replace 'robotiq_3f_gripper_control' by 'robotiq_3f_gripper_articulat…

…ed_msgs'

robotiq_3f_gripper_control/CMakeLists.txt

@@ -6,26 +6,18 @@ find_package(catkin REQUIRED COMPONENTS
   diagnostic_updater
   dynamic_reconfigure
   hardware_interface
-  message_generation
   robotiq_ethercat
   roscpp
   rospy
   socketcan_interface
   std_srvs
+  robotiq_3f_gripper_articulated_msgs
 )
 
 find_package(PkgConfig)
 
-add_message_files(
-  FILES
-  Robotiq3FGripper_robot_input.msg
-  Robotiq3FGripper_robot_output.msg
-)
-
 catkin_python_setup()
 
-generate_messages()
-
 generate_dynamic_reconfigure_options(
   cfg/Robotiq3FGripper.cfg
 )
@@ -37,12 +29,12 @@ catkin_package(
         diagnostic_updater
         dynamic_reconfigure
         hardware_interface
-        message_runtime
         robotiq_ethercat
         roscpp
         rospy
         socketcan_interface
         std_srvs
+        robotiq_3f_gripper_articulated_msgs
 )
 
 include_directories(
@@ -61,7 +53,6 @@ target_link_libraries(${PROJECT_NAME}
 )
 add_dependencies(${PROJECT_NAME}
   ${PROJECT_NAME}_gencfg
-  ${PROJECT_NAME}_generate_messages_cpp
   ${catkin_EXPORTED_TARGETS}
 )
 

robotiq_3f_gripper_control/include/robotiq_3f_gripper_control/robotiq_3f_gripper_client_base.h

@@ -26,17 +26,17 @@
 #define ROBOTIQ_3F_GRIPPER_CLIENT_BASE_H
 
 #include <ros/ros.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_output.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_input.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotOutput.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotInput.h>
 
 namespace robotiq_3f_gripper_control
 {
 
 class Robotiq3FGripperClientBase
 {
 public:
-    typedef robotiq_3f_gripper_control::Robotiq3FGripper_robot_output GripperOutput;
-    typedef robotiq_3f_gripper_control::Robotiq3FGripper_robot_input GripperInput;
+    typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput GripperOutput;
+    typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput GripperInput;
 
     virtual void init(ros::NodeHandle nh) {}
 

robotiq_3f_gripper_control/include/robotiq_3f_gripper_control/robotiq_3f_gripper_ros.h

@@ -27,8 +27,8 @@
 
 #include <ros/ros.h>
 #include <std_srvs/Trigger.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_input.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_output.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotInput.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotOutput.h>
 #include <robotiq_3f_gripper_control/robotiq_3f_gripper_api.h>
 #include <dynamic_reconfigure/server.h>
 #include <robotiq_3f_gripper_control/Robotiq3FGripperConfig.h>
@@ -52,7 +52,7 @@ class Robotiq3FGripperROS
 
     void handleReconfigure(robotiq_3f_gripper_control::Robotiq3FGripperConfig &config, uint32_t level=0);
 
-    void handleRawCmd(const robotiq_3f_gripper_control::Robotiq3FGripper_robot_output::ConstPtr &msg);
+    void handleRawCmd(const robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput::ConstPtr &msg);
 
     void updateConfig(const robotiq_3f_gripper_control::Robotiq3FGripperConfig &config);
     void getCurrentConfig(robotiq_3f_gripper_control::Robotiq3FGripperConfig &config);
@@ -81,7 +81,7 @@ class Robotiq3FGripperROS
     boost::recursive_mutex reconfigure_mutex_;
     robotiq_3f_gripper_control::Robotiq3FGripperConfig config_;
 
-    robotiq_3f_gripper_control::Robotiq3FGripper_robot_input input_status_msg_;
+    robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput input_status_msg_;
 
 };
 } //end namespace robotiq_3f_gripper_control

robotiq_3f_gripper_control/nodes/Robotiq3FGripperSimpleController.py

@@ -44,22 +44,22 @@
 
 import roslib; roslib.load_manifest('robotiq_3f_gripper_control')
 import rospy
-from robotiq_3f_gripper_control.msg import _Robotiq3FGripper_robot_output  as outputMsg
+from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotOutput
 from time import sleep
 
 
 def genCommand(char, command):
     """Update the command according to the character entered by the user."""    
 
     if char == 'a':
-        command = outputMsg.Robotiq3FGripper_robot_output();
+        command = Robotiq3FGripperRobotOutput();
         command.rACT = 1
         command.rGTO = 1
         command.rSPA = 255
         command.rFRA = 150
 
     if char == 'r':
-        command = outputMsg.Robotiq3FGripper_robot_output();
+        command = Robotiq3FGripperRobotOutput();
         command.rACT = 0
 
     if char == 'c':
@@ -166,9 +166,9 @@ def publisher():
 
     rospy.init_node('Robotiq3FGripperSimpleController')
 
-    pub = rospy.Publisher('Robotiq3FGripperRobotOutput', outputMsg.Robotiq3FGripper_robot_output)
+    pub = rospy.Publisher('Robotiq3FGripperRobotOutput', Robotiq3FGripperRobotOutput)
 
-    command = outputMsg.Robotiq3FGripper_robot_output();
+    command = Robotiq3FGripperRobotOutput();
 
     while not rospy.is_shutdown():
 

robotiq_3f_gripper_control/nodes/Robotiq3FGripperStatusListener.py

@@ -44,7 +44,7 @@
 import roslib; roslib.load_manifest('robotiq_3f_gripper_control')
 import rospy
 from std_msgs.msg import String
-from robotiq_3f_gripper_control.msg import _Robotiq3FGripper_robot_input  as inputMsg
+from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotInput
 
 def printStatus(status):
     """Print the status string generated by the statusInterpreter function."""
@@ -55,7 +55,7 @@ def Robotiq3FGripperStatusListener():
     """Initialize the node and subscribe to the Robotiq3FGripperRobotInput topic."""
 
     rospy.init_node('Robotiq3FGripperStatusListener')
-    rospy.Subscriber("Robotiq3FGripperRobotInput", inputMsg.Robotiq3FGripper_robot_input, printStatus)
+    rospy.Subscriber("Robotiq3FGripperRobotInput", Robotiq3FGripperRobotInput, printStatus)
     rospy.spin()
 
 def statusInterpreter(status):

robotiq_3f_gripper_control/nodes/Robotiq3FGripperTcpNode.py

@@ -47,8 +47,8 @@
 import robotiq_3f_gripper_control.baseRobotiq3FGripper
 import robotiq_modbus_tcp.comModbusTcp
 import os, sys
-from robotiq_3f_gripper_control.msg import _Robotiq3FGripper_robot_input  as inputMsg
-from robotiq_3f_gripper_control.msg import _Robotiq3FGripper_robot_output as outputMsg
+from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotInput
+from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotOutput
 
 def mainLoop(address):
 
@@ -62,10 +62,10 @@ def mainLoop(address):
     rospy.init_node('robotiq3FGripper')
 
     #The Gripper status is published on the topic named 'Robotiq3FGripperRobotInput'
-    pub = rospy.Publisher('Robotiq3FGripperRobotInput', inputMsg.Robotiq3FGripper_robot_input, queue_size=1)
+    pub = rospy.Publisher('Robotiq3FGripperRobotInput', Robotiq3FGripperRobotInput, queue_size=1)
 
     #The Gripper command is received from the topic named 'Robotiq3FGripperRobotOutput'
-    rospy.Subscriber('Robotiq3FGripperRobotOutput', outputMsg.Robotiq3FGripper_robot_output, gripper.refreshCommand)
+    rospy.Subscriber('Robotiq3FGripperRobotOutput', Robotiq3FGripperRobotOutput, gripper.refreshCommand)
 
 
     #We loop

robotiq_3f_gripper_control/package.xml

@@ -21,9 +21,6 @@
   <depend>rospy</depend>
   <depend>socketcan_interface</depend>
   <depend>std_srvs</depend>
-
-  <build_depend>message_generation</build_depend>
-
-  <exec_depend>message_runtime</exec_depend>
+  <depend>robotiq_3f_gripper_articulated_msgs</depend>
 
 </package>

robotiq_3f_gripper_control/src/robotiq_3f_gripper_control/baseRobotiq3FGripper.py

@@ -39,8 +39,8 @@
 After being instanciated, a 'client' member must be added to the object. This client depends on the communication protocol used by the Gripper. As an example, the ROS node 'Robotiq3FGripperTcpNode.py' instanciate a robotiqbaseRobotiq3FGripper and adds a client defined in the module comModbusTcp.
 """
 
-from   robotiq_3f_gripper_control.msg import _Robotiq3FGripper_robot_input  as inputMsg
-from   robotiq_3f_gripper_control.msg import _Robotiq3FGripper_robot_output as outputMsg
+from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotInput
+from robotiq_3f_gripper_articulated_msgs.msg import Robotiq3FGripperRobotOutput
 
 class robotiqbaseRobotiq3FGripper:
     """Base class (communication protocol agnostic) for sending commands and receiving the status of the Robotic 3F gripper gripper."""
@@ -155,7 +155,7 @@ def getStatus(self):
         status = self.client.getStatus(16);
 
         #Message to output
-        message = inputMsg.Robotiq3FGripper_robot_input()
+        message = Robotiq3FGripperRobotInput()
 
         #Assign the values to their respective variables
         message.gACT = (status[0] >> 0) & 0x01;

robotiq_3f_gripper_control/src/robotiq_3f_gripper_control/robotiq_3f_gripper_ros.cpp

@@ -39,7 +39,7 @@ Robotiq3FGripperROS::Robotiq3FGripperROS(ros::NodeHandle &nh, boost::shared_ptr<
     shutdown_srv_ = nh_.advertiseService("shutdown", &Robotiq3FGripperROS::handleShutdown, this);
 
     //! advertise topics
-    input_status_pub_ = nh.advertise<robotiq_3f_gripper_control::Robotiq3FGripper_robot_input>("input", 10);
+    input_status_pub_ = nh.advertise<robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput>("input", 10);
 
     //! subscribers
     output_sub_ = nh.subscribe("output", 10, &Robotiq3FGripperROS::handleRawCmd, this);
@@ -185,7 +185,7 @@ void Robotiq3FGripperROS::getCurrentConfig(robotiq_3f_gripper_control::Robotiq3F
     config = config_;
 }
 
-void Robotiq3FGripperROS::handleRawCmd(const robotiq_3f_gripper_control::Robotiq3FGripper_robot_output::ConstPtr &msg)
+void Robotiq3FGripperROS::handleRawCmd(const robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput::ConstPtr &msg)
 {
     ROS_DEBUG_NAMED("RobotiqCANROS", "entered handle_raw_cmd");
     driver_->setRaw(*msg);

robotiq_3f_gripper_joint_state_publisher/src/robotiq_3f_gripper_joint_states.cpp

@@ -39,8 +39,8 @@
 #include <csignal>
 #include <ros/ros.h>
 #include <sensor_msgs/JointState.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_input.h>
-#include <robotiq_3f_gripper_control/Robotiq3FGripper_robot_output.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotInput.h>
+#include <robotiq_3f_gripper_articulated_msgs/Robotiq3FGripperRobotOutput.h>
 
 
 const double DEG_TO_RAD = M_PI/180.0;
@@ -107,7 +107,7 @@ class Robotiq3 {
   }
 
   inline double scissorJoint() const;							///< Joint value for so-called scissor joint
-  void callback(const robotiq_3f_gripper_control::Robotiq3FGripper_robot_input::ConstPtr &msg);	///< Callback function for "Robotiq3FGripperRobotInput" topic
+  void callback(const robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput::ConstPtr &msg);	///< Callback function for "Robotiq3FGripperRobotInput" topic
   Finger finger_left;									///< Robotiq FINGER A
   Finger finger_right;									///< Robotiq FINGER B
   Finger finger_middle;									///< Robotiq FINGER C
@@ -132,7 +132,7 @@ inline double Robotiq3::scissorJoint() const {
 /**
  * Callback function for "Robotiq3FGripperRobotInput" topic.
  */
-void Robotiq3::callback(const robotiq_3f_gripper_control::Robotiq3FGripper_robot_input::ConstPtr &msg) {
+void Robotiq3::callback(const robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput::ConstPtr &msg) {
   finger_left = Finger(msg->gPOA);		// set left finger position
   finger_right = Finger(msg->gPOB);		// set right finger position
   finger_middle = Finger(msg->gPOC);		// set middle finger position