From 3dc376d684f40f8ab1e7f5dbf6be82424d8e2823 Mon Sep 17 00:00:00 2001
From: Wim Meeussen <wim@willowgarage.com>
Date: Wed, 4 Apr 2012 14:17:16 -0700
Subject: [PATCH] new package for bringup

---
 ur5_bringup/CMakeLists.txt | 30 ++++++++++++++++++++++++++++++
 ur5_bringup/Makefile       |  1 +
 ur5_bringup/mainpage.dox   | 14 ++++++++++++++
 ur5_bringup/manifest.xml   | 17 +++++++++++++++++
 ur5_bringup/ur5.launch     | 10 ++++++++++
 5 files changed, 72 insertions(+)
 create mode 100644 ur5_bringup/CMakeLists.txt
 create mode 100644 ur5_bringup/Makefile
 create mode 100644 ur5_bringup/mainpage.dox
 create mode 100644 ur5_bringup/manifest.xml
 create mode 100644 ur5_bringup/ur5.launch

diff --git a/ur5_bringup/CMakeLists.txt b/ur5_bringup/CMakeLists.txt
new file mode 100644
index 0000000..f8f1c9c
--- /dev/null
+++ b/ur5_bringup/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
diff --git a/ur5_bringup/Makefile b/ur5_bringup/Makefile
new file mode 100644
index 0000000..b75b928
--- /dev/null
+++ b/ur5_bringup/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/ur5_bringup/mainpage.dox b/ur5_bringup/mainpage.dox
new file mode 100644
index 0000000..0067da8
--- /dev/null
+++ b/ur5_bringup/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b ur5_bringup 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/ur5_bringup/manifest.xml b/ur5_bringup/manifest.xml
new file mode 100644
index 0000000..c2e73bb
--- /dev/null
+++ b/ur5_bringup/manifest.xml
@@ -0,0 +1,17 @@
+<package>
+  <description brief="ur5_bringup">
+
+     ur5_bringup
+
+  </description>
+  <author>Wim Meeussen</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/ur5_bringup</url>
+
+  <depend package="ur5_driver" />
+  <depend package="ur5_description" />
+
+</package>
+
+
diff --git a/ur5_bringup/ur5.launch b/ur5_bringup/ur5.launch
new file mode 100644
index 0000000..4b0a671
--- /dev/null
+++ b/ur5_bringup/ur5.launch
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- robot model -->
+  <include file="$(find ur5_description)/launch/load.launch" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+  <!-- driver -->
+  <node name="ur5_driver" pkg="ur5_driver" type="driver.py" />
+   
+</launch>
\ No newline at end of file
-- 
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