Merge branch 'master' of github.com:orocos/rtt_soem

soem_beckhoff_drivers/CMakeLists.txt

@@ -11,28 +11,38 @@ project(soem_beckhoff_drivers)
 
 
 # Do setup in case of ros package, If ROS_ROOT is set, it is                                                                                                 # recommended to use RTT/OCL through the ros packages.                                                                                                       
-set (ROS_ROOT $ENV{ROS_ROOT} )
-if (ROS_ROOT)
-  include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-  rosbuild_init()
-  rosbuild_find_ros_package( rtt )
-  set( RTT_HINTS HINTS ${rtt_PACKAGE_PATH}/../install )
-endif()
-
 #uncomment if you have defined messages
-rosbuild_genmsg()
-
+if(NOT ORO_USE_ROSBUILD)
+  find_package(catkin REQUIRED message_generation rtt_roscomm)
+  add_message_files( FILES
+    AnalogMsg.msg
+    CommMsgBig.msg
+    CommMsg.msg
+    DigitalMsg.msg
+    EncoderMsg.msg
+    EncoderInMsg.msg
+    EncoderOutMsg.msg
+    PSUMsg.msg
+    )
+
+  generate_messages()
+endif()
 # Set the CMAKE_PREFIX_PATH in case you're not using Orocos through
 # ROS for helping these find commands find RTT.
 find_package(OROCOS-RTT REQUIRED ${RTT_HINTS} )
-
 # Defines the orocos_* cmake macros. See that file for additional
 # documentation.
 include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake)
 
-rosbuild_include(rtt_rosnode GenerateRTTtypekit)
+if(ORO_USE_ROSBUILD)
+  rosbuild_genmsg()
+  rosbuild_include(rtt_rosnode GenerateRTTtypekit)
+endif()
 
 ros_generate_rtt_typekit(soem_beckhoff_drivers)
+
+orocos_use_package(soem_master)
+orocos_use_package(soem)
 
 orocos_plugin(soem_el1xxx src/soem_beckhoff_drivers.cpp src/soem_el1xxx.cpp)
 orocos_plugin(soem_el2xxx src/soem_beckhoff_drivers.cpp src/soem_el2xxx.cpp)
@@ -43,5 +53,14 @@ orocos_plugin(soem_el6022 src/soem_beckhoff_drivers.cpp src/soem_el6022.cpp)
 orocos_plugin(soem_el30xx src/soem_beckhoff_drivers.cpp src/soem_el30xx.cpp)
 orocos_plugin(soem_el3104 src/soem_beckhoff_drivers.cpp src/soem_el3104.cpp)
 
-
-
+if(NOT ORO_USE_ROSBUILD)
+  add_dependencies(soem_el1xxx ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el2xxx ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el4xxx ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el3102 ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el5101 ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el6022 ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el30xx ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el3104 ${PROJECT_NAME}_generate_messages_cpp)
+endif()
+orocos_generate_package()

soem_beckhoff_drivers/Makefile

@@ -1 +1,2 @@
+EXTRA_CMAKE_FLAGS += -DORO_USE_ROSBUILD=True
 include $(shell rospack find mk)/cmake.mk

soem_beckhoff_drivers/package.xml

@@ -0,0 +1,32 @@
+<package>
+  <name>soem_beckhoff_drivers</name>
+  <version>0.1.0</version>
+  <description>
+     soem_beckhoff_drivers contains drivers for the ethercat beckhoff modules to work together with the soem_master package, every module creates the necessary services, dataports and properties for its own functionality.
+  </description>
+
+  <maintainer email="[email protected]"> Ruben Smits</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/soem_master</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author>Ruben Smits</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>rtt</build_depend>
+  <build_depend>soem</build_depend>
+  <build_depend>soem_master</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>rtt_roscomm</build_depend>
+
+  <run_depend>rtt</run_depend>
+  <run_depend>soem</run_depend>
+  <run_depend>soem_master</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>rtt_roscomm</run_depend>
+
+
+</package>

soem_master/CMakeLists.txt

@@ -19,4 +19,4 @@ target_link_libraries(soem_master soem_driver_factory)
 orocos_plugin(soem_plugin soem_plugin.cpp)
 
 orocos_install_headers( soem_driver.h soem_driver_factory.h)
-orocos_generate_package()
+orocos_generate_package( INCLUDE_DIRS ..)