Update dependence in package.xml

xArm-Developer · Sep 8, 2022 · 47a66c1 · 47a66c1
1 parent cfea824
commit 47a66c1
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Showing 12 changed files with 64 additions and 5 deletions.
diff --git a/ReadMe.md b/ReadMe.md
@@ -58,7 +58,7 @@ For simplified Chinese version: [简体中文版](./ReadMe_cn.md)
     # Remember to source ros foxy environment settings first
     $ cd ~/dev_ws/src/
     $ rosdep update
-    $ rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO
+    $ rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
     ```
 
 - ### 4.5 Build xarm_ros2

diff --git a/ReadMe_cn.md b/ReadMe_cn.md
@@ -56,7 +56,7 @@
     # 记得先source已安装的ros foxy环境
     $ cd ~/dev_ws/src/
     $ rosdep update
-    $ rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO
+    $ rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
     ```
 
 - ### 4.5 编译xarm_ros2

diff --git a/xarm_api/package.xml b/xarm_api/package.xml
@@ -19,6 +19,12 @@
   <depend>xarm_sdk</depend>
   <depend>xarm_description</depend>
 
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

diff --git a/xarm_controller/CMakeLists.txt b/xarm_controller/CMakeLists.txt
@@ -36,9 +36,11 @@ if(BUILD_TESTING)
 endif()
 
 find_package(hardware_interface REQUIRED)
+# find_package(controller_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(controller_manager_msgs REQUIRED)
 find_package(xarm_msgs REQUIRED)
 find_package(xarm_api REQUIRED)
 find_package(xarm_sdk REQUIRED)
@@ -59,10 +61,12 @@ target_include_directories(
 ament_target_dependencies(
   uf_robot_hardware
   hardware_interface
+  # controller_interface
   pluginlib
   rclcpp
   std_msgs
   sensor_msgs
+  controller_manager_msgs
   xarm_msgs
 )
 

diff --git a/xarm_controller/package.xml b/xarm_controller/package.xml
@@ -10,14 +10,25 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>hardware_interface</depend>
+  <!-- <depend>controller_interface</depend> -->
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
   <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
+  <depend>controller_manager_msgs</depend>
+  <depend>xarm_description</depend>
   <depend>xarm_msgs</depend>
   <depend>xarm_api</depend>
 
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>controller_manager</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/xarm_description/package.xml b/xarm_description/package.xml
@@ -13,6 +13,9 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/xarm_gazebo/CMakeLists.txt b/xarm_gazebo/CMakeLists.txt
@@ -19,6 +19,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(control_toolbox REQUIRED)
+find_package(controller_manager REQUIRED)
 find_package(gazebo REQUIRED)
 
 # uncomment the following section in order to fill in
@@ -48,6 +49,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 add_library(gazebo_mimic_joint_plugin SHARED src/mimic_joint_plugin.cpp)
 ament_target_dependencies(gazebo_mimic_joint_plugin
   control_toolbox
+  controller_manager
 )
 target_link_libraries(gazebo_mimic_joint_plugin ${ament_LIBRARIES} ${GAZEBO_LIBRARIES})
 

diff --git a/xarm_gazebo/package.xml b/xarm_gazebo/package.xml
@@ -11,10 +11,16 @@
 
   <depend>rclcpp</depend>
   <depend>control_toolbox</depend>
+  <depend>controller_manager</depend>
+  <depend>xarm_description</depend>
+  <depend>xarm_controller</depend>
 
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
   <exec_depend>gazebo_plugins</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>gazebo_ros2_control</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/xarm_moveit_config/package.xml b/xarm_moveit_config/package.xml
@@ -9,8 +9,19 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>xarm_description</depend>
   <depend>xarm_controller</depend>
+  <depend>xarm_gazebo</depend>
 
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>

diff --git a/xarm_moveit_servo/package.xml b/xarm_moveit_servo/package.xml
@@ -17,11 +17,19 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
+  <depend>xarm_description</depend>
+  <depend>xarm_controller</depend>
+  <depend>xarm_moveit_config</depend>
 
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
   <exec_depend>joy</exec_depend>
   <exec_depend>moveit_servo</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/xarm_planner/CMakeLists.txt b/xarm_planner/CMakeLists.txt
@@ -27,10 +27,11 @@ find_package(ament_cmake REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
-find_package(xarm_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(moveit_msgs REQUIRED)
+find_package(xarm_msgs REQUIRED)
 
-set(dependencies "rclcpp" "std_msgs" "geometry_msgs" "xarm_msgs")
+set(dependencies "rclcpp" "std_msgs" "geometry_msgs" "moveit_msgs" "xarm_msgs")
 
 include_directories(
   include

diff --git a/xarm_planner/package.xml b/xarm_planner/package.xml
@@ -9,11 +9,18 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>moveit</depend>
   <depend>moveit_ros_planning_interface</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
-  <depend>xarm_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>moveit_msgs</depend>
+  <depend>xarm_msgs</depend>
+  <depend>xarm_description</depend>
+  <depend>xarm_moveit_config</depend>
+
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>