[Melodic]

.travis.yml

@@ -1,6 +1,7 @@
-sudo: required
-dist: trusty
 language: generic
+services:
+  - docker
+
 notifications:
   email:
     on_success: change

README.md

@@ -3,21 +3,21 @@ cob_common
 
 ## ROS Distro Support
 
-|         | Indigo | Jade | Kinetic |
-|:-------:|:------:|:----:|:-------:|
-| Branch  | [`indigo_dev`](https://github.com/ipa320/cob_common/tree/indigo_dev) | [`indigo_dev`](https://github.com/ipa320/cob_common/tree/indigo_dev) | [`indigo_dev`](https://github.com/ipa320/cob_common/tree/indigo_dev) |
-| Status  |  supported | not supported |  supported |
-| Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=cob_common) |
+|         | Indigo | Jade | Kinetic | Melodic |
+|:-------:|:------:|:----:|:-------:|:-------:|
+| Branch  | [`indigo_dev`](https://github.com/ipa320/cob_common/tree/indigo_dev) | [`indigo_dev`](https://github.com/ipa320/cob_common/tree/indigo_dev) | [`kinetic_dev`](https://github.com/ipa320/cob_common/tree/kinetic_dev) | [`kinetic_dev`](https://github.com/ipa320/cob_common/tree/kinetic_dev) |
+| Status  |  supported | not supported |  supported | supported |
+| Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_melodic_default.html?q=cob_common) |
 
 ## Travis - Continuous Integration
 
-Status: [![Build Status](https://travis-ci.org/ipa320/cob_common.svg?branch=indigo_dev)](https://travis-ci.org/ipa320/cob_common)
+Status: [![Build Status](https://travis-ci.org/ipa320/cob_common.svg?branch=kinetic_dev)](https://travis-ci.org/ipa320/cob_common)
 
 ## ROS Buildfarm
 
-|         | Indigo Source | Indigo Debian | Jade Source | Jade Debian |  Kinetic Source  |  Kinetic Debian |
-|:-------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|
-| cob_common | [![not released](http://build.ros.org/buildStatus/icon?job=Isrc_uT__cob_common__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__cob_common__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__cob_common__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__cob_common__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jsrc_uT__cob_common__ubuntu_trusty__source)](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__cob_common__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jbin_uT64__cob_common__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__cob_common__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__cob_common__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__cob_common__ubuntu_xenial__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__cob_common__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__cob_common__ubuntu_xenial_amd64__binary/) |
+|         | Indigo Source | Indigo Debian | Jade Source | Jade Debian | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian |
+|:-------:|:-------------:|:-------------:|:-----------:|:-----------:|:--------------:|:--------------:|:--------------:|:--------------:|
+| cob_common | [![not released](http://build.ros.org/buildStatus/icon?job=Isrc_uT__cob_common__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__cob_common__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__cob_common__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__cob_common__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jsrc_uT__cob_common__ubuntu_trusty__source)](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__cob_common__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jbin_uT64__cob_common__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__cob_common__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__cob_common__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__cob_common__ubuntu_xenial__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__cob_common__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__cob_common__ubuntu_xenial_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Msrc_uB__cob_common__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__cob_common__ubuntu_bionic__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__cob_common__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__cob_common__ubuntu_bionic_amd64__binary/) |
 
 
 This is a repository for Care-O-bot URDF macros and common message/service descriptions.

cob_description/urdf/cob4_gripper/gripper.transmission.xacro

@@ -6,8 +6,8 @@
     <transmission name="${name}_finger_1_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${name}_finger_1_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-        <!--hardwareInterface>VelocityJointInterface</hardwareInterface-->
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <!--hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface-->
       </joint>
       <actuator name="${name}_finger_1_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -17,8 +17,8 @@
     <transmission name="${name}_finger_2_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${name}_finger_2_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-        <!--hardwareInterface>VelocityJointInterface</hardwareInterface-->
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <!--hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface-->
       </joint>
       <actuator name="${name}_finger_2_motor">
         <mechanicalReduction>1</mechanicalReduction>

cob_description/urdf/cob4_head/head.urdf.xacro

@@ -142,7 +142,7 @@
     <xacro:head_transmission name="${name}" dof1="${dof1}" dof2="${dof2}" dof3="${dof3}" />
 
     <!-- ros_control plugin -->
-    <xacro:if value="${(dof1 == 'true') or (dof2 == 'true') or (dof3 == 'true')}">
+    <xacro:if value="${(dof1 == True) or (dof2 == True) or (dof3 == True)}">
       <gazebo>
         <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
           <robotNamespace>${name}</robotNamespace>

cob_description/urdf/cob4_sensorring/sensorring.urdf.xacro

@@ -4,7 +4,7 @@
   <xacro:include filename="$(find cob_description)/urdf/cob4_sensorring/sensorring.gazebo.xacro" />
   <xacro:include filename="$(find cob_description)/urdf/cob4_sensorring/sensorring.transmission.xacro" />
 
-  <xacro:macro name="sensorring" params="parent name *origin active:=false">
+  <xacro:macro name="sensorring" params="parent name *origin active:=False">
 
     <joint name="${name}_base_joint" type="fixed">
       <xacro:insert_block name="origin" />

cob_description/urdf/cob4_torso/torso.urdf.xacro

@@ -4,7 +4,7 @@
   <xacro:include filename="$(find cob_description)/urdf/cob4_torso/torso.gazebo.xacro" />
   <xacro:include filename="$(find cob_description)/urdf/cob4_torso/torso.transmission.xacro" />
 
-  <xacro:macro name="torso" params="parent name *origin dof1:=false dof2:=false dof3:=false">
+  <xacro:macro name="torso" params="parent name *origin dof1:=False dof2:=False dof3:=False">
 
     <joint name="${name}_base_joint" type="fixed">
       <xacro:insert_block name="origin" />
@@ -174,7 +174,7 @@
     <xacro:torso_transmission name="${name}" dof1="${dof1}" dof2="${dof2}" dof3="${dof3}" />
 
     <!-- ros_control plugin -->
-    <xacro:if value="${(dof1 == 'true') or (dof2 == 'true') or (dof3 == 'true')}">
+    <xacro:if value="${(dof1 == True) or (dof2 == True) or (dof3 == True)}">
       <gazebo>
         <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
           <robotNamespace>${name}</robotNamespace>

cob_description/urdf/common.xacro

@@ -95,9 +95,9 @@
     <transmission name="${jname}_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${jname}_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-        <hardwareInterface>VelocityJointInterface</hardwareInterface>
-        <!--hardwareInterface>EffortJointInterface</hardwareInterface-->
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+        <!--hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface-->
       </joint>
       <actuator name="${jname}_motor">
         <mechanicalReduction>1</mechanicalReduction>

cob_description/urdf/drive_wheel/drive_wheel.transmission.xacro

@@ -7,7 +7,7 @@
     <transmission name="${parent}_${suffix}_wheel_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${parent}_${suffix}_wheel_joint" >
-        <hardwareInterface>VelocityJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
       </joint>
       <actuator name="${parent}_${suffix}_wheel_motor">
         <mechanicalReduction>${reflect * 624/35 * 80/18}</mechanicalReduction>
@@ -22,8 +22,8 @@
     <transmission name="${suffix}_rotation_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${suffix}_rotation_joint" >
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-        <hardwareInterface>VelocityJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
       </joint>
       <actuator name="${suffix}_rotation_motor" >
         <mechanicalReduction>${-1 * 624/35 * 80/18}</mechanicalReduction>

raw_description/urdf/powerball/powerball_ERB115.transmission.xacro

@@ -6,9 +6,9 @@
     <transmission name="${name}_bottom_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${name}_bottom_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-        <hardwareInterface>VelocityJointInterface</hardwareInterface>
-        <!--hardwareInterface>EffortJointInterface</hardwareInterface-->
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+        <!--hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface-->
       </joint>
       <actuator name="${name}_bottom_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -18,9 +18,9 @@
     <transmission name="${name}_side_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${name}_side_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
-        <hardwareInterface>VelocityJointInterface</hardwareInterface>
-        <!--hardwareInterface>EffortJointInterface</hardwareInterface-->
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+        <!--hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface-->
       </joint>
       <actuator name="${name}_side_motor">
         <mechanicalReduction>1</mechanicalReduction>

raw_description/urdf/torso/torso.transmission.xacro

@@ -6,7 +6,7 @@
     <transmission name="${name}_pan_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${name}_pan_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${name}_pan_motor">
         <mechanicalReduction>1</mechanicalReduction>
@@ -16,7 +16,7 @@
     <transmission name="${name}_tilt_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${name}_tilt_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${name}_tilt_motor">
         <mechanicalReduction>1</mechanicalReduction>