( include ${catkin_INCLUDE_DIRS} ) + add_library(${PROJECT_NAME} include/${PROJECT_NAME}/motion_module.h include/${PROJECT_NAME}/sensor_module.h include/${PROJECT_NAME}/singleton.h ) + set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX) ################################################################################ diff --git a/robotis_framework_common/include/robotis_framework_common/motion_module.h b/robotis_framework_common/include/robotis_framework_common/motion_module.h index e81bbc8..b18d858 100755 --- a/robotis_framework_common/include/robotis_framework_common/motion_module.h +++ b/robotis_framework_common/include/robotis_framework_common/motion_module.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * motion_module.h diff --git a/robotis_framework_common/include/robotis_framework_common/sensor_module.h b/robotis_framework_common/include/robotis_framework_common/sensor_module.h index 775acfd..356d14b 100755 --- a/robotis_framework_common/include/robotis_framework_common/sensor_module.h +++ b/robotis_framework_common/include/robotis_framework_common/sensor_module.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * sensor_module.h diff --git a/robotis_framework_common/include/robotis_framework_common/singleton.h b/robotis_framework_common/include/robotis_framework_common/singleton.h index b6338b2..992e2f3 100755 --- a/robotis_framework_common/include/robotis_framework_common/singleton.h +++ b/robotis_framework_common/include/robotis_framework_common/singleton.h @@ -1,32 +1,18 @@ /******************************************************************************* - * Copyright (c) 2016, ROBOTIS CO., LTD. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of ROBOTIS nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *******************************************************************************/ +* Copyright 2018 ROBOTIS CO., LTD. +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +*******************************************************************************/ /* * singleton.h diff --git a/robotis_framework_common/package.xml b/robotis_framework_common/package.xml index 86e845d..c22bffe 100755 --- a/robotis_framework_common/package.xml +++ b/robotis_framework_common/package.xml @@ -1,19 +1,17 @@ - + robotis_framework_common 0.2.6 The package contains commonly used Headers for the ROBOTIS Framework. - BSD + Apache 2.0 Zerom Pyo https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues https://github.com/ROBOTIS-GIT/ROBOTIS-Framework http://wiki.ros.org/robotis_framework_common catkin - roscpp - robotis_device - roscpp - robotis_device + roscpp + robotis_device From 10172c2e34009f567fa0db13449f76c4f2605678 Mon Sep 17 00:00:00 2001 From: Pyo Date: Thu, 15 Mar 2018 09:35:18 +0900 Subject: [PATCH 08/14] updated the CHANGELOG and version to release binary packages --- robotis_controller/CHANGELOG.rst | 25 ++++++++++++++++--------- robotis_controller/package.xml | 3 ++- robotis_device/CHANGELOG.rst | 24 +++++++++++++++--------- robotis_device/package.xml | 3 ++- robotis_framework/CHANGELOG.rst | 26 +++++++++++++++++--------- robotis_framework/package.xml | 3 ++- robotis_framework_common/CHANGELOG.rst | 23 ++++++++++++++--------- robotis_framework_common/package.xml | 3 ++- 8 files changed, 70 insertions(+), 40 deletions(-) diff --git a/robotis_controller/CHANGELOG.rst b/robotis_controller/CHANGELOG.rst index 9b4a8db..d1aa7be 100755 --- a/robotis_controller/CHANGELOG.rst +++ b/robotis_controller/CHANGELOG.rst @@ -2,8 +2,15 @@ Changelog for package robotis_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.7 (2018-03-15) +------------------ +* changed the License and package format to version 2 +* changed all values read by bulk read are saved to dxl_state\_->bulk_read_table\_. +* Modified to prevent duplicate indirect address write +* Contributors: SCH, Zerom, Pyo + 0.2.6 (2017-08-09) ------------ +------------------ * multi thread bug fixed. * unnecessary debug print removed. * OpenCR control table item name changed. (torque_enable -> dynamixel_power) @@ -11,28 +18,28 @@ Changelog for package robotis_controller * Contributors: Zerom 0.2.5 (2017-06-09) ------------ +------------------ * updated for yaml-cpp dependencies * Contributors: SCH 0.2.4 (2017-06-07) ------------ +------------------ * added cmake_modules in package.xml * Contributors: SCH 0.2.3 (2017-05-23) ------------ +------------------ * updated the cmake file for ros install * Contributors: SCH 0.2.2 (2017-04-24) ------------ +------------------ * updated robotis_controller.cpp * changed to read control cycle from .robot file * Contributors: Zerom 0.2.1 (2016-11-23) ------------ +------------------ * Merge the changes and update * - Direct Control Mode bug fixed. * update @@ -50,7 +57,7 @@ Changelog for package robotis_controller * Contributors: Jay Song, Pyo, Zerom, SCH 0.2.0 (2016-08-31) ------------ +------------------ * bug fixed (position pid gain & velocity pid gain sync write). * added velocity_to_value_ratio to DXL Pro-H series. * changed some debug messages. @@ -73,11 +80,11 @@ Changelog for package robotis_controller * Contributors: Jay Song, Zerom, Pyo, SCH 0.1.1 (2016-08-18) ------------ +------------------ * updated the package information 0.1.0 (2016-08-12) ------------ +------------------ * first public release for Kinetic * modified the package information for release * develop branch -> master branch diff --git a/robotis_controller/package.xml b/robotis_controller/package.xml index 9960d78..9073883 100755 --- a/robotis_controller/package.xml +++ b/robotis_controller/package.xml @@ -1,12 +1,13 @@ robotis_controller - 0.2.6 + 0.2.7 robotis_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series Apache 2.0 Zerom + SCH Pyo https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues https://github.com/ROBOTIS-GIT/ROBOTIS-Framework diff --git a/robotis_device/CHANGELOG.rst b/robotis_device/CHANGELOG.rst index eda74db..7330dc8 100755 --- a/robotis_device/CHANGELOG.rst +++ b/robotis_device/CHANGELOG.rst @@ -2,33 +2,39 @@ Changelog for package robotis_device ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.7 (2018-03-15) +------------------------- +* fixed a bug that occur when handling bulk read item that does not exist +* changed the License and package format to version 2 +* Contributors: SCH, Pyo + 0.2.6 (2017-08-09) ------------ +------------------ * OpenCR control table item name changed. (torque_enable -> dynamixel_power) * fixed to not update update_time_stamp\_ if bulk read fails. * Contributors: Zerom 0.2.5 (2017-06-09) ------------ +------------------ * none 0.2.4 (2017-06-07) ------------ +------------------ * none 0.2.3 (2017-05-23) ------------ +------------------ * updated the cmake file for ros install * Contributors: SCH 0.2.2 (2017-04-24) ------------ +------------------ * added a deivce: OpenCR * changed to read control cycle from .robot file * Contributors: Zerom, Kayman 0.2.1 (2016-11-23) ------------ +------------------ * Merge the changes and update * mode change debugging * - convertRadian2Value / convertValue2Radian : commented out the code that limits the maximum/minimum value. @@ -36,7 +42,7 @@ Changelog for package robotis_device * Contributors: Jay Song, Pyo, Zerom, SCH 0.2.0 (2016-08-31) ------------ +------------------ * bug fixed (position pid gain & velocity pid gain sync write). * added velocity_to_value_ratio to DXL Pro-H series. * added velocity p/i/d gain and position i/d gain sync_write code. @@ -49,12 +55,12 @@ Changelog for package robotis_device * Contributors: Zerom, Pyo 0.1.1 (2016-08-18) ------------ +------------------ * updated the package information * Contributors: Zerom 0.1.0 (2016-08-12) ------------ +------------------ * first public release for Kinetic * modified the package information for release * develop branch -> master branch diff --git a/robotis_device/package.xml b/robotis_device/package.xml index 94290df..c0d1d1e 100755 --- a/robotis_device/package.xml +++ b/robotis_device/package.xml @@ -1,7 +1,7 @@ robotis_device - 0.2.6 + 0.2.7 The package that manages device information of ROBOTIS robots. This package is used when reading device information with the robot information file @@ -9,6 +9,7 @@ Apache 2.0 Zerom + SCH Pyo https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues https://github.com/ROBOTIS-GIT/ROBOTIS-Framework diff --git a/robotis_framework/CHANGELOG.rst b/robotis_framework/CHANGELOG.rst index 173b194..8f3d7f2 100755 --- a/robotis_framework/CHANGELOG.rst +++ b/robotis_framework/CHANGELOG.rst @@ -2,8 +2,16 @@ Changelog for package robotis_framework ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.7 (2018-03-15) +------------------ +* changed all values read by bulk read are saved to dxl_state\_->bulk_read_table\_. +* Modified to prevent duplicate indirect address write +* fixed a bug that occur when handling bulk read item that does not exist +* changed the License and package format to version 2 +* Contributors: SCH, Zerom, Pyo + 0.2.6 (2017-08-09) ------------ +------------------ * multi thread bug fixed. * unnecessary debug print removed. * OpenCR control table item name changed. (torque_enable -> dynamixel_power) @@ -11,39 +19,39 @@ Changelog for package robotis_framework * Contributors: Zerom 0.2.5 (2017-06-09) ------------ +------------------ * updated for yaml-cpp dependencies (robotis_controller) * Contributors: SCH 0.2.4 (2017-06-07) ------------ +------------------ * added cmake_modules in package.xml * Contributors: SCH 0.2.3 (2017-05-23) ------------ +------------------ * updated the cmake file for ros install * Contributors: SCH 0.2.2 (2017-04-24) ------------ +------------------ * added a deivce: OpenCR * updated robotis_controller.cpp * changed to read control cycle from .robot file * Contributors: Zerom, Kayman 0.2.1 (2016-11-23) ------------ +------------------ * Merge the changes and update 0.2.0 (2016-08-31) ------------ +------------------ * updated CHANGLOG.rst for minor release 0.1.1 (2016-08-18) ------------ +------------------ * updated the package information 0.1.0 (2016-08-12) ------------ +------------------ * make a meta-package diff --git a/robotis_framework/package.xml b/robotis_framework/package.xml index 0901721..4da2d0a 100755 --- a/robotis_framework/package.xml +++ b/robotis_framework/package.xml @@ -1,12 +1,13 @@ robotis_framework - 0.2.6 + 0.2.7 ROS packages for the robotis_framework (meta package) Apache 2.0 Zerom + SCH Pyo https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues https://github.com/ROBOTIS-GIT/ROBOTIS-Framework diff --git a/robotis_framework_common/CHANGELOG.rst b/robotis_framework_common/CHANGELOG.rst index af8081d..1359706 100755 --- a/robotis_framework_common/CHANGELOG.rst +++ b/robotis_framework_common/CHANGELOG.rst @@ -2,48 +2,53 @@ Changelog for package robotis_framework_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.7 (2018-03-15) +------------------ +* change the License and package format to version 2 +* Contributors: Pyo + 0.2.6 (2017-08-09) ------------ +------------------ * none 0.2.5 (2017-06-09) ------------ +------------------ * none 0.2.4 (2017-06-07) ------------ +------------------ * none 0.2.3 (2017-05-23) ------------ +------------------ * updated the cmake file for ros install * Contributors: SCH 0.2.2 (2017-04-24) ------------ +------------------ * updated for other packages * Contributors: Zerom, Kayman 0.2.1 (2016-11-23) ------------ +------------------ * Merge the changes and update * - dependencies fixed. (Pull requests `#26 `_) * - modified dependency problem. * Contributors: Jay Song, Pyo, Zerom 0.2.0 (2016-08-31) ------------ +------------------ * updated CHANGLOG.rst for minor release * rename ControlMode(CurrentControl -> TorqueControl) * rename (port_to_sync_write_torque\_ -> port_to_sync_write_current\_) * Contributors: Zerom, Pyo 0.1.1 (2016-08-18) ------------ +------------------ * updated the package information 0.1.0 (2016-08-12) ------------ +------------------ * modified the package information for release * Setting the license to BSD. * add SensorState diff --git a/robotis_framework_common/package.xml b/robotis_framework_common/package.xml index c22bffe..7243698 100755 --- a/robotis_framework_common/package.xml +++ b/robotis_framework_common/package.xml @@ -1,12 +1,13 @@ robotis_framework_common - 0.2.6 + 0.2.7 The package contains commonly used Headers for the ROBOTIS Framework. Apache 2.0 Zerom + SCH Pyo https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues https://github.com/ROBOTIS-GIT/ROBOTIS-Framework From 947c0ac1926bae41901f95ef1314873f1a5ac503 Mon Sep 17 00:00:00 2001 From: Zerom Date: Tue, 20 Mar 2018 14:02:14 +0900 Subject: [PATCH 09/14] - added RH-P12-RN.device file. - modified robotis_controller/CMakeLists.txt (yaml-cpp bug). --- .../devices/dynamixel/RH-P12-RN.device | 73 +++++++++++++++++++ 1 file changed, 73 insertions(+) create mode 100755 robotis_device/devices/dynamixel/RH-P12-RN.device diff --git a/robotis_device/devices/dynamixel/RH-P12-RN.device b/robotis_device/devices/dynamixel/RH-P12-RN.device new file mode 100755 index 0000000..aec9b67 --- /dev/null +++ b/robotis_device/devices/dynamixel/RH-P12-RN.device @@ -0,0 +1,73 @@ +[device info] +model_name = RH-P12-RN +device_type = dynamixel + +[type info] +value_of_0_radian_position = 0 +value_of_min_radian_position = 0 +value_of_max_radian_position = 740 +min_radian = 0 +max_radian = 1.150767 + +torque_enable_item_name = torque_enable +present_position_item_name = present_position +present_velocity_item_name = present_velocity +present_current_item_name = present_current +goal_position_item_name = goal_position +goal_velocity_item_name = goal_velocity +goal_current_item_name = goal_current +position_d_gain_item_name = position_d_gain +position_i_gain_item_name = position_i_gain +position_p_gain_item_name = position_p_gain +velocity_d_gain_item_name = +velocity_i_gain_item_name = +velocity_p_gain_item_name = + +[control table] +# addr | item name | length | access | memory | min value | max value | signed + 0 | model_number | 2 | R | EEPROM | 0 | 65535 | N + 6 | version_of_firmware | 1 | R | EEPROM | 0 | 254 | N + 7 | ID | 1 | RW | EEPROM | 0 | 252 | N + 8 | baudrate | 1 | RW | EEPROM | 0 | 8 | N + 9 | return_delay_time | 1 | RW | EEPROM | 0 | 254 | N + 11 | operating_mode | 1 | RW | EEPROM | 0 | 4 | N + 17 | moving_threshold | 4 | RW | EEPROM | 0 | 2147483647 | N + 21 | max_temperature_limit | 1 | RW | EEPROM | 0 | 100 | N + 22 | max_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N + 24 | min_voltage_limit | 2 | RW | EEPROM | 0 | 400 | N + 26 | acceleration_limit | 4 | RW | EEPROM | 0 | 2147483647 | N + 30 | current_limit | 2 | RW | EEPROM | 0 | 32767 | N + 32 | velocity_limit | 4 | RW | EEPROM | 0 | 2147483647 | N + 36 | max_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y + 40 | min_position_limit | 4 | RW | EEPROM | -2147483648 | 2147483647 | Y + 44 | external_port_mod_1 | 1 | RW | EEPROM | 0 | 3 | N + 45 | external_port_mod_2 | 1 | RW | EEPROM | 0 | 3 | N + 46 | external_port_mod_3 | 1 | RW | EEPROM | 0 | 3 | N + 47 | external_port_mod_4 | 1 | RW | EEPROM | 0 | 3 | N + 48 | shutdown | 1 | RW | EEPROM | 0 | 255 | N + 49 | indirect_address_1 | 2 | RW | EEPROM | 0 | 65535 | N + 562 | torque_enable | 1 | RW | RAM | 0 | 1 | N + 563 | LED_RED | 1 | RW | RAM | 0 | 255 | N + 564 | LED_GREEN | 1 | RW | RAM | 0 | 255 | N + 565 | LED_BLUE | 1 | RW | RAM | 0 | 255 | N + 590 | position_d_gain | 2 | RW | RAM | 0 | 2047 | N + 592 | position_i_gain | 2 | RW | RAM | 0 | 2047 | N + 594 | position_p_gain | 2 | RW | RAM | 0 | 2047 | N + 596 | goal_position | 4 | RW | RAM | -2147483648 | 2147483647 | Y + 600 | goal_velocity | 4 | RW | RAM | -2147483648 | 2147483647 | Y + 604 | goal_current | 2 | RW | RAM | -32768 | 32767 | Y + 606 | goal_acceleration | 4 | RW | RAM | 0 | 2147483647 | N + 610 | is_moving | 1 | R | RAM | 0 | 1 | N + 611 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y + 615 | present_velocity | 4 | R | RAM | -2147483648 | 2147483647 | Y + 621 | present_current | 2 | R | RAM | -32768 | 32767 | Y + 623 | present_voltage | 2 | R | RAM | 0 | 500 | N + 625 | present_temperature | 1 | R | RAM | 0 | 200 | N + 626 | external_port_data_1 | 2 | RW | RAM | 0 | 4095 | N + 628 | external_port_data_2 | 2 | RW | RAM | 0 | 4095 | N + 630 | external_port_data_3 | 2 | RW | RAM | 0 | 4095 | N + 632 | external_port_data_4 | 2 | RW | RAM | 0 | 4095 | N + 634 | indirect_data_1 | 1 | RW | RAM | 0 | 255 | N + 890 | registerd_instruction | 1 | R | RAM | 0 | 1 | N + 891 | status_return_level | 1 | RW | RAM | 0 | 2 | N + 892 | hardware_error_status | 2 | R | RAM | 0 | 31 | N From d7161f1033266ef10be4493302f787bab631a6c1 Mon Sep 17 00:00:00 2001 From: Zerom Date: Tue, 20 Mar 2018 14:14:34 +0900 Subject: [PATCH 10/14] - modified robotis_controller/CMakeLists.txt (yaml-cpp bug). --- robotis_controller/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/robotis_controller/CMakeLists.txt b/robotis_controller/CMakeLists.txt index 9ffde36..db8b1f5 100755 --- a/robotis_controller/CMakeLists.txt +++ b/robotis_controller/CMakeLists.txt @@ -22,7 +22,7 @@ find_package(catkin REQUIRED COMPONENTS ) find_package(PkgConfig REQUIRED) -pkg_check_modules(YAML_CPP REQUIRED yaml-cpp) +pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) ################################################################################ # Declare ROS messages, services and actions From 5aa587d22878e8dfaf594a6bc3eebd1a17c19e0d Mon Sep 17 00:00:00 2001 From: Pyo Date: Tue, 20 Mar 2018 15:22:52 +0900 Subject: [PATCH 11/14] tested for system dependencies --- robotis_controller/CMakeLists.txt | 21 +++++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/robotis_controller/CMakeLists.txt b/robotis_controller/CMakeLists.txt index db8b1f5..44ab833 100755 --- a/robotis_controller/CMakeLists.txt +++ b/robotis_controller/CMakeLists.txt @@ -1,13 +1,14 @@ ################################################################################ -# CMake +# Set minimum required version of cmake, project name and compile options ################################################################################ cmake_minimum_required(VERSION 2.8.3) project(robotis_controller) -set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) ################################################################################ -# Packages +# Find catkin packages and libraries for catkin and system dependencies ################################################################################ find_package(catkin REQUIRED COMPONENTS roscpp @@ -21,8 +22,15 @@ find_package(catkin REQUIRED COMPONENTS cmake_modules ) -find_package(PkgConfig REQUIRED) -pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) +find_package(yaml-cpp REQUIRED) + +# find_package(PkgConfig REQUIRED) +# pkg_check_modules(YAML_CPP REQUIRED yaml-cpp) +# pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) + +################################################################################ +# Setup for python modules and scripts +################################################################################ ################################################################################ # Declare ROS messages, services and actions @@ -33,12 +41,13 @@ pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) ################################################################################ ################################################################################ -# Catkin specific configuration +# Declare catkin specific configuration to be passed to dependent projects ################################################################################ catkin_package( INCLUDE_DIRS include LIBRARIES robotis_controller CATKIN_DEPENDS roscpp roslib std_msgs sensor_msgs robotis_controller_msgs dynamixel_sdk robotis_device robotis_framework_common cmake_modules + DEPENDS YAML_CPP ) ################################################################################ From 9b2a520810772d790786dae45919438bf8b6af2e Mon Sep 17 00:00:00 2001 From: Pyo Date: Tue, 20 Mar 2018 16:17:33 +0900 Subject: [PATCH 12/14] tested for system dependencies --- robotis_controller/CMakeLists.txt | 25 ++++++++++++++++++------- 1 file changed, 18 insertions(+), 7 deletions(-) diff --git a/robotis_controller/CMakeLists.txt b/robotis_controller/CMakeLists.txt index 44ab833..5c32abd 100755 --- a/robotis_controller/CMakeLists.txt +++ b/robotis_controller/CMakeLists.txt @@ -22,11 +22,23 @@ find_package(catkin REQUIRED COMPONENTS cmake_modules ) -find_package(yaml-cpp REQUIRED) +# Resolve system dependency on yaml-cpp, which apparently does not +# provide a CMake find_package() module. +find_package(PkgConfig REQUIRED) +pkg_check_modules(YAML_CPP REQUIRED yaml-cpp) +find_path(YAML_CPP_INCLUDE_DIR + NAMES yaml_cpp.h + PATHS ${YAML_CPP_INCLUDE_DIRS} +) +find_library(YAML_CPP_LIBRARY + NAMES YAML_CPP + PATHS ${YAML_CPP_LIBRARY_DIRS} +) +link_directories(${YAML_CPP_LIBRARY_DIRS}) -# find_package(PkgConfig REQUIRED) -# pkg_check_modules(YAML_CPP REQUIRED yaml-cpp) -# pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) +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 @@ -47,7 +59,6 @@ catkin_package( INCLUDE_DIRS include LIBRARIES robotis_controller CATKIN_DEPENDS roscpp roslib std_msgs sensor_msgs robotis_controller_msgs dynamixel_sdk robotis_device robotis_framework_common cmake_modules - DEPENDS YAML_CPP ) ################################################################################ @@ -56,12 +67,12 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} - ${yaml_cpp_INCLUDE_DIRS} + ${YAML_CPP_INCLUDE_DIRS} ) add_library(robotis_controller src/robotis_controller/robotis_controller.cpp) add_dependencies(robotis_controller ${catkin_EXPORTED_TARGETS}) -target_link_libraries(robotis_controller ${yaml_cpp_LIBRARIES} ${catkin_LIBRARIES}) +target_link_libraries(robotis_controller ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) ################################################################################ # Install From c02aa74b8c6e7860d7735935044505b80c9bb7bb Mon Sep 17 00:00:00 2001 From: Pyo Date: Tue, 20 Mar 2018 16:53:01 +0900 Subject: [PATCH 13/14] tested for system dependencies --- .travis.yml | 2 +- README.md | 21 +++++++++++++++------ robotis_controller/package.xml | 6 ++++-- robotis_device/CMakeLists.txt | 10 +++++++--- robotis_device/package.xml | 6 ++++-- robotis_framework/package.xml | 10 ++++++---- robotis_framework_common/CMakeLists.txt | 13 ++++++++----- robotis_framework_common/package.xml | 6 ++++-- 8 files changed, 49 insertions(+), 25 deletions(-) diff --git a/.travis.yml b/.travis.yml index 1145575..68240e5 100644 --- a/.travis.yml +++ b/.travis.yml @@ -12,7 +12,7 @@ compiler: - gcc notifications: email: - on_success: always + on_success: change on_failure: always recipients: - pyo@robotis.com diff --git a/README.md b/README.md index 8c6b748..c40af91 100755 --- a/README.md +++ b/README.md @@ -1,9 +1,18 @@ -# robotis_framework - +# ROBOTIS Framework Metapackage [![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-Framework.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-Framework) [![Build Status](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-Framework.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-Framework) -ROS packages for the robotis_framework (meta package) +# Documents for robotis_framework packages +- [ROBOTIS e-Manual](http://emanual.robotis.com/docs/en/software/robotis_framework_packages/#robotis-framework) +- http://wiki.ros.org/robotis_framework +- http://wiki.ros.org/robotis_controller +- http://wiki.ros.org/robotis_device +- http://wiki.ros.org/robotis_framework_common -# Documents -- ROS Wiki: http://wiki.ros.org/robotis_framework -- ROBOTIS e-Manual: http://emanual.robotis.com/docs/en/software/robotis_framework_packages/ +# ROS packages related to ROBOTIS Framework +- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK) +- [robotis_framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework) +- [robotis_controller_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs) + +# Documents and Videos for ROBOTIS Framework +- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/) +- [ROBOTIS e-Manual for ROBOTIS Framework](http://emanual.robotis.com/docs/en/software/robotis_framework_packages/) \ No newline at end of file diff --git a/robotis_controller/package.xml b/robotis_controller/package.xml index 9073883..ff3b8ad 100755 --- a/robotis_controller/package.xml +++ b/robotis_controller/package.xml @@ -7,11 +7,13 @@ Apache 2.0 Zerom + Kayman SCH Pyo - https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues - https://github.com/ROBOTIS-GIT/ROBOTIS-Framework http://wiki.ros.org/robotis_controller + http://emanual.robotis.com/docs/en/software/robotis_framework_packages/ + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues catkin roscpp roslib diff --git a/robotis_device/CMakeLists.txt b/robotis_device/CMakeLists.txt index 3b981d3..17bbcf6 100755 --- a/robotis_device/CMakeLists.txt +++ b/robotis_device/CMakeLists.txt @@ -1,17 +1,21 @@ ################################################################################ -# CMake +# Set minimum required version of cmake, project name and compile options ################################################################################ cmake_minimum_required(VERSION 2.8.3) project(robotis_device) ################################################################################ -# Packages +# Find catkin packages and libraries for catkin and system dependencies ################################################################################ find_package(catkin REQUIRED COMPONENTS roscpp dynamixel_sdk ) +################################################################################ +# Setup for python modules and scripts +################################################################################ + ################################################################################ # Declare ROS messages, services and actions ################################################################################ @@ -21,7 +25,7 @@ find_package(catkin REQUIRED COMPONENTS ################################################################################ ################################################################################ -# Catkin specific configuration +# Declare catkin specific configuration to be passed to dependent projects ################################################################################ catkin_package( INCLUDE_DIRS include diff --git a/robotis_device/package.xml b/robotis_device/package.xml index c0d1d1e..12a98fe 100755 --- a/robotis_device/package.xml +++ b/robotis_device/package.xml @@ -9,11 +9,13 @@ Apache 2.0 Zerom + Kayman SCH Pyo - https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues - https://github.com/ROBOTIS-GIT/ROBOTIS-Framework http://wiki.ros.org/robotis_device + http://emanual.robotis.com/docs/en/software/robotis_framework_packages/ + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues catkin roscpp dynamixel_sdk diff --git a/robotis_framework/package.xml b/robotis_framework/package.xml index 4da2d0a..4da3659 100755 --- a/robotis_framework/package.xml +++ b/robotis_framework/package.xml @@ -7,14 +7,16 @@ Apache 2.0 Zerom + Kayman SCH Pyo - https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues - https://github.com/ROBOTIS-GIT/ROBOTIS-Framework http://wiki.ros.org/robotis_framework + http://emanual.robotis.com/docs/en/software/robotis_framework_packages/ + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues catkin - robotis_framework_common - robotis_device robotis_controller + robotis_device + robotis_framework_common diff --git a/robotis_framework_common/CMakeLists.txt b/robotis_framework_common/CMakeLists.txt index ce7bbd4..e05df3c 100755 --- a/robotis_framework_common/CMakeLists.txt +++ b/robotis_framework_common/CMakeLists.txt @@ -1,17 +1,21 @@ ################################################################################ -# CMake +# Set minimum required version of cmake, project name and compile options ################################################################################ cmake_minimum_required(VERSION 2.8.3) project(robotis_framework_common) ################################################################################ -# Packages +# Find catkin packages and libraries for catkin and system dependencies ################################################################################ find_package(catkin REQUIRED COMPONENTS roscpp robotis_device ) +################################################################################ +# Setup for python modules and scripts +################################################################################ + ################################################################################ # Declare ROS messages, services and actions ################################################################################ @@ -21,11 +25,11 @@ find_package(catkin REQUIRED COMPONENTS ################################################################################ ################################################################################ -# Catkin specific configuration +# Declare catkin specific configuration to be passed to dependent projects ################################################################################ catkin_package( INCLUDE_DIRS include - LIBRARIES robotis_framework_common + LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS roscpp robotis_device ) @@ -42,7 +46,6 @@ add_library(${PROJECT_NAME} include/${PROJECT_NAME}/sensor_module.h include/${PROJECT_NAME}/singleton.h ) - set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX) ################################################################################ diff --git a/robotis_framework_common/package.xml b/robotis_framework_common/package.xml index 7243698..54efc9d 100755 --- a/robotis_framework_common/package.xml +++ b/robotis_framework_common/package.xml @@ -7,11 +7,13 @@ Apache 2.0 Zerom + Kayman SCH Pyo - https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues - https://github.com/ROBOTIS-GIT/ROBOTIS-Framework http://wiki.ros.org/robotis_framework_common + http://emanual.robotis.com/docs/en/software/robotis_framework_packages/ + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues catkin roscpp robotis_device From f44c58a101d5d9dfdbf41bab77135256f579375d Mon Sep 17 00:00:00 2001 From: Pyo Date: Tue, 20 Mar 2018 17:02:55 +0900 Subject: [PATCH 14/14] updated the CHANGELOG and version to release binary packages --- robotis_controller/CHANGELOG.rst | 5 +++++ robotis_controller/package.xml | 2 +- robotis_device/CHANGELOG.rst | 7 ++++++- robotis_device/package.xml | 2 +- robotis_framework/CHANGELOG.rst | 6 ++++++ robotis_framework/package.xml | 2 +- robotis_framework_common/CHANGELOG.rst | 5 +++++ robotis_framework_common/package.xml | 2 +- 8 files changed, 26 insertions(+), 5 deletions(-) diff --git a/robotis_controller/CHANGELOG.rst b/robotis_controller/CHANGELOG.rst index d1aa7be..dad6244 100755 --- a/robotis_controller/CHANGELOG.rst +++ b/robotis_controller/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package robotis_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.8 (2018-03-20) +------------------ +* modified CMakeLists.txt for system dependencies (yaml-cpp) +* Contributors: Zerom, Pyo + 0.2.7 (2018-03-15) ------------------ * changed the License and package format to version 2 diff --git a/robotis_controller/package.xml b/robotis_controller/package.xml index ff3b8ad..48371dc 100755 --- a/robotis_controller/package.xml +++ b/robotis_controller/package.xml @@ -1,7 +1,7 @@ robotis_controller - 0.2.7 + 0.2.8 robotis_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series diff --git a/robotis_device/CHANGELOG.rst b/robotis_device/CHANGELOG.rst index 7330dc8..8d62fbc 100755 --- a/robotis_device/CHANGELOG.rst +++ b/robotis_device/CHANGELOG.rst @@ -2,8 +2,13 @@ Changelog for package robotis_device ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.8 (2018-03-20) +------------------ +* added RH-P12-RN.device file +* Contributors: Zerom, Pyo + 0.2.7 (2018-03-15) -------------------------- +------------------ * fixed a bug that occur when handling bulk read item that does not exist * changed the License and package format to version 2 * Contributors: SCH, Pyo diff --git a/robotis_device/package.xml b/robotis_device/package.xml index 12a98fe..565f964 100755 --- a/robotis_device/package.xml +++ b/robotis_device/package.xml @@ -1,7 +1,7 @@ robotis_device - 0.2.7 + 0.2.8 The package that manages device information of ROBOTIS robots. This package is used when reading device information with the robot information file diff --git a/robotis_framework/CHANGELOG.rst b/robotis_framework/CHANGELOG.rst index 8f3d7f2..0424994 100755 --- a/robotis_framework/CHANGELOG.rst +++ b/robotis_framework/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package robotis_framework ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.8 (2018-03-20) +------------------ +* added RH-P12-RN.device file +* modified CMakeLists.txt for system dependencies (yaml-cpp) +* Contributors: Zerom, Pyo + 0.2.7 (2018-03-15) ------------------ * changed all values read by bulk read are saved to dxl_state\_->bulk_read_table\_. diff --git a/robotis_framework/package.xml b/robotis_framework/package.xml index 4da3659..fd9efbe 100755 --- a/robotis_framework/package.xml +++ b/robotis_framework/package.xml @@ -1,7 +1,7 @@ robotis_framework - 0.2.7 + 0.2.8 ROS packages for the robotis_framework (meta package) diff --git a/robotis_framework_common/CHANGELOG.rst b/robotis_framework_common/CHANGELOG.rst index 1359706..d4c4bd6 100755 --- a/robotis_framework_common/CHANGELOG.rst +++ b/robotis_framework_common/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package robotis_framework_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.8 (2018-03-20) +------------------ +* tested for system dependencies +* Contributors: Pyo + 0.2.7 (2018-03-15) ------------------ * change the License and package format to version 2 diff --git a/robotis_framework_common/package.xml b/robotis_framework_common/package.xml index 54efc9d..47f8a65 100755 --- a/robotis_framework_common/package.xml +++ b/robotis_framework_common/package.xml @@ -1,7 +1,7 @@ robotis_framework_common - 0.2.7 + 0.2.8 The package contains commonly used Headers for the ROBOTIS Framework.