Catkinized pi_tracker package for Hydro

CMakeLists.txt

@@ -1,34 +1,38 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(pi_tracker)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+find_package(catkin REQUIRED COMPONENTS
+	roscpp
+	rospy
+#	tf
+	std_msgs
+	geometry_msgs
+	nav_msgs
+	message_generation)
 
-rosbuild_init()
+link_directories(
+  ${catkin_LIBRARY_DIRS}
+  #${Boost_LIBRARY_DIRS}
+)
 
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+include_directories(${catkin_INCLUDE_DIRS})
 
-#uncomment if you have defined messages
-rosbuild_genmsg()
+add_service_files(DIRECTORY srv
+                  FILES
+                  SetCommand.srv)
 
-#uncomment if you have defined services
-rosbuild_gensrv()
+generate_messages(
+ 	DEPENDENCIES geometry_msgs std_msgs nav_msgs
+)
+
+catkin_package(
+	DEPENDS #
+    CATKIN DEPENDS message_runtime
+	rospy
+	roscpp
+#	tf
+#	nav_msgs
+#	std_msgs
+#	geometry_msgs
+)
 
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-include_directories(/usr/include/openni /usr/include/nite /usr/include/ni)
-rosbuild_add_executable(skeleton_tracker src/skeleton_tracker.cpp src/KinectController.cpp src/KinectDisplay.cpp)
-target_link_libraries(skeleton_tracker glut OpenNI orocos-kdl tf)

README.md

@@ -1 +1,3 @@
 Skeleton Tracker Teleop Package for the Pi Robot Project.
+
+The Hydro version (branch hydro-devel) has been catkinized and now depends on skeleton\_markers for the skeleton\_tracker node.

launch/skeleton.launch

@@ -14,13 +14,13 @@
   <include file="$(find rgbd_launch)/launch/kinect_frames.launch" />
 
   <group if="$(arg debug)">
-    <node launch-prefix="$(arg launch_prefix)" name="skeleton_tracker" pkg="pi_tracker" type="skeleton_tracker" output="screen"	>
+    <node launch-prefix="$(arg launch_prefix)" name="skeleton_tracker" pkg="skeleton_markers" type="skeleton_tracker" output="screen"	>
       <param name="fixed_frame" value="$(arg fixed_frame)" />
       <param name="load_filepath" value="$(find pi_tracker)/params/SamplesConfigNewOpenNI.xml" />
     </node>
   </group>
   <group unless="$(arg debug)">
-    <node name="skeleton_tracker" pkg="pi_tracker" type="skeleton_tracker">
+    <node name="skeleton_tracker" pkg="skeleton_markers" type="skeleton_tracker">
       <param name="fixed_frame" value="$(arg fixed_frame)" />
       <param name="load_filepath" value="$(find pi_tracker)/params/SamplesConfigNewOpenNI.xml" />
     </node>

nodes/tracker_base_controller.py

@@ -23,7 +23,7 @@
 import rospy
 from geometry_msgs.msg import Twist
 import pi_tracker_lib as PTL
-from pi_tracker.msg import Skeleton
+from skeleton_markers.msg import Skeleton
 from pi_tracker.srv import *
 import PyKDL as KDL
 from math import atan2, sqrt, copysign, pi

nodes/tracker_command.py

@@ -22,7 +22,7 @@
 
 import rospy
 import pi_tracker_lib as PTL
-from pi_tracker.msg import Skeleton
+from skeleton_markers.msg import Skeleton
 from pi_tracker.srv import *
 import PyKDL as KDL
 from math import copysign

nodes/tracker_joint_controller.py

@@ -25,7 +25,7 @@
 import rospy
 import pi_tracker_lib as PTL
 from sensor_msgs.msg import JointState
-from pi_tracker.msg import Skeleton
+from skeleton_markers.msg import Skeleton
 from pi_tracker.srv import *
 import PyKDL as KDL
 from math import acos, asin, pi

package.xml

@@ -0,0 +1,33 @@
+<package>
+  <name>pi_tracker</name>
+  <version>0.4.0</version>
+  <description>
+     Skeleton Tracker Teleop Package for the Pi Robot Project
+  </description>
+
+  <maintainer email="[email protected]">Patrick Goebel</maintainer>
+  <license>BSD</license>
+  <url type="website">http://ros.org/wiki/pi_tracker</url>
+  <url type="https://github.com/pirobot/pi_tracker/issues"></url>
+  <author email="[email protected]">Patrick Goebel</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>roscpp</build_depend>
+
+  <run_depend>skeleton_markers</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>roscpp</run_depend>
+
+</package>