diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
index 64c814529bafa1f4abe129e0a8ae23d052f1d985..2c7b008f4bc4a2dafa7bac35b4bb0a77c2a85211 100644
--- a/ur_msgs/CMakeLists.txt
+++ b/ur_msgs/CMakeLists.txt
@@ -4,40 +4,8 @@ project(ur_msgs)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependencies might have been
-## pulled in transitively but can be declared for certainty nonetheless:
-## * add a build_depend tag for "message_generation"
-## * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
@@ -51,31 +19,18 @@ find_package(catkin REQUIRED)
add_service_files(
FILES
SetIO.srv
-# Service2.srv
)
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
+ generate_messages(
+ DEPENDENCIES
+ std_msgs
+)
###################################
## catkin specific configuration ##
###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES ur_msgs
@@ -87,71 +42,10 @@ catkin_package(
## Build ##
###########
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-
-## Declare a cpp library
-# add_library(ur_msgs
-# src/${PROJECT_NAME}/ur_msgs.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(ur_msgs_node src/ur_msgs_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(ur_msgs_node ur_msgs_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(ur_msgs_node
-# ${catkin_LIBRARIES}
-# )
-
#############
## Install ##
#############
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ur_msgs ur_msgs_node
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
#############
## Testing ##
#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_msgs.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/ur_msgs/package.xml b/ur_msgs/package.xml
index 947f38af47b2021164f67ae38dacea65409ccdbf..dacd053bf603ea52f7ff4fa188d9c6734e6694f5 100644
--- a/ur_msgs/package.xml
+++ b/ur_msgs/package.xml
@@ -3,51 +3,18 @@
<name>ur_msgs</name>
<version>0.0.0</version>
<description>The ur_msgs package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="glusia@rpi.edu">Andrew Glusiec</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>BSD</license>
-
-
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/ur_msgs</url> -->
-
-
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
- <!-- Example: -->
<author email="glusia@rpi.edu">Andrew Glusiec</author>
-
- <!-- The *_depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
+ <build_depend>message_generation</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <run_depend>message_runtime</run_depend>
+ <run_depend>std_msgs</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- You can specify that this package is a metapackage here: -->
- <!-- <metapackage/> -->
-
- <!-- Other tools can request additional information be placed here -->
-
</export>
</package>