Defined GiskardControllerNode. Depends on giskard_msgs.

SemRoCo · Feb 19, 2016 · 84058a0 · 84058a0
1 parent 54406ff
commit 84058a0
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Showing 3 changed files with 6 additions and 1 deletion.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf2_geometry_msgs
   interactive_markers 
   geometry_msgs
+  giskard_msgs
   kdl_conversions)
 
 ## Finding system dependencies which come without cmake
@@ -19,7 +20,8 @@ find_path(YAML_CPP_INCLUDE_DIRS yaml-cpp/yaml.h PATH_SUFFIXES include)
 find_library(YAML_CPP_LIBRARIES NAMES yaml-cpp)
 
 catkin_package(
-  CATKIN_DEPENDS roscpp roslib giskard tf2_ros tf2_geometry_msgs interactive_markers geometry_msgs kdl_conversions
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS roscpp roslib giskard tf2_ros tf2_geometry_msgs interactive_markers geometry_msgs giskard_msgs kdl_conversions
   DEPENDS yaml_cpp
 )
 

diff --git a/controller_specs/pr2_left_arm_position_control.yaml b/controller_specs/pr2_left_arm_position_control.yaml
@@ -23,6 +23,8 @@ scope:
   - unit_x: {vector3: [1, 0, 0]}
   - unit_y: {vector3: [0, 1, 0]}
   - unit_z: {vector3: [0, 0, 1]}
+  - identity_rotation: {axis-angle: [unit-x, 0]} 
+  - zero_vec: {vector3: [0, 0, 0]}
 
 
   # definition of joint input variables

diff --git a/package.xml b/package.xml
@@ -17,6 +17,7 @@
   <depend>roslib</depend>
   <depend>interactive_markers</depend>
   <depend>geometry_msgs</depend>
+  <depend>giskard_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>kdl_conversions</depend>