uos · JackFrost67 · May 6, 2021 · May 6, 2021 · May 17, 2021
diff --git a/.gitignore b/.gitignore
@@ -15,3 +15,4 @@ srv_gen/
 */src/*/cfg
 */src/*/msg
 */src/*/srv
+.vscode/
diff --git a/.travis.yml b/.travis.yml
@@ -15,6 +15,7 @@ env:
   matrix:
     - CI_ROS_DISTRO="indigo"
     - CI_ROS_DISTRO="jade"
+    - CI_ROS_DISTRO="noetic"
 install:
   - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
   - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

diff --git a/README.md b/README.md
@@ -14,4 +14,4 @@ For more information, visit the [katana_driver ROS wiki page](http://www.ros.org
 ### Build
 
 * `rosdep install --from-paths src --ignore-src -r -y`
-* catkin build
+* `catkin_make`
diff --git a/katana/CMakeLists.txt b/katana/CMakeLists.txt
@@ -1,7 +1,7 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.0.2)
 project(katana)
 
-add_compile_options(-std=c++11)
+add_compile_options(-std=c++14)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp

diff --git a/katana/launch/katana.launch b/katana/launch/katana.launch
@@ -3,7 +3,7 @@
   <param name="katana_type" type="string" value="$(env KATANA_TYPE)" />
 
   <!-- start katana node for a physical katana arm -->
-  <include file="$(find katana)/launch/$(env KATANA_TYPE).launch" />
+  <include file ='$(find katana)/launch/$(env KATANA_TYPE).launch' />
 </launch>
 
 
diff --git a/katana/launch/katana_300_6m180.launch b/katana/launch/katana_300_6m180.launch
@@ -4,7 +4,7 @@
   <include file="$(find katana_description)/launch/upload_katana_300_6m180.launch" />
 
   <!-- robot state publisher -->
-  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" />
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
 
   <!-- which joints does this katana instance control? -->
   <rosparam command="load" file="$(find katana)/config/katana_arm_controllers.yaml" />

diff --git a/katana/launch/katana_400_6m180.launch b/katana/launch/katana_400_6m180.launch
@@ -4,7 +4,7 @@
   <include file="$(find katana_description)/launch/upload_katana_400_6m180.launch" />
 
   <!-- robot state publisher -->
-  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" />
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
 
   <!-- which joints does this katana instance control? -->
   <rosparam command="load" file="$(find katana)/config/katana_arm_controllers.yaml" />

diff --git a/katana/launch/katana_450_6m90a.launch b/katana/launch/katana_450_6m90a.launch
@@ -1,17 +1,17 @@
 <?xml version="1.0"?>
 <launch>
   <!-- load katana urdf -->
-  <include file="$(find katana_description)/launch/upload_katana_450_6m90a.launch" />
+  <include file='$(find katana_description)/launch/upload_katana_450_6m90a.launch'/>
 
   <!-- robot state publisher -->
-  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" />
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
 
   <!-- which joints does this katana instance control? -->
-  <rosparam command="load" file="$(find katana)/config/katana_arm_controllers.yaml" />
+  <rosparam command="load" file='$(find katana)/config/katana_arm_controllers.yaml' />
 
   <!-- katana node -->
   <node pkg="katana" type="katana" name="katana" output="screen">
-   <param name="config_file_path" type="string" value="$(find kni)/KNI_4.3.0/configfiles450/katana6M90A_G.cfg" />
+   <param name="config_file_path" type="string" value='$(find kni)/KNI_4.3.0/configfiles450/katana6M90A_G.cfg' />
 
    <!--<param name="simulation" type="bool" value="true" /> -->
   </node>

diff --git a/katana/launch/katana_450_6m90b.launch b/katana/launch/katana_450_6m90b.launch
@@ -4,7 +4,7 @@
   <include file="$(find katana_description)/launch/upload_katana_450_6m90b.launch" />
 
   <!-- robot state publisher -->
-  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" />
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
 
   <!-- which joints does this katana instance control? -->
   <rosparam command="load" file="$(find katana)/config/katana_arm_controllers.yaml" />

diff --git a/katana_arm_gazebo/CMakeLists.txt b/katana_arm_gazebo/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(katana_arm_gazebo)
 
 find_package(gazebo REQUIRED)

diff --git a/katana_arm_gazebo/launch/katana_arm.launch b/katana_arm_gazebo/launch/katana_arm.launch
@@ -27,7 +27,7 @@
   <param name="controller_manager/joint_state_publish_rate" value="100.0" />
 
   <!-- Robot state publisher -->
-  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
     <param name="publish_frequency" type="double" value="50.0" />
     <param name="tf_prefix" type="string" value="" />
   </node>

diff --git a/katana_description/CMakeLists.txt b/katana_description/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(katana_description)
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/katana_description/launch/katana_debug_urdf.launch b/katana_description/launch/katana_debug_urdf.launch
@@ -5,12 +5,12 @@
   <!-- load katana urdf -->
   <include file="$(find katana_description)/launch/upload_$(env KATANA_TYPE).launch" />
 
-  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" />
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
 
   <!-- joint state publisher with gui -->
-  <param name="use_gui" value="true" />
+  <!-- <param name="use_gui" value="true" /> -->
   <rosparam command="load" file="$(find katana_description)/params/dependent_joints.yaml" />
-  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher"/>
+  <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui"/>
 
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find katana_description)/rviz/katana_description.rviz" />
 </launch>

diff --git a/katana_description/launch/upload_katana_300_6m180.launch b/katana_description/launch/upload_katana_300_6m180.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
   <!-- send katana urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find katana_description)/urdf/katana_300_6m180_with_controlbox.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find katana_description)/urdf/katana_300_6m180_with_controlbox.urdf.xacro'" />
 </launch>
 
diff --git a/katana_description/launch/upload_katana_400_6m180.launch b/katana_description/launch/upload_katana_400_6m180.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
   <!-- send katana urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find katana_description)/urdf/katana_400_6m180_with_controlbox.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro $(find katana_description)/urdf/katana_400_6m180_with_controlbox.urdf.xacro" />
 </launch>
 
diff --git a/katana_description/launch/upload_katana_450_6m90a.launch b/katana_description/launch/upload_katana_450_6m90a.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
   <!-- send katana urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find katana_description)/urdf/katana_450_6m90a_with_controlbox.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find katana_description)/urdf/katana_450_6m90a_with_controlbox.urdf.xacro'"/>
 </launch>
 
diff --git a/katana_description/launch/upload_katana_450_6m90b.launch b/katana_description/launch/upload_katana_450_6m90b.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
   <!-- send katana urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find katana_description)/urdf/katana_450_6m90b_with_controlbox.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find katana_description)/urdf/katana_450_6m90b_with_controlbox.urdf.xacro'" />
 </launch>
 
diff --git a/katana_description/urdf/controlbox.urdf.xacro b/katana_description/urdf/controlbox.urdf.xacro
@@ -2,8 +2,8 @@
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro" >
 
-  <property name="M_PI" value="3.1415926535897931" />
-  <property name="controlbox_height" value="0.073" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="controlbox_height" value="0.073" />
 
   <link name="katana_internal_controlbox_link">
     <visual>

diff --git a/katana_description/urdf/katana_300_6m180.urdf.xacro b/katana_description/urdf/katana_300_6m180.urdf.xacro
@@ -1,19 +1,18 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
-  name="katana_300_6m180">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="katana_300_6m180">
 
   <xacro:include filename="$(find katana_description)/urdf/transmissions.urdf.xacro"/>
   <xacro:include filename="$(find katana_description)/urdf/gazebo.urdf.xacro"/>
 
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <!-- all values from the katana manual -->
-  <property name="base_height" value="0.2015" />
-  <property name="link2_length" value="0.19" />
-  <property name="link3_length" value="0.139" />
-  <property name="link4_length" value="0.1523" />
-  <property name="link5_length" value="0.1505" />
+  <xacro:property name="base_height" value="0.2015" />
+  <xacro:property name="link2_length" value="0.19" />
+  <xacro:property name="link3_length" value="0.139" />
+  <xacro:property name="link4_length" value="0.1523" />
+  <xacro:property name="link5_length" value="0.1505" />
 
   <!-- All inertial values (mass, center of mass and inertia tensor) have been
        calculated from the meshes using MeshLab -->

diff --git a/katana_description/urdf/katana_300_6m180_with_controlbox.urdf.xacro b/katana_description/urdf/katana_300_6m180_with_controlbox.urdf.xacro
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro" 
-  name="katana_300_6m180_with_controlbox">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="katana_300_6m180_with_controlbox">
 
   <xacro:include filename="$(find katana_description)/urdf/controlbox.urdf.xacro"/>
   <xacro:include filename="$(find katana_description)/urdf/katana_300_6m180.urdf.xacro"/>

diff --git a/katana_description/urdf/katana_400_6m180.urdf.xacro b/katana_description/urdf/katana_400_6m180.urdf.xacro
@@ -1,19 +1,18 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
-  name="katana_400_6m180">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="katana_400_6m180">
 
   <xacro:include filename="$(find katana_description)/urdf/transmissions.urdf.xacro"/>
   <xacro:include filename="$(find katana_description)/urdf/gazebo.urdf.xacro"/>
 
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <!-- all values from the katana manual -->
-  <property name="base_height" value="0.2015" />
-  <property name="link2_length" value="0.19" />
-  <property name="link3_length" value="0.139" />
-  <property name="link4_length" value="0.1523" />
-  <property name="link5_length" value="0.1505" />
+  <xacro:property name="base_height" value="0.2015" />
+  <xacro:property name="link2_length" value="0.19" />
+  <xacro:property name="link3_length" value="0.139" />
+  <xacro:property name="link4_length" value="0.1523" />
+  <xacro:property name="link5_length" value="0.1505" />
 
   <!-- All inertial values (mass, center of mass and inertia tensor) have been
        calculated from the meshes using MeshLab -->

diff --git a/katana_description/urdf/katana_400_6m180_with_controlbox.urdf.xacro b/katana_description/urdf/katana_400_6m180_with_controlbox.urdf.xacro
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro" 
-  name="katana_400_6m180_with_controlbox">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="katana_400_6m180_with_controlbox">
 
   <xacro:include filename="$(find katana_description)/urdf/controlbox.urdf.xacro"/>
   <xacro:include filename="$(find katana_description)/urdf/katana_400_6m180.urdf.xacro"/>

diff --git a/katana_description/urdf/katana_450_6m90a.urdf.xacro b/katana_description/urdf/katana_450_6m90a.urdf.xacro
@@ -1,20 +1,19 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
-       name="katana_450_6m90a">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="katana_450_6m90a">
 
-  <xacro:include filename="$(find katana_description)/urdf/transmissions.urdf.xacro"/>
-  <xacro:include filename="$(find katana_description)/urdf/gazebo.urdf.xacro"/>
+  <xacro:include filename='$(find katana_description)/urdf/transmissions.urdf.xacro'/>
+  <xacro:include filename='$(find katana_description)/urdf/gazebo.urdf.xacro'/>
 
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <!-- all values from the katana manual -->
-  <property name="base_height" value="0.2015" />
-  <property name="link2_length" value="0.19" />
-  <property name="link3_length" value="0.139" />
-  <property name="link4_length" value="0.1473" />
-  <property name="link5_length" value="0.1505" />
-  <property name="tool_frame_offset" value="0.11" />
+  <xacro:property name="base_height" value="0.2015" />
+  <xacro:property name="link2_length" value="0.19" />
+  <xacro:property name="link3_length" value="0.139" />
+  <xacro:property name="link4_length" value="0.1473" />
+  <xacro:property name="link5_length" value="0.1505" />
+  <xacro:property name="tool_frame_offset" value="0.11" />
 
   <!-- All inertial values (mass, center of mass and inertia tensor) have been
        calculated from the meshes using MeshLab -->

diff --git a/katana_description/urdf/katana_450_6m90a_with_controlbox.urdf.xacro b/katana_description/urdf/katana_450_6m90a_with_controlbox.urdf.xacro
@@ -1,8 +1,6 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro" 
-  name="katana_450_6m90a_with_controlbox">
-
-  <xacro:include filename="$(find katana_description)/urdf/controlbox.urdf.xacro"/>
-  <xacro:include filename="$(find katana_description)/urdf/katana_450_6m90a.urdf.xacro"/>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="katana_450_6m90a_with_controlbox">
+  <xacro:include filename='$(find katana_description)/urdf/controlbox.urdf.xacro'/>
+  <xacro:include filename='$(find katana_description)/urdf/katana_450_6m90a.urdf.xacro'/>
 </robot>
diff --git a/katana_description/urdf/katana_450_6m90b.urdf.xacro b/katana_description/urdf/katana_450_6m90b.urdf.xacro
@@ -1,19 +1,18 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
-       name="katana_450_6m90b">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="katana_450_6m90b">
 
   <xacro:include filename="$(find katana_description)/urdf/transmissions.urdf.xacro"/>
   <xacro:include filename="$(find katana_description)/urdf/gazebo.urdf.xacro"/>
 
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
   <!-- all values from the katana manual -->
-  <property name="base_height" value="0.2015" />
-  <property name="link2_length" value="0.19" />
-  <property name="link3_length" value="0.139" />
-  <property name="link4_length" value="0.1473" />
-  <property name="link5_length" value="0.1505" />
+  <xacro:property name="base_height" value="0.2015" />
+  <xacro:property name="link2_length" value="0.19" />
+  <xacro:property name="link3_length" value="0.139" />
+  <xacro:property name="link4_length" value="0.1473" />
+  <xacro:property name="link5_length" value="0.1505" />
 
   <!-- All inertial values (mass, center of mass and inertia tensor) have been
        calculated from the meshes using MeshLab -->

diff --git a/katana_description/urdf/katana_450_6m90b_with_controlbox.urdf.xacro b/katana_description/urdf/katana_450_6m90b_with_controlbox.urdf.xacro
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro" 
-  name="katana_450_6m90b_with_controlbox">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="katana_450_6m90b_with_controlbox">
 
   <xacro:include filename="$(find katana_description)/urdf/controlbox.urdf.xacro"/>
   <xacro:include filename="$(find katana_description)/urdf/katana_450_6m90b.urdf.xacro"/>

diff --git a/katana_driver/CMakeLists.txt b/katana_driver/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(katana_driver)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/katana_gazebo_plugins/CMakeLists.txt b/katana_gazebo_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION VERSION 3.0.2)
 project(katana_gazebo_plugins)
 
 #add_definitions(-fPIC)
@@ -39,11 +39,11 @@ include(CheckCXXCompilerFlag)
 CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX11)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
 else()
-  message(WARNING "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+  message(WARNING "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler.")
 endif()
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})

diff --git a/katana_moveit_ikfast_plugin/CMakeLists.txt b/katana_moveit_ikfast_plugin/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.0.2)
 project(katana_moveit_ikfast_plugin)
 
 add_compile_options(-std=c++11)

diff --git a/katana_msgs/CMakeLists.txt b/katana_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(katana_msgs)
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/katana_teleop/CMakeLists.txt b/katana_teleop/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(katana_teleop)
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/katana_tutorials/CMakeLists.txt b/katana_tutorials/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(katana_tutorials)
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/kni/CMakeLists.txt b/kni/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.0.2)
 project(kni)
 
 add_compile_options(-std=c++11)