Use ethercat_grant instead of custom sudo target

Olav de Haas · Olav de Haas · commit f78e73d66eca · 2019-10-06T15:01:33.000+02:00
diff --git a/march_hardware/CMakeLists.txt b/march_hardware/CMakeLists.txt
@@ -94,14 +94,6 @@ install(TARGETS march_hardware
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_GLOBAL_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)
 
diff --git a/march_hardware_interface/CMakeLists.txt b/march_hardware_interface/CMakeLists.txt
@@ -59,14 +59,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
         FILES_MATCHING PATTERN "*.h"
         PATTERN ".svn" EXCLUDE)
 
-# Give sudo access to ethernet port
-add_custom_command(
-        TARGET march_hardware_interface_node
-        COMMAND sudo setcap cap_net_raw+ep march_hardware_interface_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)
 
diff --git a/march_hardware_interface/launch/march3_hardware.launch b/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>
diff --git a/march_hardware_interface/launch/march4.launch b/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>
diff --git a/march_hardware_interface/launch/pdb.launch b/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>
diff --git a/march_hardware_interface/launch/testjoint_linear.launch b/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>
diff --git a/march_hardware_interface/launch/testjoint_rotational.launch b/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>
