rosmod · finger563 · Apr 4, 2018
diff --git a/src/rosmod_actor/CMakeLists.txt b/src/rosmod_actor/CMakeLists.txt
@@ -13,80 +13,14 @@ else()
     message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
 endif()
 
-
-ADD_DEFINITIONS(-DNAMESPACE=rosmod)
-find_package(catkin REQUIRED COMPONENTS std_msgs rosmod)
-ADD_DEFINITIONS(-DUSE_ROSMOD)
-
-## 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/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-#
-## Declare ROS messages, services and actions 
-#
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-# Generate messages in the 'msg' folder
-#add_message_files(
-#  FILES
-#)
-
-# Generate services in the 'srv' folder
-#add_service_files(
-#  FILES
-#)
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-# Generate added messages and services with any dependencies listed here
-#generate_messages(
-#  DEPENDENCIES
-#  std_msgs
-#)
+find_package(catkin REQUIRED COMPONENTS roscpp)
 
 #
 ## catkin specific configuration 
 #
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## 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(
-#  CATKIN_DEPENDS roscpp std_msgs
-  CATKIN_DEPENDS rosmod message_runtime
-#  DEPENDS system_lib
+  CATKIN_DEPENDS roscpp message_runtime
+  INCLUDE_DIRS include
 )
 
 #
@@ -101,22 +35,16 @@ include_directories(
   include
 )
 
-## Declare a cpp library
-# add_library(node
-#   src/${PROJECT_NAME}/node.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(node_node src/node_node.cpp)
-
 ## Add cmake target dependencies of the executable/library
 ## as an example, message headers may need to be generated before nodes
 # add_dependencies(node_node node_generate_messages_cpp)
 
-## Specify libraries to link a library or executable target against
-# target_link_libraries(node_node
-#   ${catkin_LIBRARIES}
-# )
+# make rosmod_actor executable
+add_executable(rosmod_actor
+  src/rosmod_actor/jsoncpp.cpp
+  src/rosmod_actor/component.cpp
+  src/rosmod_actor/main.cpp)
+target_link_libraries(rosmod_actor dl ${catkin_LIBRARIES})
 
 #
 ## Install 
@@ -125,13 +53,6 @@ include_directories(
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/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 node node_node
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -146,38 +67,12 @@ include_directories(
 #   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_node.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)
-
-# make rosmod_actor executable
-add_executable(rosmod_actor
-  src/rosmod_actor/jsoncpp.cpp
-  src/rosmod_actor/component.cpp
-  src/rosmod_actor/main.cpp)
-target_link_libraries(rosmod_actor dl ${catkin_LIBRARIES})
 # install rosmod_actor executable
 install(TARGETS rosmod_actor
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
-install(DIRECTORY include/
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.hpp")
 
diff --git a/src/rosmod_actor/include/rosmod_actor/component.hpp b/src/rosmod_actor/include/rosmod_actor/component.hpp
@@ -14,8 +14,8 @@
 #include "rosmod_actor/logger.hpp"
 #include "rosmod_actor/json.hpp"
 
-#include "rosmod/rosmod_ros.h"
-#include "rosmod/rosmod_callback_queue.h"
+#include "ros/ros.h"
+#include "ros/callback_queue.h"
 
 /**
  * @brief Component class
@@ -28,6 +28,11 @@ class Component {
    */
   Component(Json::Value& _config);
 
+  /**
+   * @brief Component Destructor
+   */
+  virtual ~Component();
+
   /**
    * @brief Component startup function
    *
@@ -41,22 +46,17 @@ class Component {
    * @param[in] event a oneshot timer event
    * @see startUp()
    */
-  virtual void init_timer_operation(const rosmod::TimerEvent& event);
+  virtual void init_timer_operation(const ros::TimerEvent& event) = 0;
 
   /**
    * @brief Component Message Queue handler
    */
   void process_queue();
 
-  /**
-   * @brief Component Destructor
-   */
-  virtual ~Component();
-
 protected:
   Json::Value              config;      /*!< Component Configuration */
-  rosmod::Timer            init_timer;  /*!< Initialization timer */
-  rosmod::CallbackQueue    comp_queue;  /*!< Component Message Queue */
+  ros::Timer               init_timer;  /*!< Initialization timer */
+  ros::CallbackQueue       comp_queue;  /*!< Component Message Queue */
   std::unique_ptr<Logger>  logger;      /*!< Component logger object */
   std::string              workingDir;  /*!< Working directory of the process */
 };

diff --git a/src/rosmod_actor/package.xml b/src/rosmod_actor/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>rosmod_actor</name>
   <version>0.0.0</version>
   <description>The rosmod actor package</description>
@@ -33,22 +33,13 @@
   <!-- Examples: -->
   <!-- Use build_depend for packages you need at compile time: -->
   <build_depend>message_generation</build_depend>
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <run_depend>message_runtime</run_depend>
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>rosmod_jsoncpp</build_depend>
-  <build_depend>rosmod_component</build_depend>
-  <build_depend>rosmod</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <run_depend>rosmod_jsoncpp</run_depend>
-  <run_depend>rosmod_component</run_depend>
-  <run_depend>rosmod</run_depend>
-  <run_depend>std_msgs</run_depend>
-
+  <depend>rosmod_jsoncpp</depend>
+  <depend>rosmod_component</depend>
+  <depend>rosmod</depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <depend>message_runtime</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

diff --git a/src/rosmod_actor/src/rosmod_actor/component.cpp b/src/rosmod_actor/src/rosmod_actor/component.cpp
@@ -29,12 +29,9 @@ Component::~Component() {
   init_timer.stop();
 }
 
-// Initialization
-void Component::init_timer_operation(const rosmod::TimerEvent& event) {}
-
 // Component Operation Queue Handler
 void Component::process_queue() {  
-  rosmod::NodeHandle nh;
+  ros::NodeHandle nh;
   while (nh.ok())
     this->comp_queue.callAvailable(ros::WallDuration(0.01));
 }
diff --git a/src/rosmod_actor/src/rosmod_actor/main.cpp b/src/rosmod_actor/src/rosmod_actor/main.cpp
@@ -18,7 +18,7 @@
 #include <iostream>
 #include <fstream>
 
-#include "rosmod/rosmod_ros.h"
+#include "ros/ros.h"
 
 #include <signal.h>
 #include <ros/ros.h>
@@ -119,10 +119,10 @@ int main(int argc, char **argv)
   ROS_INFO_STREAM("Thread priority is " << params.sched_priority << std::endl);
 
   nodeName = root["Name"].asString();
-  rosmod::init(argc, argv, nodeName.c_str(), ros::init_options::NoSigintHandler);
+  ros::init(argc, argv, nodeName.c_str(), ros::init_options::NoSigintHandler);
   signal(SIGINT, rosmod_actor_SigInt_handler);
   // Create Node Handle
-  rosmod::NodeHandle n;
+  ros::NodeHandle n;
 
   ROS_INFO_STREAM(nodeName << " thread id = " << boost::this_thread::get_id());