2019-08-30 00:06:28 -04:00
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2021-01-22 13:37:51 +00:00
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# Copyright 2021 Open Source Robotics Foundation
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2019-08-30 00:06:28 -04:00
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# Distributed under the terms of the BSD license
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2020-10-23 13:30:31 +00:00
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{ lib, buildRosPackage, fetchurl, actionlib, actionlib-msgs, boost, catkin, cob-frame-tracker, cob-script-server, cob-srvs, cob-twist-controller, geometry-msgs, message-generation, message-runtime, pythonPackages, robot-state-publisher, roscpp, roslint, rospy, rviz, std-msgs, std-srvs, tf, topic-tools, visualization-msgs, xacro }:
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2019-08-30 00:06:28 -04:00
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buildRosPackage {
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pname = "ros-melodic-cob-cartesian-controller";
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2020-10-23 13:30:31 +00:00
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version = "0.8.12-r1";
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2019-08-30 00:06:28 -04:00
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src = fetchurl {
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2020-10-23 13:30:31 +00:00
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url = "https://github.com/ipa320/cob_control-release/archive/release/melodic/cob_cartesian_controller/0.8.12-1.tar.gz";
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name = "0.8.12-1.tar.gz";
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sha256 = "1a5c70f3dea95b302d3c3b2e53348c8a38e01f76495dd8aa0d8593a43b366b6a";
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2019-08-30 00:06:28 -04:00
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};
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2019-09-06 12:26:32 -04:00
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buildType = "catkin";
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2019-12-09 23:36:28 -05:00
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buildInputs = [ message-generation roslint ];
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2020-03-27 12:53:57 +00:00
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propagatedBuildInputs = [ actionlib actionlib-msgs boost cob-frame-tracker cob-script-server cob-srvs cob-twist-controller geometry-msgs message-runtime robot-state-publisher roscpp rospy rviz std-msgs std-srvs tf topic-tools visualization-msgs xacro ];
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2020-10-23 13:30:31 +00:00
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nativeBuildInputs = [ catkin pythonPackages.setuptools ];
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2019-08-30 00:06:28 -04:00
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meta = {
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description = ''This package provides nodes that broadcast tf-frames along various (model-based) Cartesian paths (e.g. Linear, Circular).
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The tf-frames are interpolated using a given velocity profile (e.g. Ramp, Sinoid) and can be used as targets for the cob_frame_tracker/cob_twist_controller.'';
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license = with lib.licenses; [ asl20 ];
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};
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}
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