feat:support of Aubo Robot ROS-Noetic

Author: Chen Shudong

README.md

@@ -1,12 +1,12 @@
 # AUBO Robot
-**Maintainer: zhaoyu@aubo-robotics.cn**
+**Maintainer: chenshudong@aubo-robotics.cn**
 
 
 
 
 * Aubo_robot [ROS](http://www.ros.org/) meta-package for [ROS-Industrial](http://wiki.ros.org/Industrial). See the [ROS wiki](http://wiki.ros.org/)  page for more information.
 
-* This repository provides ROS support for [AUBO robots](https://aubo-robotics.com/en/). This repository holds source code for `kinetic`. The corresponding robot controller software version is `V4`. For those software version < `V4`, can refer to [here]( http://wiki.ros.org/aubo_robot).
+* This repository provides ROS support for [AUBO robots](https://aubo-robotics.com/en/). This repository holds source code for 'Noetic'. The corresponding robot controller software version is 'V4'. For those software version < 'V4', can refer to [here]( http://wiki.ros.org/aubo_robot).
 
 ### Installation from Source
 ---

aubo_controller/CMakeLists.txt

@@ -57,4 +57,4 @@ install(TARGETS aubo_joint_trajectory_action DESTINATION ${CATKIN_PACKAGE_BIN_DE
 #install(TARGETS aubo_simulator_controller DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 catkin_install_python(PROGRAMS script/aubo_controller/aubo_robot_simulator
-   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

aubo_controller/script/aubo_controller/aubo_robot_simulator

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 #
 # Software License Agreement (BSD License)
 # Copyright (c) 2017-2018, Aubo Robotics
@@ -31,7 +31,15 @@
 import rospy
 import copy
 import threading
-import Queue
+import sys
+import os
+path = os.path.dirname(os.path.realpath(__file__))
+sys.path.insert(0,path)
+print(path)
+if sys.version > '3':
+    import queue as Queue
+else:
+    import Queue
 
 # Publish
 from sensor_msgs.msg import JointState
@@ -225,7 +233,7 @@ class MotionControllerSimulator():
 
         rospy.loginfo('Starting motion worker in motion controller simulator')
         move_duration = rospy.Duration()
-        if self.update_rate <> 0.:
+        if self.update_rate != 0:
             update_duration = rospy.Duration(1./self.update_rate)
         last_goal_point = JointTrajectoryPoint()
 

aubo_controller/script/aubo_controller/trajectory_speed.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
 # Copyright (c) 2017-2018, Aubo Robotics
@@ -147,4 +147,4 @@ def create_tracking_trajectory(traj, speed, min_speed):
         new_traj.joint_trajectory.points[i].accelerations = [speed / 4.0] * n_joints
 
     # Return the new trajecotry
-    return new_traj
+    return new_traj

aubo_demo/CMakeLists.txt

@@ -4,6 +4,28 @@ project(aubo_demo)
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)
 
+if("$ENV{ROS_DISTRO}" STREQUAL "noetic")
+    find_package(catkin REQUIRED COMPONENTS
+      roscpp
+      rospy
+      std_msgs
+      moveit_core
+      moveit_visual_tools
+      moveit_ros_planning
+      moveit_ros_planning_interface
+      pluginlib
+      geometric_shapes
+      pcl_ros
+      pcl_conversions
+      rosbag
+      tf
+      tf2_ros
+      #tf2_eigen
+      tf2_geometry_msgs
+    )
+    Message(STATUS "<<<<<<<<<<<<<<<<<<<<<<<<<Note: Find Package for noetic")
+endif()
+
 if("$ENV{ROS_DISTRO}" STREQUAL "melodic")
     find_package(catkin REQUIRED COMPONENTS
       roscpp
@@ -93,6 +115,17 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
+if("$ENV{ROS_DISTRO}" STREQUAL "noetic")
+    ## Declare a C++ executable
+    ## With catkin_make MoveGroupInterface_To_Kinetic package is built within a single CMake context
+    ## The recommended prefix ensures that target names across packages don't collide
+    add_executable(MoveGroupInterface_To_Noetic src/MoveGroupInterface_To_Noetic.cpp)
+
+    ## Specify libraries to link a library or executable target against
+    target_link_libraries(MoveGroupInterface_To_Noetic ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+    Message(STATUS "<<<<<<<<<<<<<<<<<<<<<<<<<Note: build aubo_demo node for Noetic")
+endif()
+
 if("$ENV{ROS_DISTRO}" STREQUAL "melodic")
     ## Declare a C++ executable
     ## With catkin_make MoveGroupInterface_To_Kinetic package is built within a single CMake context

aubo_demo/launch/MoveGroupInterface_To_Noetic.launch

@@ -0,0 +1,6 @@
+<launch>
+
+  <node name="MoveGroupInterface_To_Noetic" pkg="aubo_demo" type="MoveGroupInterface_To_Noetic" respawn="false" output="screen">
+  </node>
+
+</launch>