Merge pull request #3 from ipa-kut/kut/split_purpose

Split RET stuff from this package

Author: ipa-kut

CMakeLists.txt

@@ -40,7 +40,7 @@ set(THIS_PACKAGE_INCLUDE_DIRS
 
 catkin_package(
   LIBRARIES
-    interactivity_utils
+    moveit_custom_api
   INCLUDE_DIRS
     ${THIS_PACKAGE_INCLUDE_DIRS}
     include
@@ -57,14 +57,16 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
 )
-###########
-## Build ##
-###########
 
 include_directories(SYSTEM ${THIS_PACKAGE_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS})
 include_directories(${catkin_INCLUDE_DIRS})
 link_directories(${catkin_LIBRARY_DIRS})
 
+add_library(moveit_custom_api
+   src/moveit_custom_api.cpp
+ )
+add_dependencies(moveit_custom_api ${catkin_EXPORTED_TARGETS})
+target_link_libraries(moveit_custom_api ${catkin_LIBRARIES})
 
 add_executable(move_group_interface_tutorial_ur src/move_group_interface_tutorial_ur.cpp)
 target_link_libraries(move_group_interface_tutorial_ur ${catkin_LIBRARIES} ${Boost_LIBRARIES})
@@ -79,9 +81,3 @@ add_executable(seher_demo src/seher_demo.cpp
                           src/moveit_custom_api.cpp
                           )
 target_link_libraries(seher_demo ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-
-add_executable(endurance_demo src/endurance_demo.cpp
-                          src/moveit_custom_api.cpp
-                          src/endurance_test_logger.cpp
-                          )
-target_link_libraries(endurance_demo ${catkin_LIBRARIES} ${Boost_LIBRARIES})

include/ur_manipulation/endurance_test_logger.hpp

@@ -1,7 +1,6 @@
 #ifndef MOVEIT_CUSTOM_API_HPP
 #define MOVEIT_CUSTOM_API_HPP
 
-#include "ur_manipulation/endurance_test_logger.hpp"
 #include "ros/ros.h"
 
 #include <moveit/move_group_interface/move_group_interface.h>

include/ur_manipulation/moveit_custom_api.hpp

@@ -410,7 +410,7 @@ void MoveitCustomApi::initialiseMoveit(ros::NodeHandle nh)
 {
   namespace rvt = rviz_visual_tools;
   nh.param<std::string>("robot",robot_name_,"robot");
-  nh.param<std::string>("group_manip",group_manip_,"manip");
+  nh.param<std::string>("group_manip",group_manip_,"manipulator");
   nh.param<int>("max_planning_attempts",max_trials,3);
   nh.param<double>("robot_settle_time",robot_settle_time_,0.5);