8 files changed, 411 insertions, 0 deletions

diff --git a/devel/ros-nxt/Makefile b/devel/ros-nxt/Makefile
new file mode 100644
index 000000000000..447b4bb6575a
--- /dev/null
+++ b/devel/ros-nxt/Makefile
@@ -0,0 +1,100 @@
+# New ports collection makefile for: nxt-ros
+# Date created:	2010-11-27
+# Whom: Rene Ladan <rene@FreeBSD.org>
+#
+# $FreeBSD$
+
+PORTNAME=	ros-nxt
+PORTVERSION=	0.1.0
+CATEGORIES=	devel
+MASTER_SITES=	ftp://rene-ladan.nl/pub/distfiles/ros/
+DISTFILES=	nxt-${PORTVERSION}.tar.bz2 nxt-python-1.1.2.zip
+DIST_SUBDIR=	ros
+EXTRACT_ONLY=	nxt-${PORTVERSION}.tar.bz2
+
+MAINTAINER=	rene@FreeBSD.org
+COMMENT=	Robot Operating System - LEGO NXT interface
+
+LICENSE_COMB=	multi
+LICENSE=	BSD GPLv3
+
+STACKNAME=	${PORTNAME:S/ros-//}
+WRKSRC=		${WRKDIR}/${STACKNAME}
+
+# TODO port python-bluez for secondary bluetooth interface (no bluetooth here)
+
+#LIB_DEPENDS=	${PYTHON_SITELIBDIR}/usb.so:${PORTSDIR}/devel/py-usb
+# XXX above does not work, send-pr?
+
+BUILD_DEPENDS=	rosmake:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs \
+		${LOCALBASE}/ros/stacks/geometry/stack.xml:${PORTSDIR}/math/geometry \
+		chrpath:${PORTSDIR}/devel/chrpath \
+		unzip:${PORTSDIR}/archivers/unzip
+RUN_DEPENDS=	roscore:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs \
+		${LOCALBASE}/ros/stacks/geometry/stack.xml:${PORTSDIR}/math/geometry \
+		${PYTHON_SITELIBDIR}/usb.so:${PORTSDIR}/devel/py-usb
+USE_PYTHON=	yes
+USE_BZIP2=	yes
+
+# rosmake does its own threading
+MAKE_JOBS_UNSAFE=	yes
+
+CFLAGS+=	-I${LOCALBASE}/include
+MAKE_ENV+=	CPATH=${LOCALBASE}/include \
+		LIBRARY_PATH=${LOCALBASE}/lib \
+		MAKE=${LOCALBASE}/bin/gmake \
+		ROS_ROOT=${LOCALBASE}/ros/ros \
+		ROS_PACKAGE_PATH=${LOCALBASE}/ros/stacks/common_msgs:${LOCALBASE}/ros/stacks/geometry:${WRKSRC} \
+		PYTHONPATH=${LOCALBASE}/ros/ros/core/roslib/src
+
+MAKE_ARGS=	-i --no-rosdep --status-rate=0 --disable-logging
+
+.include <bsd.port.pre.mk>
+
+.if ${OSVERSION} < 800069
+IGNORE=		USB stack cannot locate NXT
+LIB_DEPENDS+=	usb:${PORTSDIR}/devel/libusb
+.endif
+
+post-extract:
+	${MKDIR} ${WRKSRC}/nxt_python/build
+	${CP} ${_DISTDIR}/nxt-python-1.1.2.zip ${WRKSRC}/nxt_python/build
+	# already extract and mark as such because we have to patch it
+	(cd ${WRKSRC}/nxt_python/build ; \
+	 ${LOCALBASE}/bin/unzip nxt-python-1.1.2.zip ; \
+	 ${TOUCH} nxt-python-1.1.2/unpacked)
+	# remove nxt_rviz_plugin, it is unbuildable right now
+	# and keeping it here breaks rospack
+	${RM} -rf ${WRKSRC}/nxt_rviz_plugin
+
+do-build:
+	(cd ${WRKSRC} ; ${MAKE_ENV} ${LOCALBASE}/bin/rosmake ${MAKE_ARGS})
+
+do-install:
+	${MKDIR} ${PREFIX}/ros/stacks/${STACKNAME}
+# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
+.for d in nxt_controllers nxt_description nxt_lxf2urdf nxt_msgs nxt_python \
+    nxt_ros #nxt_rviz_plugin
+	${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
+	    -or -name .svnignore -type f -or -name .cvsignore -type f \
+	    -or -name \*.orig | ${XARGS} ${RM} -rf
+	(cd ${WRKSRC} ; ${COPYTREE_SHARE} ${d} ${PREFIX}/ros/stacks/${STACKNAME})
+.endfor
+.for f in CMakeLists.txt Makefile rosdep.yaml stack.xml
+	${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/ros/stacks/${STACKNAME}
+.endfor
+# make scripts executable
+.for f in nxt_controllers/scripts/base_controller.py \
+    nxt_controllers/scripts/base_odometry.py \
+    nxt_controllers/scripts/joint_position_controller.py \
+    nxt_lxf2urdf/scripts/lxf2urdf.py nxt_lxf2urdf/scripts/transformations.py \
+    nxt_python/bin/nxt_filer nxt_python/bin/nxt_push nxt_python/bin/nxt_test \
+    nxt_python/sensor_tests/color_sensor_test.py \
+    nxt_python/sensor_tests/touch_sensor_test.py nxt_python/test_sensors.py \
+    nxt_ros/scripts/joint_states_aggregator.py nxt_ros/scripts/nxt_ros.py
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${STACKNAME}/${f}
+.endfor
+
+.include <bsd.port.post.mk>
diff --git a/devel/ros-nxt/distinfo b/devel/ros-nxt/distinfo
new file mode 100644
index 000000000000..7bf3bd3c48e3
--- /dev/null
+++ b/devel/ros-nxt/distinfo
@@ -0,0 +1,4 @@
+SHA256 (ros/nxt-0.1.0.tar.bz2) = ddae2ce9e07df6609f63aaed39827d20797101e11db869097ceaddf6ffeece57
+SIZE (ros/nxt-0.1.0.tar.bz2) = 11463862
+SHA256 (ros/nxt-python-1.1.2.zip) = b5e2d60d74e5f26de0f1590d80b006965a57062bdd1167b73fa84dad3a7306bc
+SIZE (ros/nxt-python-1.1.2.zip) = 44805
diff --git a/devel/ros-nxt/files/patch-nxt__python_build_nxt-python-1.1.2_nxt_usbsock.py b/devel/ros-nxt/files/patch-nxt__python_build_nxt-python-1.1.2_nxt_usbsock.py
new file mode 100644
index 000000000000..50eb39ebf20e
--- /dev/null
+++ b/devel/ros-nxt/files/patch-nxt__python_build_nxt-python-1.1.2_nxt_usbsock.py
@@ -0,0 +1,10 @@
+--- nxt_python/build/nxt-python-1.1.2/nxt/usbsock.py.orig	2009-11-20 15:11:58.000000000 +0100
++++ nxt_python/build/nxt-python-1.1.2/nxt/usbsock.py	2010-12-14 20:07:30.000000000 +0100
+@@ -41,7 +41,6 @@
+ 		self.handle = self.device.open()
+ 		self.handle.setConfiguration(1)
+ 		self.handle.claimInterface(0)
+-		self.handle.reset()
+ 		if self.debug:
+                         print 'Connected.'
+ 		return Brick(self)
diff --git a/devel/ros-nxt/files/patch-rosdep.yaml b/devel/ros-nxt/files/patch-rosdep.yaml
new file mode 100644
index 000000000000..df053240c272
--- /dev/null
+++ b/devel/ros-nxt/files/patch-rosdep.yaml
@@ -0,0 +1,23 @@
+--- rosdep.yaml.orig	2010-11-26 16:39:16.000000000 +0100
++++ rosdep.yaml	2010-11-27 15:42:53.000000000 +0100
+@@ -5,6 +5,7 @@
+   fedora: libusb-devel
+   rhel: libusb-devel
+   gentoo: dev-libs/libusb
++  freebsd: libusb # builtin on 8.0+
+ python-bluez:
+   ubuntu: python-bluez
+   debian: python-bluez
+@@ -12,6 +13,7 @@
+   fedora: pybluez
+   rhel: python-bluez
+   gentoo: dev-python/pybluez
++  freebsd: #TODO
+ python-usb:
+   ubuntu: python-usb
+   debian: python-usb
+@@ -19,3 +21,4 @@
+   fedora: pyusb
+   rhel: python-usb
+   gentoo: dev-python/pyusb
++  freebsd: py26-usb
diff --git a/devel/ros-nxt/files/patch-stack.xml b/devel/ros-nxt/files/patch-stack.xml
new file mode 100644
index 000000000000..a5b11e69b2e5
--- /dev/null
+++ b/devel/ros-nxt/files/patch-stack.xml
@@ -0,0 +1,9 @@
+--- stack.xml.orig	2010-11-26 16:39:16.000000000 +0100
++++ stack.xml	2010-11-27 15:52:55.000000000 +0100
+@@ -10,6 +10,5 @@
+   <depend stack="common_msgs" /> <!-- nav_msgs, sensor_msgs, geometry_msgs -->
+   <depend stack="geometry" /> <!-- kdl, tf, tf_conversions -->
+   <depend stack="ros" /> <!-- rospy, std_msgs, roscpp -->
+-  <depend stack="visualization" /> <!-- rviz -->
+ 
+ </stack>
diff --git a/devel/ros-nxt/pkg-descr b/devel/ros-nxt/pkg-descr
new file mode 100644
index 000000000000..70d9a3ec358f
--- /dev/null
+++ b/devel/ros-nxt/pkg-descr
@@ -0,0 +1,10 @@
+This stack has basic interfaces for interacting with ROS and NXT. The software
+in this stack is intended to run on top of the default NXT firmware provided by
+LEGO.
+
+The following is currently not ported:
+- suport for communication over Bluetooth, in case if USB is not available
+- the nxt_rviz_plugin package, this requires the visualization stack which
+  in turn requires the NVidia CG Toolkit to be ported.
+
+WWW: http://www.ros.org/wiki/nxt
diff --git a/devel/ros-nxt/pkg-message b/devel/ros-nxt/pkg-message
new file mode 100644
index 000000000000..d75e5c18c533
--- /dev/null
+++ b/devel/ros-nxt/pkg-message
@@ -0,0 +1,2 @@
+When plugging in your NXT, remember to grant read and write permissions to
+the user using the NXT.
diff --git a/devel/ros-nxt/pkg-plist b/devel/ros-nxt/pkg-plist
new file mode 100644
index 000000000000..f9ddc6f7fded
--- /dev/null
+++ b/devel/ros-nxt/pkg-plist
@@ -0,0 +1,253 @@
+ros/stacks/nxt/CMakeLists.txt
+ros/stacks/nxt/Makefile
+ros/stacks/nxt/nxt_controllers/CMakeLists.txt
+ros/stacks/nxt/nxt_controllers/Makefile
+ros/stacks/nxt/nxt_controllers/ROS_NOBUILD
+ros/stacks/nxt/nxt_controllers/mainpage.dox
+ros/stacks/nxt/nxt_controllers/manifest.xml
+ros/stacks/nxt/nxt_controllers/scripts/base_controller.py
+ros/stacks/nxt/nxt_controllers/scripts/base_odometry.py
+ros/stacks/nxt/nxt_controllers/scripts/joint_position_controller.py
+ros/stacks/nxt/nxt_description/CMakeLists.txt
+ros/stacks/nxt/nxt_description/Makefile
+ros/stacks/nxt/nxt_description/ROS_NOBUILD
+ros/stacks/nxt/nxt_description/mainpage.dox
+ros/stacks/nxt/nxt_description/manifest.xml
+ros/stacks/nxt/nxt_description/meshes/parts/1044.dae
+ros/stacks/nxt/nxt_description/meshes/parts/1044.png
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+ros/stacks/nxt/nxt_msgs/msg_gen/cpp/include/nxt_msgs/Contact.h
+ros/stacks/nxt/nxt_msgs/msg_gen/cpp/include/nxt_msgs/Gyro.h
+ros/stacks/nxt/nxt_msgs/msg_gen/cpp/include/nxt_msgs/JointCommand.h
+ros/stacks/nxt/nxt_msgs/msg_gen/cpp/include/nxt_msgs/Range.h
+ros/stacks/nxt/nxt_msgs/msg_gen/generated
+ros/stacks/nxt/nxt_msgs/src/nxt_msgs/__init__.py
+ros/stacks/nxt/nxt_msgs/src/nxt_msgs/msg/_Accelerometer.py
+ros/stacks/nxt/nxt_msgs/src/nxt_msgs/msg/_Color.py
+ros/stacks/nxt/nxt_msgs/src/nxt_msgs/msg/_Contact.py
+ros/stacks/nxt/nxt_msgs/src/nxt_msgs/msg/_Gyro.py
+ros/stacks/nxt/nxt_msgs/src/nxt_msgs/msg/_JointCommand.py
+ros/stacks/nxt/nxt_msgs/src/nxt_msgs/msg/_Range.py
+ros/stacks/nxt/nxt_msgs/src/nxt_msgs/msg/__init__.py
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+ros/stacks/nxt/nxt_python/Makefile
+ros/stacks/nxt/nxt_python/ROS_NOBUILD
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+ros/stacks/nxt/nxt_python/epydoc.config
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+ros/stacks/nxt/nxt_python/rosdoc.yaml
+ros/stacks/nxt/nxt_python/sensor_tests/color_sensor_test.py
+ros/stacks/nxt/nxt_python/sensor_tests/touch_sensor_test.py
+ros/stacks/nxt/nxt_python/src/nxt/__init__.py
+ros/stacks/nxt/nxt_python/src/nxt/__init__.pyc
+ros/stacks/nxt/nxt_python/src/nxt/bluesock.py
+ros/stacks/nxt/nxt_python/src/nxt/bluesock.pyc
+ros/stacks/nxt/nxt_python/src/nxt/brick.py
+ros/stacks/nxt/nxt_python/src/nxt/brick.pyc
+ros/stacks/nxt/nxt_python/src/nxt/compass.py
+ros/stacks/nxt/nxt_python/src/nxt/compass.pyc
+ros/stacks/nxt/nxt_python/src/nxt/direct.py
+ros/stacks/nxt/nxt_python/src/nxt/direct.pyc
+ros/stacks/nxt/nxt_python/src/nxt/error.py
+ros/stacks/nxt/nxt_python/src/nxt/error.pyc
+ros/stacks/nxt/nxt_python/src/nxt/locator.py
+ros/stacks/nxt/nxt_python/src/nxt/locator.pyc
+ros/stacks/nxt/nxt_python/src/nxt/motor.py
+ros/stacks/nxt/nxt_python/src/nxt/motor.pyc
+ros/stacks/nxt/nxt_python/src/nxt/sensor.py
+ros/stacks/nxt/nxt_python/src/nxt/sensor.pyc
+ros/stacks/nxt/nxt_python/src/nxt/server.py
+ros/stacks/nxt/nxt_python/src/nxt/server.pyc
+ros/stacks/nxt/nxt_python/src/nxt/system.py
+ros/stacks/nxt/nxt_python/src/nxt/system.pyc
+ros/stacks/nxt/nxt_python/src/nxt/telegram.py
+ros/stacks/nxt/nxt_python/src/nxt/telegram.pyc
+ros/stacks/nxt/nxt_python/src/nxt/usbsock.py
+ros/stacks/nxt/nxt_python/src/nxt/usbsock.pyc
+ros/stacks/nxt/nxt_python/src/nxt_python-1.1.2-py2.6.egg-info
+ros/stacks/nxt/nxt_python/test_sensors.py
+ros/stacks/nxt/nxt_python/ultrasonic.patch
+ros/stacks/nxt/nxt_ros/CMakeLists.txt
+ros/stacks/nxt/nxt_ros/Makefile
+ros/stacks/nxt/nxt_ros/ROS_NOBUILD
+ros/stacks/nxt/nxt_ros/mainpage.dox
+ros/stacks/nxt/nxt_ros/manifest.xml
+ros/stacks/nxt/nxt_ros/scripts/joint_states_aggregator.py
+ros/stacks/nxt/nxt_ros/scripts/nxt_ros.py
+ros/stacks/nxt/rosdep.yaml
+ros/stacks/nxt/stack.xml
+@dirrm ros/stacks/nxt/nxt_ros/scripts
+@exec mkdir -p %D/ros/stacks/nxt/nxt_ros/bin
+@dirrm ros/stacks/nxt/nxt_ros/bin
+@dirrm ros/stacks/nxt/nxt_ros
+@dirrm ros/stacks/nxt/nxt_python/src/nxt
+@dirrm ros/stacks/nxt/nxt_python/src
+@dirrm ros/stacks/nxt/nxt_python/sensor_tests
+@dirrm ros/stacks/nxt/nxt_python/bin
+@dirrm ros/stacks/nxt/nxt_python
+@dirrm ros/stacks/nxt/nxt_msgs/src/nxt_msgs/msg
+@dirrm ros/stacks/nxt/nxt_msgs/src/nxt_msgs
+@dirrm ros/stacks/nxt/nxt_msgs/src
+@dirrm ros/stacks/nxt/nxt_msgs/msg_gen/cpp/include/nxt_msgs
+@dirrm ros/stacks/nxt/nxt_msgs/msg_gen/cpp/include
+@dirrm ros/stacks/nxt/nxt_msgs/msg_gen/cpp
+@dirrm ros/stacks/nxt/nxt_msgs/msg_gen
+@dirrm ros/stacks/nxt/nxt_msgs/msg/lisp/nxt_msgs
+@dirrm ros/stacks/nxt/nxt_msgs/msg/lisp
+@dirrm ros/stacks/nxt/nxt_msgs/msg
+@exec mkdir -p %D/ros/stacks/nxt/nxt_msgs/bin
+@dirrm ros/stacks/nxt/nxt_msgs/bin
+@dirrm ros/stacks/nxt/nxt_msgs
+@dirrm ros/stacks/nxt/nxt_lxf2urdf/scripts
+@exec mkdir -p %D/ros/stacks/nxt/nxt_lxf2urdf/bin
+@dirrm ros/stacks/nxt/nxt_lxf2urdf/bin
+@dirrm ros/stacks/nxt/nxt_lxf2urdf
+@dirrm ros/stacks/nxt/nxt_description/meshes/parts
+@dirrm ros/stacks/nxt/nxt_description/meshes
+@exec mkdir -p %D/ros/stacks/nxt/nxt_description/bin
+@dirrm ros/stacks/nxt/nxt_description/bin
+@dirrm ros/stacks/nxt/nxt_description
+@dirrm ros/stacks/nxt/nxt_controllers/scripts
+@exec mkdir -p %D/ros/stacks/nxt/nxt_controllers/bin
+@dirrm ros/stacks/nxt/nxt_controllers/bin
+@dirrm ros/stacks/nxt/nxt_controllers
+@dirrm ros/stacks/nxt