Repo updated.

scripts/install_deps.sh

@@ -7,7 +7,7 @@ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C
 
 sudo apt-get update
 
-sudo apt install -y ros-kinetic-roscpp ros-kinetic-std-msgs ros-kinetic-cv-bridge ros-kinetic-image-transport ros-kinetic-roscpp-core ros-kinetic-rospy ros-kinetic-nav-msgs ros-kinetic-geometry-msgs ros-kinetic-opencv3 ros-kinetic-kobuki-gazebo
+sudo apt install -y ros-kinetic-roscpp ros-kinetic-std-msgs ros-kinetic-cv-bridge ros-kinetic-image-transport ros-kinetic-roscpp-core ros-kinetic-rospy ros-kinetic-nav-msgs ros-kinetic-geometry-msgs ros-kinetic-opencv3 ros-kinetic-kobuki-gazebo ros-kinetic-usb_cam
 
 sudo apt-get install -y libpcl-dev
 
@@ -41,7 +41,7 @@ sudo apt-get install -y libdc1394-22 libdc1394-22-dev
 
 sudo apt-get install -y libusb-1.0-0 libusb-1.0-0-dev
 
-sudo apt-get install -y python-matplotlib python-pyqt5 python-pip python-numpy python-pyqt5.qtsvg
+sudo apt-get install -y python-matplotlib python-pyqt5 python-pip python-numpy python-pyqt5.qtsvg python-pyqt5.qsci
 
 sudo apt-get install -y qfi
 
@@ -55,16 +55,14 @@ sudo apt install -y libzeroc-ice3.6 zeroc-ice-utils libzeroc-icestorm3.6 zeroc-i
 
 sudo apt-get install -y libssl-dev libbz2-dev
 sudo pip2 install --upgrade pip
-sudo pip2 install zeroc-ice
+sudo pip2 install zeroc-ice==3.6.4
 
 sudo apt-get install -y libopenni2-dev libopenni-dev
 
 sudo apt-get install -y gazebo7 libgazebo7-dev
 
 sudo apt-get install -y nodejs
 
-sudo apt install -y sophus
-
 sudo apt-get install -y ardronelib libgoogle-glog-dev
 
 

src/drivers/YoutubeServer/youtubeserver.yml

@@ -1,6 +1,6 @@
 youtubeServer:
   ImageSrv:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS (Not supported)
+    Server: Ice #Deactivate, Ice , ROS (Not supported)
     Proxy: "default -h 0.0.0.0 -p 9999"
     URL: "https://www.youtube.com/watch?v=zw47_q9wbBE"
     LiveBroadcast: False #True for youtube live events
@@ -10,4 +10,3 @@ youtubeServer:
     Name: youtubeServer_py
 
   NodeName: youtubeServerCfg
-

src/drivers/gazeboserver/plugins/opel/CMakeLists.txt

@@ -42,7 +42,7 @@ target_link_libraries(camera_dumpopel
     JderobotInterfaces
 )
 
-INSTALL (TARGETS opelMotors DESTINATION share/jderobot/gazebo/plugins/opel/ COMPONENT gazeboserver)
+INSTALL (TARGETS opelMotors camera_dumpopel opelPose3D DESTINATION share/jderobot/gazebo/plugins/opel/ COMPONENT gazeboserver)
 FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg)
 INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf/ COMPONENT gazeboserver)
 

src/examples/basic_component/basic_component.yml

@@ -1,14 +1,14 @@
 basic_component:
   Motors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/turtlebotROS/mobile_base/commands/velocity"
     Name: basic_componentCamera
     maxW: 0.7
     maxV: 4
-  
+
   Camera:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"
@@ -17,4 +17,3 @@ basic_component:
   NodeName: basic_component
   Vmax: 5
   Wmax: 0.5
-

src/examples/basic_component_py/basic_component_py.yml

@@ -1,14 +1,14 @@
 basic_component:
   Motors:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "Motors:default -h localhost -p 9001"
     Topic: "/turtlebotROS/mobile_base/commands/velocity"
     Name: basic_component_pyCamera
     maxW: 0.7
     maxV: 4
-  
+
   Camera:
-    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Server: Ice # Deactivate, Ice , ROS
     Proxy: "CameraL:default -h localhost -p 9001"
     Format: RGB8
     Topic: "/TurtlebotROS/cameraL/image_raw"

src/libs/comm_cpp/CMakeLists.txt

@@ -34,6 +34,7 @@ include_directories(
 
 set(HEADERS
     include/jderobot/comm/communicator.hpp
+    include/jderobot/comm/tools.hpp
     include/jderobot/comm/laserClient.hpp
     include/jderobot/comm/interfaces/laserClient.hpp
     include/jderobot/comm/ice/laserIceClient.hpp
@@ -65,6 +66,7 @@ set(HEADERS
 
 set(SOURCES
     src/communicator.cpp
+    src/tools.cpp
     src/laserClient.cpp
     src/ice/laserIceClient.cpp
     src/cameraClient.cpp

src/libs/comm_cpp/include/jderobot/comm/ardroneextraClient.hpp

@@ -22,8 +22,13 @@
 
 
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/ardroneextraClient.hpp>
+#include <jderobot/comm/ice/ardroneextraIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/publisherArDroneExtra.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/bumperClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/bumperData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/bumperClient.hpp>
+#include <jderobot/comm/ice/bumperIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerBumper.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/cameraClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/image.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/cameraClient.hpp>
+#include <jderobot/comm/ice/cameraIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerCamera.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/cmdvelClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/cmdvel.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/cmdvelClient.hpp>
+#include <jderobot/comm/ice/cmdvelIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/publisherCMDVel.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/communicator.hpp

@@ -23,6 +23,7 @@
 #include <Ice/Communicator.h>
 #include <Ice/Initialize.h>
 #include <jderobot/config/properties.hpp>
+#include <jderobot/comm/tools.hpp>
 
 
 namespace Comm {

src/libs/comm_cpp/include/jderobot/comm/laserClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/laserData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/laserClient.hpp>
+#include <jderobot/comm/ice/laserIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerLaser.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/motorsClient.hpp

@@ -22,8 +22,14 @@
 
 #include <jderobot/types/cmdvel.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/motorsClient.hpp>
+#include <jderobot/comm/ice/motorsIceClient.hpp>
+#include <jderobot/comm/tools.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/publisherMotors.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/navdataClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/navdataData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/navdataClient.hpp>
+#include <jderobot/comm/ice/navdataIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/listenerNavdata.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/pose3dClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/laserData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/pose3dClient.hpp>
+#include <jderobot/comm/ice/pose3dIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerPose.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/rgbdClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/rgbd.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/rgbdClient.hpp>
+#include <jderobot/comm/ice/rgbdIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/listenerRgbd.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/tools.hpp

@@ -0,0 +1,33 @@
+/*
+ *  Copyright (C) 1997-2018 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *  Authors :
+ *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_TOOLS_H
+#define JDEROBOTCOMM_TOOLS_H
+
+#include <jderobot/config/properties.hpp>
+
+
+namespace Comm {
+
+	int server2int (std::string server);
+
+
+} //NS
+
+#endif // JDEROBOTCOMM_TOOLS_H

src/libs/comm_cpp/src/ardroneextraClient.cpp

@@ -1,17 +1,16 @@
 #include <jderobot/comm/ardroneextraClient.hpp>
-#include <jderobot/comm/ice/ardroneextraIceClient.hpp>
-#ifdef JDERROS
-//#include <jderobot/comm/ros/publisherArDroneExtra.hpp>
-#endif
+
 
 namespace Comm {
 
-ArDroneExtraClient* 
+ArDroneExtraClient*
 getArDroneExtraClient(Comm::Communicator* jdrc, std::string prefix){
 	ArDroneExtraClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	server = server2int(server_name);
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{

src/libs/comm_cpp/src/bumperClient.cpp

@@ -1,16 +1,16 @@
-#include <jderobot/comm/interfaces/bumperClient.hpp>
-#include <jderobot/comm/ice/bumperIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerBumper.hpp>
-#endif
+#include <jderobot/comm/bumperClient.hpp>
+
 
 namespace Comm {
 
-BumperClient* 
+BumperClient*
 getBumperClient(Comm::Communicator* jdrc, std::string prefix){
 	BumperClient* client = 0;
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	server = server2int(server_name);
+
 	switch (server){
 		case 0:
 		{

src/libs/comm_cpp/src/cameraClient.cpp

@@ -17,19 +17,18 @@
  *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
  */
 #include <jderobot/comm/cameraClient.hpp>
-#include <jderobot/comm/ice/cameraIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerCamera.hpp>
-#endif
+
 
 namespace Comm {
 
-CameraClient* 
+CameraClient*
 getCameraClient(Comm::Communicator* jdrc, std::string prefix){
 	CameraClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	server = server2int(server_name);
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{
@@ -76,4 +75,4 @@ getCameraClient(Comm::Communicator* jdrc, std::string prefix){
 
 }
 
-}//NS
+}//NS

src/libs/comm_cpp/src/cmdvelClient.cpp

@@ -1,17 +1,16 @@
 #include <jderobot/comm/cmdvelClient.hpp>
-#include <jderobot/comm/ice/cmdvelIceClient.hpp>
-#ifdef JDERROS
-//#include <jderobot/comm/ros/publisherCMDVel.hpp>
-#endif
+
 
 namespace Comm {
 
-CMDVelClient* 
+CMDVelClient*
 getCMDVelClient(Comm::Communicator* jdrc, std::string prefix){
 	CMDVelClient* client = 0;
 
+	int server;
+	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
+	server = server2int(server_name);
 
-	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
 	switch (server){
 		case 0:
 		{