Merge pull request #225 from adamantivm/kinetic-updates

Updates for Kinetic release

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog
 =========
 
+0.3.0 (2016-12-13)
+------------------
+* Updates for Kinetic release.
+* NativeNodeMain for C++ node integration.
+
 0.2.1 (2015-02-25)
 ------------------
 * allow setting of the talker topic name in pubsub tutorial.

README.md

@@ -0,0 +1,62 @@
+rosjava is the first pure Java implementation of ROS.
+
+From [ROS.org](http://www.ros.org/wiki/): ROS is an open-source, meta-operating
+system for your robot. It provides the services you would expect from an
+operating system, including hardware abstraction, low-level device control,
+implementation of commonly-used functionality, message-passing between
+processes, and package management.
+
+Developed at Google in cooperation with Willow Garage, rosjava enables
+integration of Android and ROS compatible robots. This project is under active
+development and currently alpha quality software. Please report bugs and feature
+requests on the [issues
+list](https://github.com/rosjava/rosjava/issues?state=open).
+
+To get started, visit the
+[rosjava_core](http://rosjava.github.com/rosjava_core/latest) and
+[android_core](http://rosjava.github.com/android_core/latest) pages for
+documentation concerning the core libraries and examples. Also visit the roswiki
+[rosjava](http://wiki.ros.org/rosjava) and
+[android](http://wiki.ros.org/android) pages for more general rosjava-android
+information.
+
+Still have questions? Check out the ros-users [discussion
+list](https://discourse.ros.org/c/rosjava), post questions to [ROS
+Answers](http://answers.ros.org/questions/) with the tag "rosjava," or join #ROS
+on irc.oftc.net.
+
+rosjava was announced publicly during the [Cloud Robotics tech talk at Google
+I/O 2011](http://www.youtube.com/watch?feature=player_embedded&v=FxXBUp-4800).
+
+Looking for a robot platform to experiment with ROS, Android, and cloud
+robotics? The [OSRF](http://www.osrfoundation.org/)
+[TurtleBot](http://wiki.ros.org/Robots/TurtleBot) is a great mobile perception
+platform for [getting started with robotics
+development](http://www.youtube.com/watch?feature=player_embedded&v=MOEjL8JDvd0).
+
+### Branches ###
+
+The master branch reflects the latest version of rosjava. All development
+happens on the master branch in the form of pull requests from developers.
+Unless you are developing rosjava itself, you should _not_ use the master
+branch.
+
+Named branches are created whenever a new version of ROS is released. These
+branches are considered stable. No new features will be added to these branches,
+however, bug fixes may be cherry picked from master.
+
+### Pull Requests ###
+
+You must sign a Contributor License Agreement (CLA) before we can accept any
+code. The CLA protects you and us.
+
+* If you are an individual writing original source code and you're sure you own
+  the intellectual property, then you'll need to sign an [individual
+  CLA](https://developers.google.com/open-source/cla/individual).
+* If you work for a company that wants to allow you to contribute your work to
+  SL4A, then you'll need to sign a [corporate
+  CLA](https://developers.google.com/open-source/cla/corporate).
+
+Follow either of the two links above to access the appropriate CLA and
+instructions for how to sign and return it. Damon will respond on either github
+or email to confirm.

build.gradle

@@ -19,7 +19,7 @@ task wrapper(type: Wrapper) {
 }
 
 buildscript {
-  apply from: "https://github.com/rosjava/rosjava_bootstrap/raw/indigo/buildscript.gradle"
+  apply from: "https://github.com/rosjava/rosjava_bootstrap/raw/kinetic/buildscript.gradle"
 }
 
 apply plugin: "catkin"
@@ -31,16 +31,16 @@ allprojects {
 
 subprojects {
   if (name != 'docs') {
-    /* 
+    /*
      * The ros plugin configures a few things:
-     * 
+     *
      *  - local deployment repository : where it dumps the jars and packaged artifacts)
-     *  - local maven repositories    : where it finds your locally installed/built artifacts) 
+     *  - local maven repositories    : where it finds your locally installed/built artifacts)
      *  - external maven repositories : where it goes looking if it can't find dependencies locally
-     * 
+     *
      * To modify, or add repos to the default external maven repositories list, pull request against this code:
-     * 
-     *   https://github.com/rosjava/rosjava_bootstrap/blob/indigo/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy#L31
+     *
+     *   https://github.com/rosjava/rosjava_bootstrap/blob/kinetic/gradle_plugins/src/main/groovy/org/ros/gradle_plugins/RosPlugin.groovy#L31
      */
     apply plugin: "ros-java"
     apply plugin: "osgi"

docs/src/main/sphinx/installing.rst

@@ -28,7 +28,7 @@ you simply need to clone the github repository
 
   git clone https://github.com/rosjava/rosjava_core
   cd rosjava_core
-  git checkout -b indigo origin/indigo
+  git checkout -b kinetic origin/kinetic
 
 and proceed immediately to the section on :ref:`building`.
 

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rosjava_core</name>
-  <version>0.2.1</version>
+  <version>0.3.0</version>
   <description>
     An implementation of ROS in pure-Java with Android support.
   </description>

rosjava/build.gradle

@@ -18,11 +18,11 @@ dependencies {
   compile project(':apache_xmlrpc_common')
   compile project(':apache_xmlrpc_server')
   compile project(':apache_xmlrpc_client')
-  compile 'org.ros.rosjava_bootstrap:message_generation:[0.2,0.3)'
-  compile 'org.ros.rosjava_messages:rosjava_test_msgs:[0.2,0.3)'
+  compile 'org.ros.rosjava_bootstrap:message_generation:[0.3,0.4)'
+  compile 'org.ros.rosjava_messages:rosjava_test_msgs:[0.3,0.4)'
   compile 'org.ros.rosjava_messages:rosgraph_msgs:[1.11,1.12)'
-  compile 'org.ros.rosjava_messages:geometry_msgs:[1.11,1.12)'
-  compile 'org.ros.rosjava_messages:nav_msgs:[1.11,1.12)'
+  compile 'org.ros.rosjava_messages:geometry_msgs:[1.12,1.13)'
+  compile 'org.ros.rosjava_messages:nav_msgs:[1.12,1.13)'
   compile 'org.ros.rosjava_messages:tf2_msgs:[0.5,0.6)'
   compile 'dnsjava:dnsjava:2.1.1'
   compile 'org.apache.commons:com.springsource.org.apache.commons.logging:1.1.1'

rosjava/src/main/java/org/ros/node/NativeNodeMain.java

@@ -0,0 +1,103 @@
+package org.ros.node;
+
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.Node;
+import org.ros.namespace.GraphName;
+
+import org.apache.commons.logging.Log;
+import org.apache.commons.logging.LogFactory;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * A java wrapper to load and run a native-code ROS node.
+ * 
+ * Note: there are no actual native methods declared in this class. We only define an interface. The native methods should be declared in the child class.
+ * 
+ * @author [email protected] (Ernesto Corbellini)
+ */
+public abstract class NativeNodeMain extends AbstractNodeMain {
+
+  private Log log = LogFactory.getLog(NativeNodeMain.class);
+  private String libName;
+  private String masterUri = null;
+  private String hostName = null;
+  private String nodeName = null;
+  private String[] remappingArguments;
+  private boolean shuttingDown = false;
+
+  /**
+   *  @param libName
+   *    The name of the library to load.
+   * 
+   *  @param remappings
+   *    A string array with ROS argument remapping pairs in each element.
+   **/
+  public NativeNodeMain(String libName, String[] remappings) {
+    this.libName = libName;
+
+    // if no remapping is needed, create an empty array
+    if (remappings == null) {
+      remappingArguments = new String[0];
+    }
+
+    log.info("Trying to load native library '" + libName + "'...");
+    try
+    {
+      System.loadLibrary(libName);
+    }
+    catch (SecurityException e)
+    {
+      log.info("Error loading library! SecurityException");
+    }
+    catch (UnsatisfiedLinkError e)
+    {
+      log.info("Error loading library! UnsatisfiedLinkError");
+    }
+    catch (NullPointerException e)
+    {
+      log.info("Error loading library! NullPointerException");
+    }
+  }
+
+  /**
+   *  @param libName
+   *    The name of the library to load.
+   **/
+  public NativeNodeMain(String libName) {
+    this(libName, null);
+  }
+
+  // These methods define the execution model interface for this node.
+  protected abstract void execute(String rosMasterUri, String rosHostName, String rosNodeName, String[] remappingArguments);
+  protected abstract void shutdown();
+
+  @Override
+  public void onStart(final ConnectedNode connectedNode) {
+    // retain important ROS info
+    masterUri = connectedNode.getMasterUri().toString();
+    hostName = connectedNode.getUri().getHost();
+    nodeName = this.libName;
+
+    // create a new thread to execute the native code.
+    new Thread() {
+      @Override
+      public void run() {
+        execute(masterUri, hostName, nodeName, remappingArguments);
+
+        // node execution has finished so we propagate the shutdown sequence only if we aren't already shutting down for other reasons
+        if(!shuttingDown) {
+          connectedNode.shutdown();
+        }
+      }
+    }.start();
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+    shuttingDown = true;
+    shutdown();
+  }
+}

rosjava_tutorial_right_hand_rule/build.gradle

@@ -20,6 +20,6 @@ mainClassName = 'org.ros.RosRun'
 
 dependencies {
   compile project(':rosjava')
-  compile 'org.ros.rosjava_messages:sensor_msgs:[1.11,1.12)'
+  compile 'org.ros.rosjava_messages:sensor_msgs:[1.12,1.13)'
 }