Merge pull request #162 from project-march/fix/ethercat-grant

Use ethercat_grant instead of custom sudo target

Author: Olavhaasie

march_hardware/CMakeLists.txt

@@ -89,14 +89,6 @@ install(TARGETS slave_count_check
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-# Give sudo access to ethernet port
-add_custom_command(
-    TARGET slave_count_check
-    COMMAND sudo setcap cap_net_raw+ep slave_count_check
-    WORKING_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}
-    POST_BUILD
-)
-
 ## Add gtest based cpp test target and link libraries
 if (CATKIN_ENABLE_TESTING)
 

march_hardware_interface/CMakeLists.txt

@@ -57,14 +57,6 @@ install(DIRECTORY config launch
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-# Give sudo access to ethernet port
-add_custom_command(
-    TARGET ${PROJECT_NAME}_node
-    COMMAND sudo setcap cap_net_raw+ep ${PROJECT_NAME}_node
-    WORKING_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}
-    POST_BUILD
-)
-
 ## Add gtest based cpp test target and link libraries
 if (CATKIN_ENABLE_TESTING)
 

march_hardware_interface/launch/march3_hardware.launch

@@ -14,6 +14,6 @@
                 /march/controller/trajectory
             "/>
 
-    <node name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="march3" output="screen"/>
+    <node launch-prefix="ethercat_grant" name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="march3" output="screen"/>
 
 </launch>

march_hardware_interface/launch/march4.launch

@@ -13,6 +13,6 @@
                 /march/controller/trajectory
             "/>
 
-    <node name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="march4" output="screen"/>
+    <node launch-prefix="ethercat_grant" name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="march4" output="screen"/>
 
 </launch>

march_hardware_interface/launch/pdb.launch

@@ -6,6 +6,6 @@
                 /march/controller/pdb_state
             "/>
 
-    <node name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="pdb" output="screen"/>
+    <node launch-prefix="ethercat_grant" name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="pdb" output="screen"/>
 
 </launch>

march_hardware_interface/launch/testjoint_linear.launch

@@ -22,6 +22,6 @@
                 /march/controller/trajectory
             "/>
 
-    <node name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="testjoint_linear" output="screen"/>
+    <node launch-prefix="ethercat_grant" name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="testjoint_linear" output="screen"/>
 
 </launch>

march_hardware_interface/launch/testjoint_rotational.launch

@@ -12,6 +12,6 @@
                 /march/controller/trajectory
             "/>
 
-    <node name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="testjoint_rotational" output="screen"/>
+    <node launch-prefix="ethercat_grant" name="march_hardware_interface" pkg="march_hardware_interface" type="march_hardware_interface_node" args="testjoint_rotational" output="screen"/>
 
 </launch>