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changes license to BSD + small cleanup
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@SalvoVirga
SalvoVirga committed Mar 7, 2016
1 parent 7300714 commit ac6b75f
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682 changes: 12 additions & 670 deletions LICENSE.txt
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4 changes: 4 additions & 0 deletions README.md
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Expand Up @@ -69,6 +69,10 @@ This packages contained in this repository are :
- __iiwa_ros__: an interface to send and receive messages defined in iiwa_msgs to and from a real robot.
- __iiwa_ros_java__: the ROSJava interface to use on SunriseApplications - it allows to send and receive messages defined in iiwa_msgs.

### Contacts
Salvatore Virga : [email protected]
Marco Esposito : [email protected]

[1]: https://github.com/CentroEPiaggio/kuka-lwr
[2]: https://bitbucket.org/khansari/iiwa.git
[3]: https://bitbucket.org/khansari/iiwa/src/c4578460d79d5d24f58bf94bd97fb6cb0b6f280f/msg/IIWAMsg.msg
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12 changes: 5 additions & 7 deletions iiwa/package.xml
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Expand Up @@ -2,15 +2,11 @@
<package>
<name>iiwa</name>
<version>1.4.0</version>
<description>
Collection of ROS packages for the KUKA LBR IIWA
</description>

<description>Collection of ROS packages for the KUKA LBR IIWA</description>
<author email="[email protected]">Salvo Virga</author>
<maintainer email="[email protected]">Salvo Virga</maintainer>

<license>GPLv3</license>

<author email="[email protected]">Salvo Virga</author>
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>

Expand All @@ -22,7 +18,9 @@
<run_depend>iiwa_moveit</run_depend>
<run_depend>iiwa_msg</run_depend>
<run_depend>iiwa_ros</run_depend>

<export>
<metapackage/>
</export>

</package>
119 changes: 1 addition & 118 deletions iiwa_control/CMakeLists.txt
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@@ -1,128 +1,11 @@
cmake_minimum_required(VERSION 2.8.3)
project(iiwa_control)

## 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)

## 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/groovy/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

#######################################
## Declare ROS messages and services ##
#######################################

## 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 added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## 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 rrbot_control
# CATKIN_DEPENDS other_catkin_pkg
# 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} ${Boost_INCLUDE_DIRS})

## Declare a cpp library
# add_library(rrbot_control
# src/${PROJECT_NAME}/rrbot_control.cpp
# )

## Declare a cpp executable
# add_executable(rrbot_control_node src/rrbot_control_node.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(rrbot_control_node rrbot_control_generate_messages_cpp)

## Specify libraries to link a library or executable target against
# target_link_libraries(rrbot_control_node
# ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/groovy/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
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS rrbot_control rrbot_control_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_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_rrbot_control.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)
)
9 changes: 3 additions & 6 deletions iiwa_control/package.xml
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Expand Up @@ -2,17 +2,14 @@
<package>
<name>iiwa_control</name>
<version>1.4.0</version>
<description>The iiwa_control package</description>

<description>A package containing controllers used by MoveIt! and Gazebo</description>
<author email="[email protected]">Salvo Virga</author>
<maintainer email="[email protected]">Salvo Virga</maintainer>

<license>GPLv3</license>
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>

<run_depend>controller_manager</run_depend>

<export>
</export>

</package>
3 changes: 0 additions & 3 deletions iiwa_description/CMakeLists.txt
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@@ -1,9 +1,6 @@
cmake_minimum_required(VERSION 2.8.3)
project(iiwa_description)

## 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)

catkin_package(
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8 changes: 3 additions & 5 deletions iiwa_description/package.xml
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Expand Up @@ -2,14 +2,12 @@
<package>
<name>iiwa_description</name>
<version>1.4.0</version>
<description>The robot_description package</description>

<description>This package contains the URDF of the KUKA LBR IIWA robot</description>
<author email="[email protected]">Salvo Virga</author>
<maintainer email="[email protected]">Salvo Virga</maintainer>

<license>GPLv3</license>
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>

<export>
</export>
</package>
3 changes: 0 additions & 3 deletions iiwa_gazebo/CMakeLists.txt
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@@ -1,9 +1,6 @@
cmake_minimum_required(VERSION 2.8.3)
project(iiwa_gazebo)

## 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)

catkin_package(
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8 changes: 3 additions & 5 deletions iiwa_gazebo/package.xml
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Expand Up @@ -2,17 +2,15 @@
<package>
<name>iiwa_gazebo</name>
<version>1.4.0</version>
<description>The iiwa_gazebo package</description>

<description>This package allows to load a KUKA LBR IIWA robot onto Gazebo</description>
<author email="[email protected]">Salvo Virga</author>
<maintainer email="[email protected]">Salvo Virga</maintainer>

<license>GPLv3</license>
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>

<run_depend>iiwa_description</run_depend>
<run_depend>gazebo_ros</run_depend>

<export>
</export>
</package>
40 changes: 22 additions & 18 deletions iiwa_hw/include/iiwa_hw.h
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@@ -1,9 +1,4 @@
/** Copyright (C) 2015 Salvatore Virga - [email protected]
* Technische Universität München
* Chair for Computer Aided Medical Procedures and Augmented Reality
* Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany
* http://campar.in.tum.de
*
/**
* This class implements a bridge between ROS hardware interfaces and a KUKA LBR IIWA Robot,
* using an IIWARos communication described in the iiwa_ros package.
*
Expand All @@ -15,22 +10,31 @@
* Manuel Bonilla - [email protected]
*
* LICENSE :
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Copyright (C) 2016 Salvatore Virga - [email protected], Marco Esposito - [email protected]
* Technische Universität München
* Chair for Computer Aided Medical Procedures and Augmented Reality
* Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany
* http://campar.in.tum.de
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
* THE POSSIBILITY OF SUCH DAMAGE.
*
* \author Salvatore Virga
* \version 2.0.0
* \date 26/10/2015
* \version 1.4.0
* \date 07/03/2016
*/

#ifndef IIWA_HW_H_
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6 changes: 2 additions & 4 deletions iiwa_hw/package.xml
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Expand Up @@ -3,10 +3,10 @@
<name>iiwa_hw</name>
<version>1.4.0</version>
<description>The hardware interface to an KUKA LBR IIWA Robot</description>

<author email="[email protected]">Salvo Virga</author>
<maintainer email="[email protected]">Salvo Virga</maintainer>

<license>GPLv3</license>
<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>

Expand All @@ -26,6 +26,4 @@
<run_depend>iiwa_msgs</run_depend>
<run_depend>iiwa_ros</run_depend>

<export>
</export>
</package>
40 changes: 22 additions & 18 deletions iiwa_hw/src/iiwa_hw.cpp
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@@ -1,9 +1,4 @@
/** Copyright (C) 2015 Salvatore Virga - [email protected]
* Technische Universität München
* Chair for Computer Aided Medical Procedures and Augmented Reality
* Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany
* http://campar.in.tum.de
*
/**
* This class implements a bridge between ROS hardware interfaces and a KUKA LBR IIWA Robot,
* using an IIWARos communication described in the iiwa_ros package.
*
Expand All @@ -15,22 +10,31 @@
* Manuel Bonilla - [email protected]
*
* LICENSE :
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Copyright (C) 2016 Salvatore Virga - [email protected], Marco Esposito - [email protected]
* Technische Universität München
* Chair for Computer Aided Medical Procedures and Augmented Reality
* Fakultät für Informatik / I16, Boltzmannstraße 3, 85748 Garching bei München, Germany
* http://campar.in.tum.de
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
* THE POSSIBILITY OF SUCH DAMAGE.
*
* \author Salvatore Virga
* \version 2.0.0
* \date 26/10/2015
* \version 1.4.0
* \date 07/03/2016
*/

#include "iiwa_hw.h"
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