[
  {
    "path": ".github/workflows/ci_bionic.yml",
    "content": "name: CI - Ubuntu Bionic\n\non:\n  # direct pushes to protected branches are not supported\n  pull_request:\n  # run every day, at 8am UTC\n  schedule:\n    - cron: '0 8 * * *'\n  # allow manually starting this workflow\n  workflow_dispatch:\n\njobs:\n  industrial_ci:\n    name: ROS Melodic (${{ matrix.ros_repo }})\n    runs-on: ubuntu-20.04\n\n    strategy:\n      fail-fast: false\n      matrix:\n        ros_distro: [ melodic ]\n        ros_repo: [ main, testing ]\n\n    env:\n      CCACHE_DIR: \"${{ github.workspace }}/.ccache\"\n      UPSTREAM_WORKSPACE: 'github:ros-industrial/abb#kinetic-devel'\n\n    steps:\n      - name: Fetch repository\n        uses: actions/checkout@v3\n\n      - name: ccache cache\n        uses: actions/cache@v3\n        with:\n          path: ${{ env.CCACHE_DIR }}\n          # we always want the ccache cache to be persisted, as we cannot easily\n          # determine whether dependencies have changed, and ccache will manage\n          # updating the cache for us. Adding 'run_id' to the key will force an\n          # upload at the end of the job.\n          key: ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}-${{github.run_id}}\n          restore-keys: |\n            ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}\n\n      - name: Run industrial_ci\n        uses: ros-industrial/industrial_ci@master\n        env:\n          ROS_DISTRO: ${{ matrix.ros_distro }}\n          ROS_REPO: ${{ matrix.ros_repo }}\n"
  },
  {
    "path": ".github/workflows/ci_focal.yml",
    "content": "name: CI - Ubuntu Focal\n\non:\n  # direct pushes to protected branches are not supported\n  pull_request:\n  # run every day, at 8am UTC\n  schedule:\n    - cron: '0 8 * * *'\n  # allow manually starting this workflow\n  workflow_dispatch:\n\njobs:\n  industrial_ci:\n    name: ROS Noetic (${{ matrix.ros_repo }})\n    runs-on: ubuntu-20.04\n\n    strategy:\n      fail-fast: false\n      matrix:\n        ros_distro: [ noetic ]\n        ros_repo: [ main, testing ]\n\n    env:\n      CCACHE_DIR: \"${{ github.workspace }}/.ccache\"\n      # using both abb as well as abb_driver from source as:\n      #\n      # - experimental repositories may always depend on unreleased changes\n      #   in the non-experimental repository, and\n      # - industrial_core has recently been updated and only melodic-devel of\n      #   abb_driver is compatible with those changes\n      #\n      UPSTREAM_WORKSPACE: 'github:ros-industrial/abb#kinetic-devel github:ros-industrial/abb_driver#melodic-devel'\n\n    steps:\n      - name: Fetch repository\n        uses: actions/checkout@v3\n\n      - name: ccache cache\n        uses: actions/cache@v3\n        with:\n          path: ${{ env.CCACHE_DIR }}\n          # we always want the ccache cache to be persisted, as we cannot easily\n          # determine whether dependencies have changed, and ccache will manage\n          # updating the cache for us. Adding 'run_id' to the key will force an\n          # upload at the end of the job.\n          key: ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}-${{github.run_id}}\n          restore-keys: |\n            ccache-${{ matrix.ros_distro }}-${{ matrix.ros_repo }}\n\n      - name: Run industrial_ci\n        uses: ros-industrial/industrial_ci@master\n        env:\n          ROS_DISTRO: ${{ matrix.ros_distro }}\n          ROS_REPO: ${{ matrix.ros_repo }}\n"
  },
  {
    "path": ".gitignore",
    "content": "# Compiled Object files\n*.slo\n*.lo\n*.o\n\n# Compiled Dynamic libraries\n*.so\n*.dylib\n\n# Compiled Static libraries\n*.lai\n*.la\n*.a\n\n# Temp files\n*~\n*.autosave\n"
  },
  {
    "path": "CONTRIBUTING.md",
    "content": "ROS-Industrial is a community project. We welcome contributions from any source, from those who are extremely active to casual users. The following sections outline the steps on how to contribute to ROS-Industrial. It assumes there is an existing repository to which one would like to contribute (item 1 in the figure above) and one is familiar with the Git \"Fork and Branch\" workflow, detailed [here](http://blog.scottlowe.org/2015/01/27/using-fork-branch-git-workflow/).\n\n1. Before any development is undertaken, a contributor would communicate a need and/or issue to the ROS-Industrial community. This can be done by submitting an issue on the appropriate GitHub repo, the [issues repo](https://github.com/ros-industrial/ros_industrial_issues), or by posting a message in the [ROS-Industrial category on ROS Discourse](//swri-ros-pkg-dev@googlegroups.com). . Doing so may save you time if similar development is underway and ensure that whatever approach you take is acceptable to the community of reviewers once it is submitted.\n2. The second step (item 2) is to implement your change. If you are working on a code contribution, we highly recommend you utilize the [ROS Qt-Creator Plug-in](http://rosindustrial.org/news/2016/6/9/ros-qt-ide-plugin). Verify that your change successfully builds and passes all tests.\n3. Next, push your changes to a \"feature\" branch in your personal fork of the repo and issue a pull request (PR)(item 3). The PR allows maintainers to review the submitted code. Before the PR can be accepted, the maintainer and contributor must agree that the contribution is implemented appropriately. This process can take several back-and-forth steps (see [example](https://github.com/ros-industrial/motoman/pull/89)). Contributors should expect to spend as much time reviewing/changing the code as on the initial implementation. This time can be minimized by communicating with the ROS-Industrial community before any contribution is made.\n4. Issuing a Pull Request (PR) triggers the [Travis Continuous Integrations (CI)](https://github.com/ros-industrial/industrial_ci) step (item 4) which happens automatically in the background. The Travis CI performs several operations, and if any of the steps below fail, then the PR is marked accordingly for the maintainer.\n  * Travis Workflow:\n    * Installs a barebones ROS distribution on a fresh Ubuntu virtual machine.\n    * Creates a catkin workspace and puts the repository in it.\n    * Uses wstool to check out any from-source dependencies (i.e. other repositories).\n    * Resolves package dependencies using rosdep (i.e. install packages using apt-get).\n    * Compiles the catkin workspace.\n    * Runs all available unit tests.\n5. If the PR passes Travis CI and one of the maintainers is satisfied with the changes, they post a +1 as a comment on the PR (item 5). The +1 signifies that the PR is ready to be merged. All PRs require at least one +1 and pass Travis CI before it can be merged.\n6. The next step (item 6) is for the PR to be merged into the main branch. This is done through the GitHub web interface by selecting the “Merge pull request” button. After the PR is merged, all status badges are updated automatically.\n7. Periodically, the maintainer will release the package (item 7), which then gets sent to the [ROS Build Farm](http://wiki.ros.org/build.ros.org) for Debian creation.\n8. The publishing of the released packages (item 8) is managed by OSRF and is not on a set schedule. This usually happens when all packages for a given distro are built successfully and stable. The current status for the distro kinetic can be found [here](http://repositories.ros.org/status_page/ros_kinetic_default.html) . Navigating to other distros can be done by changing the distro name in the link.\n9. Once the package has been published, it is available to be installed by the developer (item 9).\n10. After the install of a new version, the developer may have questions, experience issues or it may not have the necessary functionality which should all be reported on the packages GitHub repository as an issue (item 10). If an issue is identified or there is missing functionality that the developer requires, the cycle starts back at (item 2).\n\nFor more details, please refer to the [ROS-I wiki](http://wiki.ros.org/Industrial/DevProcess).\n\n## Licensing\nAny contribution that you make to this repository will\nbe under the Apache 2 License, as dictated by that\n[license](http://www.apache.org/licenses/LICENSE-2.0.html):\n\n~~~\n5. Submission of Contributions. Unless You explicitly state otherwise,\n   any Contribution intentionally submitted for inclusion in the Work\n   by You to the Licensor shall be under the terms and conditions of\n   this License, without any additional terms or conditions.\n   Notwithstanding the above, nothing herein shall supersede or modify\n   the terms of any separate license agreement you may have executed\n   with Licensor regarding such Contributions.\n~~~\n"
  },
  {
    "path": "LICENSE",
    "content": "Apache License\nVersion 2.0, January 2004\nhttp://www.apache.org/licenses/\n\nTERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION\n\n1. Definitions.\n\n\"License\" shall mean the terms and conditions for use, reproduction, and\ndistribution as defined by Sections 1 through 9 of this document.\n\n\"Licensor\" shall mean the copyright owner or entity authorized by the copyright\nowner that is granting the License.\n\n\"Legal Entity\" shall mean the union of the acting entity and all other entities\nthat control, are controlled by, or are under common control with that entity.\nFor the purposes of this definition, \"control\" means (i) the power, direct or\nindirect, to cause the direction or management of such entity, whether by\ncontract or otherwise, or (ii) ownership of fifty percent (50%) or more of the\noutstanding shares, or (iii) beneficial ownership of such entity.\n\n\"You\" (or \"Your\") shall mean an individual or Legal Entity exercising\npermissions granted by this License.\n\n\"Source\" form shall mean the preferred form for making modifications, including\nbut not limited to software source code, documentation source, and configuration\nfiles.\n\n\"Object\" form shall mean any form resulting from mechanical transformation or\ntranslation of a Source form, including but not limited to compiled object code,\ngenerated documentation, and conversions to other media types.\n\n\"Work\" shall mean the work of authorship, whether in Source or Object form, made\navailable under the License, as indicated by a copyright notice that is included\nin or attached to the work (an example is provided in the Appendix below).\n\n\"Derivative Works\" shall mean any work, whether in Source or Object form, that\nis based on (or derived from) the Work and for which the editorial revisions,\nannotations, elaborations, or other modifications represent, as a whole, an\noriginal work of authorship. For the purposes of this License, Derivative Works\nshall not include works that remain separable from, or merely link (or bind by\nname) to the interfaces of, the Work and Derivative Works thereof.\n\n\"Contribution\" shall mean any work of authorship, including the original version\nof the Work and any modifications or additions to that Work or Derivative Works\nthereof, that is intentionally submitted to Licensor for inclusion in the Work\nby the copyright owner or by an individual or Legal Entity authorized to submit\non behalf of the copyright owner. For the purposes of this definition,\n\"submitted\" means any form of electronic, verbal, or written communication sent\nto the Licensor or its representatives, including but not limited to\ncommunication on electronic mailing lists, source code control systems, and\nissue tracking systems that are managed by, or on behalf of, the Licensor for\nthe purpose of discussing and improving the Work, but excluding communication\nthat is conspicuously marked or otherwise designated in writing by the copyright\nowner as \"Not a Contribution.\"\n\n\"Contributor\" shall mean Licensor and any individual or Legal Entity on behalf\nof whom a Contribution has been received by Licensor and subsequently\nincorporated within the Work.\n\n2. Grant of Copyright License.\n\nSubject to the terms and conditions of this License, each Contributor hereby\ngrants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free,\nirrevocable copyright license to reproduce, prepare Derivative Works of,\npublicly display, publicly perform, sublicense, and distribute the Work and such\nDerivative Works in Source or Object form.\n\n3. Grant of Patent License.\n\nSubject to the terms and conditions of this License, each Contributor hereby\ngrants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free,\nirrevocable (except as stated in this section) patent license to make, have\nmade, use, offer to sell, sell, import, and otherwise transfer the Work, where\nsuch license applies only to those patent claims licensable by such Contributor\nthat are necessarily infringed by their Contribution(s) alone or by combination\nof their Contribution(s) with the Work to which such Contribution(s) was\nsubmitted. If You institute patent litigation against any entity (including a\ncross-claim or counterclaim in a lawsuit) alleging that the Work or a\nContribution incorporated within the Work constitutes direct or contributory\npatent infringement, then any patent licenses granted to You under this License\nfor that Work shall terminate as of the date such litigation is filed.\n\n4. Redistribution.\n\nYou may reproduce and distribute copies of the Work or Derivative Works thereof\nin any medium, with or without modifications, and in Source or Object form,\nprovided that You meet the following conditions:\n\nYou must give any other recipients of the Work or Derivative Works a copy of\nthis License; and\nYou must cause any modified files to carry prominent notices stating that You\nchanged the files; and\nYou must retain, in the Source form of any Derivative Works that You distribute,\nall copyright, patent, trademark, and attribution notices from the Source form\nof the Work, excluding those notices that do not pertain to any part of the\nDerivative Works; and\nIf the Work includes a \"NOTICE\" text file as part of its distribution, then any\nDerivative Works that You distribute must include a readable copy of the\nattribution notices contained within such NOTICE file, excluding those notices\nthat do not pertain to any part of the Derivative Works, in at least one of the\nfollowing places: within a NOTICE text file distributed as part of the\nDerivative Works; within the Source form or documentation, if provided along\nwith the Derivative Works; or, within a display generated by the Derivative\nWorks, if and wherever such third-party notices normally appear. The contents of\nthe NOTICE file are for informational purposes only and do not modify the\nLicense. You may add Your own attribution notices within Derivative Works that\nYou distribute, alongside or as an addendum to the NOTICE text from the Work,\nprovided that such additional attribution notices cannot be construed as\nmodifying the License.\nYou may add Your own copyright statement to Your modifications and may provide\nadditional or different license terms and conditions for use, reproduction, or\ndistribution of Your modifications, or for any such Derivative Works as a whole,\nprovided Your use, reproduction, and distribution of the Work otherwise complies\nwith the conditions stated in this License.\n\n5. Submission of Contributions.\n\nUnless You explicitly state otherwise, any Contribution intentionally submitted\nfor inclusion in the Work by You to the Licensor shall be under the terms and\nconditions of this License, without any additional terms or conditions.\nNotwithstanding the above, nothing herein shall supersede or modify the terms of\nany separate license agreement you may have executed with Licensor regarding\nsuch Contributions.\n\n6. Trademarks.\n\nThis License does not grant permission to use the trade names, trademarks,\nservice marks, or product names of the Licensor, except as required for\nreasonable and customary use in describing the origin of the Work and\nreproducing the content of the NOTICE file.\n\n7. Disclaimer of Warranty.\n\nUnless required by applicable law or agreed to in writing, Licensor provides the\nWork (and each Contributor provides its Contributions) on an \"AS IS\" BASIS,\nWITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied,\nincluding, without limitation, any warranties or conditions of TITLE,\nNON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are\nsolely responsible for determining the appropriateness of using or\nredistributing the Work and assume any risks associated with Your exercise of\npermissions under this License.\n\n8. Limitation of Liability.\n\nIn no event and under no legal theory, whether in tort (including negligence),\ncontract, or otherwise, unless required by applicable law (such as deliberate\nand grossly negligent acts) or agreed to in writing, shall any Contributor be\nliable to You for damages, including any direct, indirect, special, incidental,\nor consequential damages of any character arising as a result of this License or\nout of the use or inability to use the Work (including but not limited to\ndamages for loss of goodwill, work stoppage, computer failure or malfunction, or\nany and all other commercial damages or losses), even if such Contributor has\nbeen advised of the possibility of such damages.\n\n9. Accepting Warranty or Additional Liability.\n\nWhile redistributing the Work or Derivative Works thereof, You may choose to\noffer, and charge a fee for, acceptance of support, warranty, indemnity, or\nother liability obligations and/or rights consistent with this License. However,\nin accepting such obligations, You may act only on Your own behalf and on Your\nsole responsibility, not on behalf of any other Contributor, and only if You\nagree to indemnify, defend, and hold each Contributor harmless for any liability\nincurred by, or claims asserted against, such Contributor by reason of your\naccepting any such warranty or additional liability.\n\nEND OF TERMS AND CONDITIONS\n\nAPPENDIX: How to apply the Apache License to your work\n\nTo apply the Apache License to your work, attach the following boilerplate\nnotice, with the fields enclosed by brackets \"[]\" replaced with your own\nidentifying information. (Don't include the brackets!) The text should be\nenclosed in the appropriate comment syntax for the file format. We also\nrecommend that a file or class name and description of purpose be included on\nthe same \"printed page\" as the copyright notice for easier identification within\nthird-party archives.\n\n   Copyright [yyyy] [name of copyright owner]\n\n   Licensed under the Apache License, Version 2.0 (the \"License\");\n   you may not use this file except in compliance with the License.\n   You may obtain a copy of the License at\n\n     http://www.apache.org/licenses/LICENSE-2.0\n\n   Unless required by applicable law or agreed to in writing, software\n   distributed under the License is distributed on an \"AS IS\" BASIS,\n   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n   See the License for the specific language governing permissions and\n   limitations under the License.\n"
  },
  {
    "path": "README.md",
    "content": "# ABB Experimental\n\n[![Build Status: Ubuntu Focal (Actions)](https://github.com/ros-industrial/abb_experimental/workflows/CI%20-%20Ubuntu%20Focal/badge.svg?branch=kinetic-devel)](https://github.com/ros-industrial/abb_experimental/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22)\n[![Github Issues](https://img.shields.io/github/issues/ros-industrial/abb_experimental.svg)](http://github.com/ros-industrial/abb_experimental/issues)\n\n[![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)\n[![license - bsd 3 clause](https://img.shields.io/:license-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)\n\n[![support level: community](https://img.shields.io/badge/support%20level-community-lightgray.svg)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)\n\n[ROS-Industrial][] ABB experimental meta-package.  See the [ROS wiki][] page for more information.\n\n\n## Contents\n\nThis repository contains packages that will be migrated to the [abb][] repository after they have received sufficient testing.\nThe contents of these packages are subject to change, without prior notice.\nAny available APIs are to be considered unstable and are not guaranteed to be complete and / or functional.\n\nBranch naming follows the ROS distribution they are compatible with. `-devel` branches may be unstable.\n\n\n## Naming Convention\n\nAll robot support packages and MoveIt configurations follow the naming conventions as described in [REP-I0007][].\n\n\n## Installation\n\nAs this repository contains experimental packages, no binary packages are available.\n\nInstead, follow the instructions to build them in a Catkin workspace shown in the next section.\n\n\n## Building\n\n### On newer (or older) versions of ROS\n\nBuilding the packages on newer (or older) versions of ROS is in most cases possible and supported. For example: building the packages in this repository on Ubuntu Xenial/ROS Kinetic or Ubuntu Bionic/ROS Melodic systems is supported. This will require creating a Catkin workspace, cloning this repository, installing all required dependencies and finally building the workspace.\n\n### Catkin tools\n\nIt is recommended to use [catkin_tools][] instead of the default [catkin][] when building ROS workspaces. `catkin_tools` provides a number of benefits over regular `catkin_make` and will be used in the instructions below. All packages can be built using `catkin_make` however: use `catkin_make` in place of `catkin build` where appropriate.\n\n### Building the packages\n\nThe following instructions assume that a [Catkin workspace][] has been created at `$HOME/catkin_ws` and that the *source space* is at `$HOME/catkin_ws/src`. Update paths appropriately if they are different on the build machine.\n\nThese instructions build the `kinetic-devel` branch on a ROS Kinetic system:\n\n```bash\n# change to the root of the Catkin workspace\n$ cd $HOME/catkin_ws\n\n# retrieve the latest development version of the abb repository. If you'd rather\n# use the latest released version, replace 'kinetic-devel' with 'kinetic'\n$ git clone -b kinetic-devel https://github.com/ros-industrial/abb.git src/abb\n# retrieve the latest development version of abb_experimental\n$ git clone -b kinetic-devel https://github.com/ros-industrial/abb_experimental.git src/abb_experimental\n\n# check build dependencies. Note: this may install additional packages,\n# depending on the software installed on the machine\n$ rosdep update\n\n# be sure to change 'kinetic' to whichever ROS release you are using\n$ rosdep install --from-paths src/ --ignore-src --rosdistro kinetic\n\n# build the workspace (using catkin_tools)\n$ catkin build\n```\n\n### Activating the workspace\n\nFinally, activate the workspace to get access to the packages just built:\n\n```bash\n$ source $HOME/catkin_ws/devel/setup.bash\n```\n\nAt this point all packages should be usable (ie: `roslaunch` should be able to auto-complete package names starting with `abb_..`). In case the workspace contains additional packages (ie: not from this repository), those should also still be available.\n\n\n## Installation and usage\n\nRefer to [Working With ROS-Industrial Robot Support Packages][] for information on how to use the files provided by the robot support and MoveIt configuration packages. See also the other pages on the [ROS wiki][].\n\nRefer to the [tutorials][] for information on installation and configuration of the controller-specific software components.\n\n\n\n\n\n\n[ROS-Industrial]: http://wiki.ros.org/Industrial\n[ROS wiki]: http://wiki.ros.org/abb_experimental\n[abb]: https://github.com/ros-industrial/abb\n[REP-I0007]: https://github.com/ros-industrial/rep/blob/master/rep-I0007.rst\n[Catkin workspace]: http://wiki.ros.org/catkin/Tutorials/create_a_workspace\n[catkin]: http://wiki.ros.org/catkin\n[catkin_tools]: https://catkin-tools.readthedocs.io/en/latest\n[Working With ROS-Industrial Robot Support Packages]: http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages\n[tutorials]: http://wiki.ros.org/abb/Tutorials\n"
  },
  {
    "path": "abb_experimental/CMakeLists.txt",
    "content": "cmake_minimum_required(VERSION 3.0.2)\nproject(abb_experimental)\nfind_package(catkin REQUIRED)\ncatkin_metapackage()\n"
  },
  {
    "path": "abb_experimental/package.xml",
    "content": "<?xml version=\"1.0\"?>\n<package format=\"2\">\n  <name>abb_experimental</name>\n  <version>0.1.0</version>\n  <description>Experimental packages for ABB manipulators within ROS-Industrial.</description>\n  <author>Shaun Edwards</author>\n  <maintainer email=\"levi.armstrong@swri.org\">Levi Armstrong (Southwest Research Institute)</maintainer>\n  <license>BSD</license>\n\n  <url type=\"website\">http://wiki.ros.org/abb_experimental</url>\n  <url type=\"bugtracker\">https://github.com/ros-industrial/abb_experimental/issues</url>\n  <url type=\"repository\">https://github.com/ros-industrial/abb_experimental</url>\n\n  <buildtool_depend>catkin</buildtool_depend>\n\n  <export>\n    <metapackage/>\n    <architecture_independent/>\n  </export>\n</package>\n"
  }
]