updated ros wrapper to work with can sdk

scout_base/CMakeLists.txt

@@ -2,76 +2,31 @@ cmake_minimum_required(VERSION 2.8.3)
 project(scout_base)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+add_compile_options(-std=c++11)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  geometry_msgs
-  roscpp
-  rospy
-  std_msgs
-  tf
-)
-
-## 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 ##
-################################################
-
-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  Encode.msg
-)
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## 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
-   geometry_msgs #   std_msgs
-)
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
+find_package(catkin REQUIRED COMPONENTS 
+    controller_manager 
+    hardware_interface 
+    husky_msgs
+    diagnostic_updater 
+    roslaunch 
+    roslint 
+    roscpp 
+    sensor_msgs
+    std_msgs
+    geometry_msgs
+    tf)
+find_package(Boost REQUIRED COMPONENTS chrono)
 
 ###################################
 ## catkin specific configuration ##
 ###################################
 
 catkin_package(
-    INCLUDE_DIRS include
-#  LIBRARIES scout_base
-    CATKIN_DEPENDS message_runtime geometry_msgs roscpp rospy std_msgs tf
-#  DEPENDS system_lib
+  INCLUDE_DIRS include
+#   LIBRARIES scout_base
+  CATKIN_DEPENDS diagnostic_updater hardware_interface scout_msgs roscpp sensor_msgs
+#   DEPENDS Boost
 )
 
 ###########
@@ -88,56 +43,25 @@ include_directories(
 # add scout sdk
 add_subdirectory(src/scout_sdk)
 
-add_executable(scout_ros src/scout_ros.cpp)
-target_link_libraries(scout_ros scoutcpp ${catkin_LIBRARIES})
+add_executable(scout_base_node src/scout_base_node.cpp src/scout_messenger.cpp)
+target_link_libraries(scout_base_node scout_base ${catkin_LIBRARIES})
 
-add_executable(keybord src/keybord.cpp)
-target_link_libraries(keybord ${catkin_LIBRARIES})
+# add_executable(keybord src/keybord.cpp)
+# target_link_libraries(keybord ${catkin_LIBRARIES})
 
 #############
 ## Install ##
 #############
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+# roslaunch_add_file_check(launch)
 
-## 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 ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# install(TARGETS scoutcpp scoutio scout_base
 #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-## 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_scout_base.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)
+# install(DIRECTORY launch config
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})