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pkgdesc="A metapackage for all Franka Emika ROS packages"
pkgbase="ros-noetic-franka-ros"
pkgname=(
'ros-noetic-franka-control'
'ros-noetic-franka-example-controllers'
'ros-noetic-franka-gazebo'
'ros-noetic-franka-gripper'
'ros-noetic-franka-hw'
'ros-noetic-franka-msgs'
'ros-noetic-franka-ros'
'ros-noetic-franka-visualization'
)
pkgver="0.9.0"
pkgrel=2
arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
url="http://wiki.ros.org/franka_ros"
license=('Apache 2.0')
makedepends=(
ros-build-tools
cmake
ros-noetic-catkin
ros-noetic-message-generation
eigen
ros-noetic-message-runtime
ros-noetic-gazebo-dev
)
source=("franka_ros-$pkgver.tar.gz::https://github.com/frankaemika/franka_ros/archive/$pkgver.tar.gz")
sha256sums=("e1858ed46bcc56bb336fd0e1bd1f9de6870a4313d130430bbefdef3ab4d0c991")
build() {
# Use ROS environment variables
source /usr/share/ros-build-tools/clear-ros-env.sh
[ -f /opt/ros/noetic/setup.bash ] && source /opt/ros/noetic/setup.bash
catkin_make_isolated \
--directory ${srcdir} \
--source ${srcdir}/franka_ros-${pkgver} \
--install-space /opt/ros/noetic \
--cmake-args \
-DCATKIN_BUILD_BINARY_PACKAGE=ON \
-DPYTHON_EXECUTABLE=/usr/bin/python \
-DSETUPTOOLS_DEB_LAYOUT=OFF
}
package_ros-noetic-franka-ros() {
depends=(
ros-noetic-franka-control
ros-noetic-franka-description
ros-noetic-franka-example-controllers
ros-noetic-franka-gripper
ros-noetic-franka-hw
ros-noetic-franka-msgs
ros-noetic-franka-visualization
ros-noetic-franka-gazebo
)
cd "${srcdir}/build_isolated/franka_ros"
make DESTDIR="${pkgdir}/" install
}
package_ros-noetic-franka-control() {
pkgdesc="franka_control provides a hardware node to control a Franka Emika research robot"
url='https://wiki.ros.org/franka_control'
depends=(
ros-noetic-libfranka
ros-noetic-controller-interface
ros-noetic-controller-manager
ros-noetic-franka-hw
ros-noetic-franka-msgs
ros-noetic-geometry-msgs
ros-noetic-pluginlib
ros-noetic-realtime-tools
ros-noetic-roscpp
ros-noetic-sensor-msgs
ros-noetic-tf2-msgs
ros-noetic-tf
ros-noetic-std-srvs
ros-noetic-franka-description
ros-noetic-franka-gripper
ros-noetic-joint-state-publisher
ros-noetic-joint-trajectory-controller
ros-noetic-robot-state-publisher
)
cd "${srcdir}/build_isolated/franka_control"
make DESTDIR="${pkgdir}/" install
}
package_ros-noetic-franka-example-controllers() {
pkgdesc="franka_example_controllers provides example code for controlling Franka Emika research robots with ros_control"
url='https://wiki.ros.org/franka_example_controllers'
depends=(
ros-noetic-controller-interface
ros-noetic-dynamic-reconfigure
ros-noetic-eigen-conversions
ros-noetic-franka-hw
ros-noetic-geometry-msgs
ros-noetic-hardware-interface
ros-noetic-tf
ros-noetic-tf-conversions
ros-noetic-libfranka
ros-noetic-pluginlib
ros-noetic-realtime-tools
ros-noetic-roscpp
ros-noetic-franka-control
ros-noetic-franka-description
ros-noetic-message-runtime
ros-noetic-panda-moveit-config
ros-noetic-moveit-commander
ros-noetic-rospy
)
cd "${srcdir}/build_isolated/franka_example_controllers"
make DESTDIR="${pkgdir}/" install
}
package_ros-noetic-franka-gazebo() {
pkgdesc="This package offers the FrankaHWSim Class to simulate a Franka Robot in Gazebo"
url='https://wiki.ros.org/franka_gazebo'
depends=(
ros-noetic-gazebo-ros
ros-noetic-gazebo-ros-control
ros-noetic-roscpp
ros-noetic-std-msgs
ros-noetic-control-msgs
ros-noetic-control-toolbox
ros-noetic-controller-manager
ros-noetic-controller-interface
ros-noetic-pluginlib
ros-noetic-kdl-parser
ros-noetic-hardware-interface
ros-noetic-transmission-interface
ros-noetic-joint-limits-interface
ros-noetic-eigen-conversions
ros-noetic-franka-hw
ros-noetic-franka-msgs
ros-noetic-franka-gripper
ros-noetic-franka-example-controllers
ros-noetic-urdf
ros-noetic-angles
ros-noetic-rospy
ros-noetic-roslaunch
)
cd "${srcdir}/build_isolated/franka_gazebo"
make DESTDIR="${pkgdir}/" install
}
package_ros-noetic-franka-gripper() {
pkgdesc="This package implements the franka gripper of type Franka Hand for the use in ros"
url='https://wiki.ros.org/franka_gripper'
depends=(
ros-noetic-roscpp
ros-noetic-message-generation
ros-noetic-libfranka
ros-noetic-control-msgs
ros-noetic-actionlib
ros-noetic-sensor-msgs
ros-noetic-xmlrpcpp
ros-noetic-actionlib-msgs
ros-noetic-message-runtime
)
cd "${srcdir}/build_isolated/franka_gripper"
make DESTDIR="${pkgdir}/" install
}
package_ros-noetic-franka-hw() {
pkgdesc="franka_hw provides hardware interfaces for using Franka Emika research robots with ros_control"
url='https://wiki.ros.org/franka_hw'
depends=(
ros-noetic-actionlib-msgs
ros-noetic-actionlib
ros-noetic-controller-interface
ros-noetic-combined-robot-hw
ros-noetic-hardware-interface
ros-noetic-joint-limits-interface
ros-noetic-libfranka
ros-noetic-roscpp
ros-noetic-std-srvs
ros-noetic-urdf
ros-noetic-pluginlib
ros-noetic-franka-msgs
)
cd "${srcdir}/build_isolated/franka_hw"
make DESTDIR="${pkgdir}/" install
}
package_ros-noetic-franka-msgs() {
pkgdesc="franka_msgs provides messages specific to Franka Emika research robots"
url='https://wiki.ros.org/franka_msgs'
depends=(
ros-noetic-std-msgs
ros-noetic-actionlib-msgs
ros-noetic-message-runtime
)
cd "${srcdir}/build_isolated/franka_msgs"
make DESTDIR="${pkgdir}/" install
}
package_ros-noetic-franka-visualization() {
pkgdesc="This package contains visualization tools for Franka Emika."
url='https://wiki.ros.org/franka_visualization'
depends=(
ros-noetic-sensor-msgs
ros-noetic-roscpp
ros-noetic-libfranka
ros-noetic-franka-description
ros-noetic-xacro
)
cd "${srcdir}/build_isolated/franka_visualization"
make DESTDIR="${pkgdir}/" install
}
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