Removing namespace with talos_ prefix.

.gitmodules

-[submodule "talos_roscontrol_sot/cmake"]
-	path = talos_roscontrol_sot/cmake
-	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git

talos_roscontrol_sot_talos/CMakeLists.txt → roscontrol_sot_talos/CMakeLists.txt

 cmake_minimum_required(VERSION 2.8.3)
-project(talos_roscontrol_sot_talos)
+project(roscontrol_sot_talos)
 
 find_package(PkgConfig REQUIRED)
 
@@ -17,7 +17,7 @@ find_package(catkin REQUIRED COMPONENTS
   control_msgs
   sensor_msgs
   realtime_tools
-  talos_controller_interface
+  controller_interface
 )
 
 include_directories(include ${bullet_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
@@ -35,7 +35,7 @@ catkin_package()
 # include_directories(include)
 include_directories( 
   ${catkin_INCLUDE_DIRS}
-  )
+)
 
 
 ## Add cmake target dependencies of the executable

talos_roscontrol_sot_talos/config/sot_talos_controller.yaml → roscontrol_sot_talos/config/sot_talos_controller.yaml

 sot_controller:
-  type: talos_sot_controller/RCSotController
+  type: sot_controller/RCSotController
   joints:
     - arm_left_1_joint
     - arm_left_2_joint

talos_roscontrol_sot_talos/launch/sot_talos_controller_effort.launch → roscontrol_sot_talos/launch/sot_talos_controller_effort.launch

 <launch>
 
   <!-- Sot Controller configuration -->
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/pids.yaml" />
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/pids.yaml" />
   
   <env name="PYTHONPATH" value="/opt/pal/dubnium/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/site-packages" />
   <!-- Spawn walking controller -->

talos_roscontrol_sot_talos/launch/sot_talos_controller_gazebo.launch → roscontrol_sot_talos/launch/sot_talos_controller_gazebo.launch

 <launch>
 
   <!-- Sot Controller configuration -->
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_params_gazebo.yaml"/>
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_gazebo.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
   
   <!-- Spawn walking controller -->
   <node name="sot_controller_spawner"
-        pkg="talos_controller_manager" type="spawner" output="screen"
+        pkg="controller_manager" type="spawner" output="screen"
         args="sot_controller" />
 
 </launch>

talos_roscontrol_sot_talos/launch/sot_talos_controller_gazebo_effort.launch → roscontrol_sot_talos/launch/sot_talos_controller_gazebo_effort.launch

 <launch>
 
   <!-- Sot Controller configuration -->
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_params_gazebo_effort.yaml"/>
-  <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_gazebo_effort.yaml"/>
+  <rosparam command="load" ns="/sot_controller/effort_control_pd_motor_init" file="$(find hardware_gazebo)/config/pids.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
   
   <!-- Spawn sot controller -->
   <node name="sot_controller_spawner"
-        pkg="talos_controller_manager" type="spawner" output="screen"
+        pkg="controller_manager" type="spawner" output="screen"
         args="sot_controller" />
 
 </launch>

talos_roscontrol_sot_talos/package.xml → roscontrol_sot_talos/package.xml

 <?xml version="1.0"?>
 <package>
-  <name>talos_roscontrol_sot_talos</name>
-  <version>0.0.7</version>
+  <name>roscontrol_sot_talos</name>
+  <version>0.0.8</version>
   <description>Wrapping Stack-of-tasks for Talos in ros-control</description>
 
   <!-- Maintainer email --> 
@@ -41,7 +41,8 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>realtime_tools</build_depend>
   <build_depend>cmake_modules</build_depend>
-  <build_depend>talos_roscontrol_sot</build_depend>
+  <build_depend>roscontrol_sot</build_depend>
+  <build_depend>controller_interface</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>control_msgs</run_depend>
@@ -50,6 +51,7 @@
   <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>cmake_modules</run_depend>
-  <run_depend>talos_roscontrol_sot</run_depend>
+  <run_depend>roscontrol_sot</run_depend>
+  <run_depend>controller_interface</run_depend>
   <!-- The export tag contains other, unspecified, tags -->
 </package>

sot_pyrene_bringup/package.xml

 <package>
   <name>sot_pyrene_bringup</name>
-  <version>0.0.7</version>
+  <version>0.0.8</version>
   <description>ROS package for Stack of Tasks on Pyrene</description>
 
   <maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>

talos_metapkg_ros_control_sot/package.xml

 <package>
   <name>talos_metapkg_ros_control_sot</name>
-  <version>0.0.7</version>
+  <version>0.0.8</version>
   <description>A set of packages that include sot-wrapper and talos sot params .</description>
 
   <maintainer email="olivier.stasse@laas.fr">Olivier Stasse</maintainer>
 
   <license>BSD</license>
 
-  <url type="repository">https://github.com/stack-of-tasks/roscontrol_sot</url>
+  <url type="repository">https://github.com/stack-of-tasks/talos_metapkg_roscontrol_sot</url>
 
   <author>Olivier Stasse</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend>talos_roscontrol_sot</run_depend>
-  <run_depend>talos_roscontrol_sot_talos</run_depend>
+  <run_depend>roscontrol_sot</run_depend>
+  <run_depend>roscontrol_sot_talos</run_depend>
   <run_depend>realtime_tools</run_depend>
   <run_depend>control_toolbox</run_depend>
 

talos_roscontrol_sot/CMakeLists.txt

-# Copyright (C) 2017 LAAS-CNRS
-#
-# Author: Olivier Stasse
-#
-# 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/>.
-cmake_minimum_required(VERSION 2.8.3)
-
-# Authorize warning error.
-SET(CXX_DISABLE_WERROR)
-
-include(cmake/base.cmake)
-include(cmake/ros.cmake)
-include(cmake/GNUInstallDirs.cmake)
-include(cmake/python.cmake)
-
-#project(talos_roscontrol_sot)
-
-OPTION(REAL_ROBOT "Compiling this package for the real robot" FALSE)
-
-find_package(PkgConfig REQUIRED)
-
-add_required_dependency(bullet)
-
-#set(bullet_FOUND 0)
-#pkg_check_modules(bullet REQUIRED bullet)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-if(${REAL_ROBOT})
-  set(additional_catkin_required_components
-    controller_interface
-    pal_hardware_interfaces
-    )
-else(${REAL_ROBOT})
-  set(additional_catkin_required_components
-    talos_controller_interface
-    talos_pal_hardware_interfaces
-    )
-endif(${REAL_ROBOT})
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-  dynamic_graph_bridge
-  control_msgs
-  sensor_msgs
-  realtime_tools
-  ${additional_catkin_required_components}
-)
-
-## LAAS cmake submodule part
-set(PROJECT_DESCRIPTION "Integration of the Stack of Tasks in roscontrol")
-set(PROJECT_NAME talos_roscontrol_sot)
-set(PROJECT_URL "ssh://git@redmine.laas.fr/laas/users/ostasse/pyrene-talos/metapkg_talos_roscontrol_sot.git")
-
-set(CXX_DISABLE_WERROR False)
-
-include_directories(include ${bullet_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
-
-link_directories(${bullet_LIBRARY_DIRS})
-
-SETUP_PROJECT()
-
-# This is necessary so that the pc file generated by catking is similar to the on
-# done directly by jrl-cmake-modules
-catkin_package(CATKIN_DEPENDS
-roscpp realtime_tools message_runtime dynamic_graph_bridge
-LIBRARIES rcsot_controller)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-include_directories( 
-  ${catkin_INCLUDE_DIRS}
-  )
-
-## Declare a C++ library
-add_library(talos_rcsot_controller 
-src/roscontrol-sot-controller.cpp
-src/log.cpp
-)
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(roscontrol_sot_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(talos_rcsot_controller
-  ${catkin_LIBRARIES}
-  ${bullet_LIBRARIES}
-  )
-
-
-## Mark executables and/or libraries for installation
-install(TARGETS talos_rcsot_controller DESTINATION lib )
-
-
-foreach(dir config launch)
-  install(DIRECTORY ${dir}
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
-endforeach()
-
-SETUP_PROJECT_FINALIZE()
-
-

talos_roscontrol_sot/LICENSE

-BSD 2-Clause License
-
-Copyright (c) 2017, Stack Of Tasks development team
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-* Redistributions of source code must retain the above copyright notice, this
-  list of conditions and the following disclaimer.
-
-* Redistributions in binary form must reproduce the above copyright notice,
-  this list of conditions and the following disclaimer in the documentation
-  and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

talos_roscontrol_sot/README.md

-# Introduction
-This package encapsulates a SoT graph to control a robot in the ros-control framework.
-The intent is to make it generic and adapted to any robot through rosparam.
-As the Stack-Of-Taks is a whole-body controller it tries to connect to all the available
-resources of the robot. 
-
-# rosparam
-
-## Namespace
-All the parameters regarding the SoT inside ros-control are in the namespace
-```
-/sot_controller
-```
-
-## Setting the SoT dynamic library which contains the robot device.
-
-Let us assume that you want to control a TALOS robot.
-You should then write a YAML file than can be named:
-```
-sot_talos_param.yaml
-```
-
-Its SoT device entity is located inside the following dynamic library:
-```
-/opt/openrobots/lib/libsot-pyrene-controller.so
-```
-Then inside the file sot_talos_param.yaml
-```
-  libname: libsot-pyrene-controller.so
-```
-
-## Specifying the actuated state vector
-To map the joints from the URDF model to the SoT actuated state vector, it is simply done by giving the ordered list of the joints name in the URDF model.
-For instance:
-```
-     joint_names: [ leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint,
-    leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
-    torso_1_joint,torso_2_joint,head_1_joint, head_2_joint,
-    arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
-    arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint
-  ] 
-```
-
-## Specifying the map between the ros control data and the sot device entity.
-
-This ros-control plugin connect to the robot (or simulated robot) by requesting the available ressources such as:
-1. motor-angles: Reading of the motor position
-2. joint-angles: Reading of the joint position
-3. velocities: Reading/estimation of the joint velocities
-4. torques: Reading/estimation of the joint torques
-5. cmd-position: Command for the joint positions
-6. cmd-effort: Command for the joint torques
-
-For instance the map for a robot which maps __cmd-position__ to __joints__ and __cmd-effort__ to __effort__ in its device will hae
-have the following lines in its param file:
-```
-map_rc_to_sot_device: { motor-angles: motor-angles ,
-  joint-angles: joint-angles, velocities: velocities,
-  torques: torques, cmd-joints: joints, cmd-effort: effort }
-```
-## Specifying the control mode
-Robots with __ros-control__ can be controlled either in position (POSITION) or in torque (EFFORT)
-using the __control_mode__ variable:
-
-```
-     control_mode: EFFORT
-```	
-
-
-

cmake @ 38d4efa7

-Subproject commit 38d4efa72f8e3fe087eb5abc72efd51747b2271d

talos_roscontrol_sot/config/gazebo_roscontrol_sot_controller_plugins.xml

-<library path="lib/libtalos_rcsot_controller">
-
-  <class name="talos_sot_controller/RCSotController" type="talos_sot_controller::RCSotController" base_class_type="talos_controller_interface::ControllerBase">
-    <description>
-       The roscontrol SotController generates whole body motions for your robot (following the talos interface).
-    </description>
-  </class>
-</library>
-

talos_roscontrol_sot/config/roscontrol_sot_controller_plugins.xml

-<library path="lib/libtalos_rcsot_controller">
-
-  <class name="talos_sot_controller/RCSotController" type="talos_sot_controller::RCSotController" base_class_type="controller_interface::ControllerBase">
-    <description>
-       The roscontrol SotController generates whole body motions for your robot (following the talos interface).
-    </description>
-  </class>
-</library>
-