add package xarm_msgs, xarm_sdk, xarm_api

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "xarm_sdk/cxx"]
+	path = xarm_sdk/cxx
+	url = https://github.com/xArm-Developer/xArm-CPLUS-SDK.git

LICENSE

@@ -0,0 +1,27 @@
+Copyright (c) 2018, UFACTORY Inc.
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * 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.
+    * Neither the name of the copyright holder nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+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.

ReadMe.md

@@ -0,0 +1,3 @@
+# xarm_ros2
+
+[xarm_ros2 test doc](./ReadMe_cn.md)

ReadMe_cn.md

@@ -0,0 +1,55 @@
+# xarm_ros2测试说明（暂定调试使用）
+
+## 获取源码包
+    ```bash
+    $ cd ~/dev_ws/src
+    $ git clone [email protected]:vinman/xarm_ros2.git --recursive
+    ```
+
+## 升级源码包
+    ```bash
+    $ cd ~/dev_ws/src/xarm_ros2
+    $ git pull
+    $ git submodule sync
+    $ git submodule update --remote
+    ```
+
+## 编译
+    ```bash
+    $ cd ~/dev_ws/
+    # 编译所有包
+    $ colcon build
+    # 编译单个包
+    # $ colcon build --packages-select xarm_api
+    ```
+
+## 测试
+### 测试包（xarm_api）
+- #### 运行 xarm_driver_node
+    ```bash
+    $ cd ~/dev_ws/
+    $ source install/setup.bash
+    # 通过xarm6_driver.launch启动
+    $ ros2 launch xarm_api xarm6_driver.launch robot_ip:=192.168.1.117
+    # 通过xarm_driver_launch.py启动
+    # $ ros2 launch xarm_api xarm_driver_launch.py robot_ip:=192.168.1.117 dof:=6
+    ```
+- #### 测试 xarm_ros_client
+    ```bash
+    $ cd ~/dev_ws/
+    $ source install/setup.bash
+    $ ros2 run xarm_api test_xarm_ros_client
+    ```
+- #### 测试 xarm_velo_move 
+    ```bash
+    $ cd ~/dev_ws/
+    $ source install/setup.bash
+    $ ros2 run xarm_api test_xarm_velo_move
+    ```
+
+- #### 测试 xarm_states_topic 
+    ```bash
+    $ cd ~/dev_ws/
+    $ source install/setup.bash
+    $ ros2 run xarm_api test_xarm_states
+    ```

xarm_api/CMakeLists.txt

@@ -0,0 +1,117 @@
+cmake_minimum_required(VERSION 3.5)
+project(xarm_api)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic
+    -Wno-sign-compare
+    -Wno-unused-parameter 
+    -Wno-unused-variable
+  )
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(xarm_msgs REQUIRED)
+find_package(xarm_sdk REQUIRED)
+
+include_directories(
+  include
+  ${xarm_sdk_INCLUDE_DIRS}
+  ${ament_INCLUDE_DIRS}
+)
+
+set(dependencies "rclcpp" "std_msgs" "sensor_msgs" "xarm_msgs")
+
+add_executable(xarm_driver_node
+  src/xarm_driver_node.cpp
+  src/xarm_driver.cpp
+)
+
+ament_target_dependencies(xarm_driver_node ${dependencies})
+target_link_libraries(xarm_driver_node 
+  ${xarm_sdk_LIBRARIES}
+  ${ament_LIBRARIES}
+)
+
+add_library(xarm_ros_client SHARED
+  src/xarm_ros_client.cpp
+)
+ament_target_dependencies(xarm_ros_client ${dependencies})
+
+
+add_executable(test_xarm_ros_client
+   test/test_xarm_ros_client.cpp
+)
+ament_target_dependencies(test_xarm_ros_client ${dependencies})
+target_link_libraries(test_xarm_ros_client 
+  xarm_ros_client
+  ${ament_LIBRARIES}
+)
+
+add_executable(test_xarm_velo_move
+   test/test_xarm_velo_move.cpp
+)
+ament_target_dependencies(test_xarm_velo_move ${dependencies})
+target_link_libraries(test_xarm_velo_move 
+  xarm_ros_client
+  ${ament_LIBRARIES}
+)
+
+add_executable(test_xarm_states
+   test/test_xarm_states.cpp
+)
+ament_target_dependencies(test_xarm_states ${dependencies})
+
+ament_export_libraries(xarm_ros_client)
+ament_export_include_directories(include)
+
+install(
+  TARGETS xarm_ros_client
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(
+  TARGETS
+  xarm_driver_node 
+  test_xarm_ros_client
+  test_xarm_velo_move
+  test_xarm_states
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

xarm_api/config/xarm_params.yaml

@@ -0,0 +1,5 @@
+xarm:
+  xarm_driver:
+    ros__parameters:
+      DOF: 7
+      joint_names: ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7']

xarm_api/include/visibility_control.h

@@ -0,0 +1,98 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of Open Source Robotics Foundation, Inc. nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// 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 OWNER 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.
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef XARM_API__VISIBILITY_CONTROL_HPP_
+#define XARM_API__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define XARM_API_EXPORT __attribute__ ((dllexport))
+    #define XARM_API_IMPORT __attribute__ ((dllimport))
+  #else
+    #define XARM_API_EXPORT __declspec(dllexport)
+    #define XARM_API_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef XARM_API_BUILDING_LIBRARY
+    #define XARM_API_PUBLIC XARM_API_EXPORT
+  #else
+    #define XARM_API_PUBLIC XARM_API_IMPORT
+  #endif
+  #define XARM_API_PUBLIC_TYPE XARM_API_PUBLIC
+  #define XARM_API_LOCAL
+#else
+  #define XARM_API_EXPORT __attribute__ ((visibility("default")))
+  #define XARM_API_IMPORT
+  #if __GNUC__ >= 4
+    #define XARM_API_PUBLIC __attribute__ ((visibility("default")))
+    #define XARM_API_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define XARM_API_PUBLIC
+    #define XARM_API_LOCAL
+  #endif
+  #define XARM_API_PUBLIC_TYPE
+#endif
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define XARM_API_PLUGIN_EXPORT __attribute__ ((dllexport))
+    #define XARM_API_PLUGIN_IMPORT __attribute__ ((dllimport))
+  #else
+    #define XARM_API_PLUGIN_EXPORT __declspec(dllexport)
+    #define XARM_API_PLUGIN_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef XARM_API_PLUGIN_BUILDING_LIBRARY
+    #define XARM_API_PLUGIN_PUBLIC XARM_API_PLUGIN_EXPORT
+  #else
+    #define XARM_API_PLUGIN_PUBLIC XARM_API_PLUGIN_IMPORT
+  #endif
+  #define XARM_API_PLUGIN_PUBLIC_TYPE XARM_API_PLUGIN_PUBLIC
+  #define XARM_API_PLUGIN_LOCAL
+#else
+  #define XARM_API_PLUGIN_EXPORT __attribute__ ((visibility("default")))
+  #define XARM_API_PLUGIN_IMPORT
+  #if __GNUC__ >= 4
+    #define XARM_API_PLUGIN_PUBLIC __attribute__ ((visibility("default")))
+    #define XARM_API_PLUGIN_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define XARM_API_PLUGIN_PUBLIC
+    #define XARM_API_PLUGIN_LOCAL
+  #endif
+  #define XARM_API_PLUGIN_PUBLIC_TYPE
+#endif
+
+#endif  // XARM_API__VISIBILITY_CONTROL_HPP_