Added center_of_gravity to SetPayload service

"Newer" version of URScript (>= 1.7) have the CoG as second optional parameter to the script function setting up the payload.
ros-industrial · Nov 27, 2019 · 101a0e9 · 101a0e9
1 parent c8c27c1
commit 101a0e9
Show file tree

Hide file tree

Showing 3 changed files with 4 additions and 1 deletion.
diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
@@ -4,7 +4,7 @@ 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 COMPONENTS message_generation std_msgs)
+find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs)
 
 
 ## Generate messages in the 'msg' folder
@@ -32,6 +32,7 @@ add_service_files(
 generate_messages(
    DEPENDENCIES
    std_msgs
+   geometry_msgs
 )
 
 ###################################

diff --git a/ur_msgs/package.xml b/ur_msgs/package.xml
@@ -14,6 +14,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>message_generation</build_depend>
+  <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
   <exec_depend>message_runtime</exec_depend>
 

diff --git a/ur_msgs/srv/SetPayload.srv b/ur_msgs/srv/SetPayload.srv
@@ -1,3 +1,4 @@
 float32 payload
+geometry_msgs/Vector3 center_of_gravity
 -----------------------
 bool success