RoBorregos · afr2903 · Apr 14, 2024 · Apr 14, 2024 · Apr 14, 2024 · Apr 14, 2024
diff --git a/ws/src/frida_manipulation_interfaces/CMakeLists.txt b/ws/src/frida_manipulation_interfaces/CMakeLists.txt
@@ -14,10 +14,11 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
 )
 
-# add_service_files(
-#   FILES
-#   EnableOctomap.srv
-# )
+add_service_files(
+  FILES
+  Gripper.srv
+#  EnableOctomap.srv
+)
 
 # add_message_files(
 #   FILES
@@ -29,12 +30,14 @@ find_package(catkin REQUIRED COMPONENTS
 add_action_files(
   FILES
   manipulationPickAndPlace.action
+  MoveJoint.action
 )
 
 generate_messages(
   DEPENDENCIES
   actionlib_msgs
   std_msgs
+  geometry_msgs
 )
 
 catkin_package(

diff --git a/ws/src/frida_manipulation_interfaces/action/MoveJoint.action b/ws/src/frida_manipulation_interfaces/action/MoveJoint.action
@@ -0,0 +1,20 @@
+#goal definition
+string predefined_position 
+int32 target_delta_x
+int32 target_delta_y
+float32[] joints_target
+geometry_msgs/Pose pose_target
+float32 speed
+float32 acceleration
+float32 position_tolerance
+float32 orientation_tolerance
+int32 planning_time
+int32 num_planning_attempts
+---
+#result definition
+int32 success
+float32 execution_time
+---
+#feedback
+string execution_state
+float32 completion_percentage
diff --git a/ws/src/frida_manipulation_interfaces/srv/Gripper.srv b/ws/src/frida_manipulation_interfaces/srv/Gripper.srv
@@ -0,0 +1,3 @@
+string state
+---
+bool success
diff --git a/ws/src/frida_navigation_interfaces/CMakeLists.txt b/ws/src/frida_navigation_interfaces/CMakeLists.txt
@@ -1,12 +1,6 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(frida_navigation_interfaces)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   actionlib
   actionlib_msgs
@@ -16,96 +10,27 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
+  std_srvs
 )
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
 
 ## Generate actions in the 'action' folder
 add_action_files(
   FILES
   navServ.action
 )
 
+add_service_files(
+  FILES
+  ViewAngle.srv
+)
+
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
-  actionlib_msgs#   geometry_msgs#   move_base_msgs#   std_msgs
+  actionlib_msgs geometry_msgs move_base_msgs std_msgs
 )
 
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES frida_navigation_interfaces
@@ -124,87 +49,3 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/frida_navigation_interfaces.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/frida_navigation_interfaces_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_frida_navigation_interfaces.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/ws/src/frida_navigation_interfaces/package.xml b/ws/src/frida_navigation_interfaces/package.xml
@@ -16,38 +16,6 @@
   <license>TODO</license>
 
 
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/frida_navigation_interfaces</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="[email protected]">Jane Doe</author> -->
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>actionlib</build_depend>
   <build_depend>actionlib_msgs</build_depend>
@@ -64,16 +32,17 @@
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>message_generation</build_export_depend>
   <exec_depend>actionlib</exec_depend>
   <exec_depend>actionlib_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>move_base_msgs</exec_depend>
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
 
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
 

diff --git a/ws/src/frida_navigation_interfaces/srv/ViewAngle.srv b/ws/src/frida_navigation_interfaces/srv/ViewAngle.srv
@@ -0,0 +1,3 @@
+string text
+---
+int16 angle
diff --git a/ws/src/frida_vision_interfaces/CMakeLists.txt b/ws/src/frida_vision_interfaces/CMakeLists.txt
@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(frida_vision_interfaces)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+    actionlib_msgs
+    actionlib
+    geometry_msgs
+    std_msgs
+    std_srvs
+    message_generation
+)
+
+
+add_message_files(
+  FILES
+  Person.msg
+  PersonList.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  NewHost.srv
+)
+
+# Generate actions in the 'action' folder
+add_action_files(
+  FILES
+  DetectPointingObject.action
+)
+
+# Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+  actionlib_msgs
+)
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES frida_vision_interfaces
+CATKIN_DEPENDS geometry_msgs message_generation std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)