[wip/ros-pr2-mechanism-model] initial commit

Author: mherrb

Makefile

@@ -134,6 +134,7 @@ SUBDIR+=	ros-pcl-msgs
 SUBIDR+=	ros-pr2-description
 SUBDIR+=	ros-pr2-hardware-interface
 SUBDIR+=	ros-pr2-machine
+SUBDIR+=	ros-pr2-mechanism-model
 SUBIDR+=	ros-pr2-mechanism-msgs
 SUBDIR+=	ros-pr2-msgs
 SUBDIR+=	ros-py-urdf-parser

ros-pr2-mechanism-model/DESCR

@@ -0,0 +1,8 @@
+This package contains the robot model that is used by the realtime
+controllers inside controller manager.
+
+This robot model focuses on controlling the robot mechanism in a
+realtime control loop, and therefore it only contains the components
+of a robot that are relevant in realtime: the robot joints (with
+encoders, transmisisons and actuators) and the kinematic/dynamic model
+of the robot.

ros-pr2-mechanism-model/Makefile

@@ -0,0 +1,34 @@
+# robotpkg Makefile for:	wip/ros-pr2-mechanism-model
+# Created:			Matthieu Herrb on Thu, 19 Jun 2025
+#
+
+ROS_PKG=	pr2_mechanism_model
+ROS_METAPKG=	pr2_mechanism
+ROS_VERSION=	1.8.21
+ROS_REPO=	pr2-mechanism-model
+
+PKGNAME=	ros-$(subst _,-,${ROS_PKG})-${ROS_VERSION}
+
+MASTER_SITES=	${MASTER_SITE_GITHUB:=PR2}/${ROS_METAPKG}/archive/refs/tags/
+
+CATEGORIES=	wip
+
+ROS_COMMENT=	models to the PR2 components controlled over EtherCAT
+
+WRKSRC=		${WRKDIR}/${ROS_METAPKG}-${ROS_VERSION}/${ROS_PKG}
+
+include ../../meta-pkgs/ros-base/Makefile.common
+
+include ../../middleware/ros-comm/depend.mk
+include ../../devel/ros-cmake-modules/depend.mk
+include ../../wip/ros-pr2-hardware-interface/depend.mk
+include ../../graphics/ros-urdf/depend.mk
+include ../../wip/mk/sysdep/liburdfdom.mk
+include ../../graphics/ros-kdl-parser/depend.mk
+include ../../devel/ros-pluginlib/depend.mk
+include ../../math/ros-angles/depend.mk
+include ../../motion/ros-control/depend.mk
+include ../../interfaces/ros-common-msgs/depend.mk
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/robotpkg.mk

ros-pr2-mechanism-model/PLIST

@@ -0,0 +1,17 @@
+@comment Thu Jun 19 21:06:49 CEST 2025
+include/pr2_mechanism_model/chain.h
+include/pr2_mechanism_model/joint.h
+include/pr2_mechanism_model/joint_calibration_simulator.h
+include/pr2_mechanism_model/pr2_belt_transmission.h
+include/pr2_mechanism_model/pr2_gripper_transmission.h
+include/pr2_mechanism_model/robot.h
+include/pr2_mechanism_model/simple_transmission.h
+include/pr2_mechanism_model/transmission.h
+include/pr2_mechanism_model/tree.h
+include/pr2_mechanism_model/wrist_transmission.h
+lib/libpr2_mechanism_model.so
+lib/pkgconfig/pr2_mechanism_model.pc
+share/pr2_mechanism_model/cmake/pr2_mechanism_modelConfig-version.cmake
+share/pr2_mechanism_model/cmake/pr2_mechanism_modelConfig.cmake
+share/pr2_mechanism_model/package.xml
+share/pr2_mechanism_model/transmission_plugins.xml

ros-pr2-mechanism-model/depend.mk

@@ -0,0 +1,33 @@
+# robotpkg depend.mk for:	wip/ros-pr2-mechanism-model
+# Created:			Matthieu Herrb on Thu, 19 Jun 2025
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+ROS_PR2_MECHANISM_MODEL_DEPEND_MK:=		${ROS_PR2_MECHANISM_MODEL_DEPEND_MK}+
+
+ifeq (+,${DEPEND_DEPTH})
+DEPEND_PKG+=		ros-pr2-mechanism-model
+endif
+
+ifeq (+,${ROS_PR2_MECHANISM_MODEL_DEPEND_MK})
+
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-pr2-mechanism-model?=		${PREFER.ros-base}
+SYSTEM_PREFIX.ros-pr2-mechanism-model?=	${SYSTEM_PREFIX.ros-base}
+
+DEPEND_USE+=			ros-pr2-mechanism-model
+ROS_DEPEND_USE+=		ros-pr2-mechanism-model
+
+DEPEND_ABI.ros-pr2-mechanism-model?=	ros-pr2-mechanism-model>=1.8.21
+DEPEND_DIR.ros-pr2-mechanism-model?=	../../wip/ros-pr2-mechanism-model
+
+SYSTEM_SEARCH.ros-pr2-mechanism-model=\
+	include/pr2_mechanism_model/joint.h \
+	lib/libpr2_mechanism_model.so \
+	lib/pkgconfig/pr2_mechanism_model.pc
+
+CMAKE_PREFIX_PATH.ros-pr2-mechanism-model=  ${PREFIX.ros-pr2-mechanism-model}
+
+endif
+
+DEPEND_DEPTH:=	${DEPEND_DEPTH:+=}

ros-pr2-mechanism-model/distinfo

@@ -0,0 +1,3 @@
+SHA1 (ros/pr2_mechanism_model/1.8.21.tar.gz) = 1d9fa7202e134c092ec56cd3848243cf30117cb4
+RMD160 (ros/pr2_mechanism_model/1.8.21.tar.gz) = dbc507e9670627d40c40e120ffae3b491525918e
+Size (ros/pr2_mechanism_model/1.8.21.tar.gz) = 87015 bytes