ros kinetic compilation fix and optional individual names for a number of schemes running in the same ros environment

conman/CMakeLists.txt

@@ -56,11 +56,7 @@ orocos_generate_package(
 #############
 
 ## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-  PATTERN ".svn" EXCLUDE
-  )
+orocos_install_headers(DIRECTORY include/${PROJECT_NAME}/)
 
 #############
 ## Testing ##

conman/include/conman/scheme.h

@@ -177,6 +177,10 @@ namespace conman
      */
     //\{
 
+    //! Properties
+    std::string scheme_name_;
+
+
     //! Add/Remove a latch between two blocks (or two groups of blocks) by name
     bool latchConnections(
       const std::string &source_name,

conman/src/scheme.cpp

@@ -28,7 +28,7 @@
 using namespace conman;
 
 Scheme::Scheme(std::string name)
- : RTT::TaskContext(name)
+ : RTT::TaskContext(name), scheme_name_("")
 {
   // Modifying blocks in the scheme
   this->addOperation("hasBlock", &Scheme::hasBlock, this, RTT::OwnThread)
@@ -66,6 +66,9 @@ Scheme::Scheme(std::string name)
   this->addOperation("latchOutputs", (bool (Scheme::*)(const std::string&, const bool))&Scheme::latchOutputs, this, RTT::OwnThread)
     .doc("Latch all the outputs to a given component.");
 
+  // Add properties
+  this->addProperty("scheme_name", scheme_name_).doc("Scheme Name");
+
   // Execution introspection
   this->addOperation("executable", &Scheme::executable, this, RTT::OwnThread)
     .doc("Returns true if the graph can be executed with the current latches.");

conman_examples/package.xml

@@ -46,6 +46,8 @@
   <build_depend>conman_ros</build_depend>
   <run_depend>conman</run_depend>
   <run_depend>roscpp</run_depend>
+  <run_depend>rtt_ros</run_depend>
+  <run_depend>rtt_roscomm</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

conman_ros/CMakeLists.txt

@@ -8,7 +8,6 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(OROCOS-RTT REQUIRED)
 find_package(Eigen REQUIRED)
 
-
 include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake )
 
 # Generate ROS messages
@@ -26,6 +25,8 @@ add_definitions(-DRTT_COMPONENT)
 
 orocos_use_package(conman)
 orocos_use_package(rtt_roscomm)
+orocos_use_package(ocl-taskbrowser)
+orocos_use_package(ocl-deployment)
 
 include_directories(
   ${catkin_INCLUDE_DIRS}

conman_ros/src/ros_interface_service.cpp

@@ -52,33 +52,40 @@ ROSInterfaceService::ROSInterfaceService(RTT::TaskContext* owner) :
   roscontrol->addOperation("switchController", &ROSInterfaceService::switchControllerCB, this);
   roscontrol->addOperation("unloadController", &ROSInterfaceService::unloadControllerCB, this);
 
+  std::string controller_name_;
+  if (scheme->scheme_name_.empty()) {
+      controller_name_ = "controller_manager";
+  } else {
+     controller_name_ = scheme->scheme_name_;
+  }
+
   // Load the rosservice service
   RTT::log(RTT::Debug) << "Getting rtt_roscomm service service..." << RTT::endlog();
   rosservice = owner->getProvider<rtt_rosservice::ROSService>("rosservice");
 
   RTT::log(RTT::Debug) << "Connecting ros_control service servers..." << RTT::endlog();
   rosservice->connect("roscontrol.listControllerTypes",
-                     "controller_manager/list_controller_types",
+                      controller_name_ + "/list_controller_types",
                      "controller_manager_msgs/ListControllerTypes");
 
   rosservice->connect("roscontrol.listControllers",
-                     "controller_manager/list_controllers",
+                      controller_name_ + "/list_controllers",
                      "controller_manager_msgs/ListControllers");
 
   rosservice->connect("roscontrol.loadController",
-                     "controller_manager/load_controller",
+                      controller_name_ + "/load_controller",
                      "controller_manager_msgs/LoadController");
 
   rosservice->connect("roscontrol.reloadControllerLibraries",
-                     "controller_manager/reload_controller_libraries",
+                      controller_name_ + "/reload_controller_libraries",
                      "controller_manager_msgs/ReloadControllerLibraries");
 
   rosservice->connect("roscontrol.switchController",
-                     "controller_manager/switch_controller",
+                      controller_name_ + "/switch_controller",
                      "controller_manager_msgs/SwitchController");
 
   rosservice->connect("roscontrol.unloadController",
-                     "controller_manager/unload_controller",
+                      controller_name_ + "/unload_controller",
                      "controller_manager_msgs/UnloadController");
 
   // Actions

rqt_conman/CMakeLists.txt

@@ -149,6 +149,10 @@ include_directories(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+install(PROGRAMS plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 #############
 ## Testing ##
 #############