Polish - licenses, remove boost dependency, remove silly log lines

sawyer_gazebo/CMakeLists.txt

@@ -14,7 +14,6 @@ find_package(catkin
 find_package(GAZEBO REQUIRED)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
-find_package(Boost REQUIRED COMPONENTS system)
 
 catkin_package(
   CATKIN_DEPENDS
@@ -28,7 +27,6 @@ link_directories(
 )
 
 include_directories(include
-  ${Boost_INCLUDE_DIR}
   ${catkin_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
 )

sawyer_gazebo/package.xml

@@ -44,7 +44,6 @@
   <build_depend>libgazebo7-dev</build_depend>
   <build_depend>gazebo_ros</build_depend>
   <build_depend>gazebo_ros_control</build_depend>
-  <build_depend>sawyer_description</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>intera_core_msgs</build_depend>
 

sawyer_gazebo/src/sawyer_gazebo_ros_control_plugin.cpp

@@ -46,22 +46,22 @@ class SawyerGazeboRosControlPlugin : public gazebo_ros_control::GazeboRosControl
 {
 private:
     // mutex for re-entrant calls to modeCommandCallback
-    boost::mutex mtx_;
+    std::mutex mtx_;
     ros::Subscriber speed_ratio_sub_;
     ros::Subscriber joint_command_timeout_sub_;
     ros::Subscriber joint_command_sub_;
 
 public:
     void Load(gazebo::physics::ModelPtr parent, sdf::ElementPtr sdf) {
-        GazeboRosControlPlugin::Load(parent, sdf);
+      GazeboRosControlPlugin::Load(parent, sdf);
 
-        speed_ratio_sub_ = model_nh_.subscribe<std_msgs::Float64>("/robot/limb/right/set_speed_ratio", 1, &SawyerGazeboRosControlPlugin::speedRatioCallback, this);
-        joint_command_timeout_sub_ = model_nh_.subscribe<std_msgs::Float64>("/robot/limb/right/joint_command_timeout", 1, &SawyerGazeboRosControlPlugin::jointCommandTimeoutCallback, this);
-        joint_command_sub_ = model_nh_.subscribe<intera_core_msgs::JointCommand>("/robot/limb/right/joint_command", 1, &SawyerGazeboRosControlPlugin::jointCommandCallback, this);
+      speed_ratio_sub_ = model_nh_.subscribe<std_msgs::Float64>("/robot/limb/right/set_speed_ratio", 1, &SawyerGazeboRosControlPlugin::speedRatioCallback, this);
+      joint_command_timeout_sub_ = model_nh_.subscribe<std_msgs::Float64>("/robot/limb/right/joint_command_timeout", 1, &SawyerGazeboRosControlPlugin::jointCommandTimeoutCallback, this);
+      joint_command_sub_ = model_nh_.subscribe<intera_core_msgs::JointCommand>("/robot/limb/right/joint_command", 1, &SawyerGazeboRosControlPlugin::jointCommandCallback, this);
     }
 
     void speedRatioCallback(const std_msgs::Float64 msg) {
-        ROS_INFO_STREAM_NAMED("ros_control_plugin", "Data: " << msg.data);
+      ROS_INFO_STREAM_NAMED("ros_control_plugin", "Data: " << msg.data);
     }
 
     void jointCommandTimeoutCallback(const std_msgs::Float64 msg) {
@@ -70,7 +70,7 @@ class SawyerGazeboRosControlPlugin : public gazebo_ros_control::GazeboRosControl
 
     void jointCommandCallback(const intera_core_msgs::JointCommandConstPtr& msg) {
       // lock out other thread(s) which are getting called back via ros.
-      boost::lock_guard<boost::mutex> guard(mtx_);
+      std::lock_guard<std::mutex> guard(mtx_);
 
       std::vector<std::string> start_controllers;
       std::vector<std::string> stop_controllers;

sawyer_sim_controllers/CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(sawyer_sim_controllers)
 
 ## Add support for C++11, supported in ROS Kinetic and newer
-# add_definitions(-std=c++11)
+add_definitions(-std=c++11)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

sawyer_sim_controllers/include/sawyer_sim_controllers/joint_group_position_controller.h

@@ -1,3 +1,18 @@
+/***************************************************************************
+* Copyright (c) 2013-2017, Rethink Robotics Inc.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* 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.
+**************************************************************************/
 
 #include <effort_controllers/joint_position_controller.h>
 

sawyer_sim_controllers/include/sawyer_sim_controllers/sawyer_position_controller.h

@@ -1,3 +1,19 @@
+/***************************************************************************
+* Copyright (c) 2013-2017, Rethink Robotics Inc.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* 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 SAWYER_POSITION_CONTROLLER_H
 #define SAWYER_POSITION_CONTROLLER_H
 

sawyer_sim_controllers/src/joint_group_position_controller.cpp

@@ -1,37 +1,18 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2013, Open Source Robotics Foundation
- *  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 Open Source Robotics Foundation
- *     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.
- *********************************************************************/
+/***************************************************************************
+* Copyright (c) 2013-2017, Rethink Robotics Inc.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* 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.
+**************************************************************************/
 
 #include <sawyer_sim_controllers/joint_group_position_controller.h>
 #include <pluginlib/class_list_macros.h>

sawyer_sim_controllers/src/sawyer_position_controller.cpp

@@ -1,47 +1,49 @@
+/***************************************************************************
+* Copyright (c) 2013-2017, Rethink Robotics Inc.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* 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.
+**************************************************************************/
 
 #include <sawyer_sim_controllers/sawyer_position_controller.h>
 #include <pluginlib/class_list_macros.h>
 
 namespace sawyer_sim_controllers {
     bool SawyerPositionController::init(hardware_interface::EffortJointInterface* hw, ros::NodeHandle &n){
-        ROS_INFO_STREAM_NAMED("sawyercontroller", "initializing position controller");
         if(!sawyer_sim_controllers::JointGroupPositionController::init(hw, n)) {
-            ROS_INFO_STREAM_NAMED("sawyercontroller", "failed parent init");
             return false;
         } else {
-            ROS_INFO_STREAM_NAMED("sawyercontroller", "about to subscribed");
-            // TODO what is the correct topic name / type combination
-            // this topic is subscribed in parent class too as array. should change name.
           std::string topic_name;
           if (n.getParam("topic", topic_name)) {
             ros::NodeHandle nh("~");
             sub_joint_command_ = nh.subscribe(topic_name, 1, &SawyerPositionController::jointCommandCB, this);
           } else {
             sub_joint_command_ = n.subscribe("joint_command", 1, &SawyerPositionController::jointCommandCB, this);
           }
-
-
-
         }
-        ROS_INFO_STREAM_NAMED("sawyercontroller", "i guess init was all good");
         return true;
     }
 
     void SawyerPositionController::jointCommandCB(const intera_core_msgs::JointCommandConstPtr& msg) {
-        ROS_INFO_STREAM_NAMED("sawyercontroller", "Got joint command");
         std::vector<Command> commands;
 
         for (int i = 0; i < msg->names.size(); i++) {
-          ROS_INFO_STREAM("Joint " << msg->names[i] << " going to " << msg->position[i]);
           Command cmd = Command();
           cmd.name_ = msg->names[i];
           cmd.position_ = msg->position[i];
           commands.push_back(cmd);
         }
         position_command_buffer_.writeFromNonRT(commands);
         new_command_ = true;
-        ROS_INFO_STREAM("jointCommandCb new command: " << new_command_);
-
     }
 
 }