├── msg
    └── PidTune.msg
├── scripts
    ├── pid_lib.pyc
    ├── pid_tune_differential.py
    ├── pid_tune_gui.py
    ├── pid_lib.py
    └── pid_tune_drone.py
├── launch
    ├── pid_tune_diff.launch
    └── pid_tune_drone.launch
├── README.md
├── package.xml
├── .gitignore
└── CMakeLists.txt


/msg/PidTune.msg:
--------------------------------------------------------------------------------
1 | int16 Kp
2 | int16 Kd
3 | int16 Ki
4 | int16 Kp_z
5 | 
6 | 


--------------------------------------------------------------------------------
/scripts/pid_lib.pyc:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/simmubhangu/pid_tune/HEAD/scripts/pid_lib.pyc


--------------------------------------------------------------------------------
/launch/pid_tune_diff.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |     <node name="tune_pid_diffrential" type="pid_tune_differential.py" pkg="pid_tune">
 4 |     	
 5 |     <param name="lpid_ui_enable" value="true"/>
 6 |     <param name="rpid_ui_enable" value="true"/>
 7 | 
 8 |     </node>
 9 | 
10 |  </launch>
11 | 


--------------------------------------------------------------------------------
/launch/pid_tune_drone.launch:
--------------------------------------------------------------------------------
 1 | <launch>
 2 | 
 3 |     <node name="tune_pid_drone" type="pid_tune_drone.py" pkg="pid_tune">
 4 | 
 5 |     <param name="ppid_ui_enable" value="true"/>
 6 |     <param name="rpid_ui_enable" value="true"/>
 7 |     <param name="ypid_ui_enable" value="false"/>
 8 |     <param name="tpid_ui_enable" value="true"/>
 9 | 
10 |     </node>
11 | 
12 |  </launch>
13 | 


--------------------------------------------------------------------------------
/scripts/pid_tune_differential.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python3
 2 | import rospy
 3 | import time
 4 | from pid_lib import *
 5 | 
 6 | if __name__ == '__main__':
 7 | 
 8 | 	rospy.init_node('Tune_pid_differential')
 9 | 	lwheel_ui = rospy.get_param('~lpid_ui_enable',True) #set it as True if you need left_wheel ui
10 | 	rwheel_ui = rospy.get_param('~rpid_ui_enable',True)
11 | 
12 | 	if lwheel_ui and rwheel_ui:
13 | 		lpid = Pid_dim("Left_wheel","lpid_params",1000) #Title of the ui, topic name of the publisher, queue size
14 | 		rpid = Pid_dim("Right_wheel","rpid_params",1000)
15 | 		lpid.root.mainloop()
16 | 	elif lwheel_ui:
17 | 		lpid = Pid_dim("Left_wheel","lpid_params",1000)
18 | 		lpid.root.mainloop()
19 | 	elif rwheel_ui:
20 | 		rpid = Pid_dim("Right_wheel","rpid_params",1000)
21 | 		rpid.root.mainloop()
22 | 	else:
23 | 		rospy.loginfo("UI DISABLED")
24 | 


--------------------------------------------------------------------------------
/scripts/pid_tune_gui.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python3
 2 | from Tkinter import *
 3 | from pid_tune.msg import PidTune
 4 | import rospy
 5 | 
 6 | rospy.init_node('tune_pid')
 7 | send_pid = rospy.Publisher('/pid_tuning', PidTune, queue_size=10)
 8 | pid_value = PidTune()
 9 | def set_value():
10 |   pid_value.Kp = scale.get()
11 |   pid_value.Ki = scale1.get()
12 |   pid_value.Kd = scale2.get()
13 |   # pid_value.Kp_z = scale3.get()
14 |   send_pid.publish(pid_value)
15 |   # print scale.get(), scale1.get(), scale2.get()
16 | 
17 | root = Tk()
18 | 
19 | scale = Scale(root, orient='horizontal', from_=0, to=300, label= 'Kp',width = "50", length = "500",troughcolor="red")
20 | scale1 =Scale(root, orient='horizontal', from_=0, to=1000, label= 'Ki',width = "50", length = "500",troughcolor="green")
21 | scale2 =Scale(root, orient='horizontal', from_=0, to=100, label= 'Kd',width = "50", length = "500", troughcolor="blue")
22 | # scale3 =Scale(root, orient='horizontal', from_=0, to=300, label= 'Kp_z',width = "50", length = "500", troughcolor="gray")
23 | scale.pack()
24 | scale1.pack()
25 | scale2.pack()
26 | # scale3.pack()
27 | 
28 | Button(root, text='set_value', command=set_value).pack()
29 | 
30 | root.mainloop()
31 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | 
 2 | ### Requirement for this package
 3 | 1. tkinter python library. 
 4 | 
 5 |     ```python
 6 |     sudo apt-get install python python-tk
 7 |     ```
 8 | [For more information visit here](http://www.greenteapress.com/thinkpython/swampy/install.html)
 9 | 
10 | ### How to use This package
11 | 1. Import the msg in your script. 
12 |     ```python
13 |     from pid_tune.msg import PidTune
14 |     ```
15 | 2. Write the subscriber in the code. 
16 |   ```python
17 |    rospy.Subscriber('/pid_tuning', PidTune, self.set_pid_value )
18 |   ```
19 | 3. Get the Value and change the Gain values.
20 |   ```python
21 |    def set_pid_value(self,data):
22 | 		self.kp_x = data.Kp 
23 | 		self.kp_y = data.Kp 
24 | 		self.kp_z = data.Kp
25 | 		
26 | 		self.kd_x =  data.Kd
27 | 		self.kd_y =  data.Kd
28 | 		self.kd_z = data.Kd
29 | 		
30 | 		self.ki_x = data.Ki
31 | 		self.ki_y = data.Ki
32 | 		self.ki_z = data.Ki
33 |   ```
34 | 
35 | ### Package information for tuning drone
36 | 
37 | #### Publications:
38 | **/$pid_params** *(pid_tune/PidTune)* <br />
39 | 
40 | $ denotes corresponding letter for the pid. eg: ppid_params for pitch pid parameters
41 | 
42 | ### launch the ros node by the following command
43 | + For differential drive robot, you can run the following node
44 |   ```
45 |    roslaunch pid_tune pid_tune_diff.launch
46 |   ```
47 | + For drone, you can run the following node
48 | 
49 |   ```
50 |    roslaunch pid_tune pid_tune_drone.launch
51 |   ```
52 | ### Run the ros node by the following command
53 | + For differential drive robot, you can run the following node
54 |   ```
55 |    rosrun pid_tune pid_tune_differential.py
56 |   ```
57 | + For drone, you can run the following node
58 | 
59 |   ```
60 |    rosrun pid_tune pid_tune_drone.py
61 |   ```
62 | 
63 | 


--------------------------------------------------------------------------------
/scripts/pid_lib.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python3
 2 | 
 3 | import tkinter as tk
 4 | from tkinter import Scale
 5 | 
 6 | import rospy
 7 | from pid_tune.msg import PidTune
 8 | 
 9 | 
10 | class Pid_dim:
11 |     def __init__(self, title, topic_name, queue_size):
12 |         self.pub_pid = rospy.Publisher(topic_name, PidTune, queue_size=queue_size)
13 |         self.pid_params = PidTune()
14 | 
15 |         self.root = tk.Tk()
16 |         self.root.title(title)
17 |         self.root.attributes("-topmost", True)
18 |         self.root.geometry("250x210")
19 | 
20 |         self.scale = Scale(
21 |             self.root,
22 |             orient="horizontal",
23 |             from_=0,
24 |             to=5000,
25 |             command=self.set_value,
26 |             label="Kp",
27 |             width="20",
28 |             length="300",
29 |             troughcolor="red",
30 |             sliderlength="15",
31 |         )
32 |         self.scale1 = Scale(
33 |             self.root,
34 |             orient="horizontal",
35 |             from_=0,
36 |             to=1000,
37 |             command=self.set_value,
38 |             label="Ki",
39 |             width="20",
40 |             length="300",
41 |             troughcolor="green",
42 |             sliderlength="15",
43 |         )
44 |         self.scale2 = Scale(
45 |             self.root,
46 |             orient="horizontal",
47 |             from_=0,
48 |             to=5000,
49 |             command=self.set_value,
50 |             label="Kd",
51 |             width="20",
52 |             length="300",
53 |             troughcolor="blue",
54 |             sliderlength="15",
55 |         )
56 | 
57 |         self.scale.pack()
58 |         self.scale1.pack()
59 |         self.scale2.pack()
60 | 
61 |     def set_value(self, event):
62 | 
63 |         self.pid_params.Kp = self.scale.get()
64 |         self.pid_params.Ki = self.scale1.get()
65 |         self.pid_params.Kd = self.scale2.get()
66 |         self.pub_pid.publish(self.pid_params)
67 | 


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>pid_tune</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The pid_tune package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="simmu@todo.todo">simmu</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/pid_tune</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 |   <build_depend>roscpp</build_depend>
53 |   <build_depend>rospy</build_depend>
54 |   <build_depend>std_msgs</build_depend>
55 |   <build_depend>message_generation</build_depend>
56 | 
57 |   <build_export_depend>roscpp</build_export_depend>
58 |   <build_export_depend>rospy</build_export_depend>
59 |   <build_export_depend>std_msgs</build_export_depend>
60 |   <exec_depend>roscpp</exec_depend>
61 |   <exec_depend>rospy</exec_depend>
62 |   <exec_depend>std_msgs</exec_depend>
63 | 
64 | 
65 |   <!-- The export tag contains other, unspecified, tags -->
66 |   <export>
67 |     <!-- Other tools can request additional information be placed here -->
68 | 
69 |   </export>
70 | </package>
71 | 


--------------------------------------------------------------------------------
/scripts/pid_tune_drone.py:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python3
 2 | import rospy
 3 | import time
 4 | from pid_lib import *
 5 | 
 6 | if __name__ == '__main__':
 7 | 
 8 | 	rospy.init_node('Tune_pid_drone')
 9 | 	pitch_ui = rospy.get_param('~ppid_ui_enable',True) #set it as True if you need pitch pid ui
10 | 	roll_ui = rospy.get_param('~rpid_ui_enable',True)
11 | 	yaw_ui = rospy.get_param('~ypid_ui_enable',True)
12 | 	throttle_ui = rospy.get_param('~tpid_ui_enable',True)
13 | 
14 | 	if pitch_ui and roll_ui and yaw_ui and throttle_ui :
15 | 		ppid = Pid_dim("Pitch","pid_tuning_pitch",1000) #Title of the ui, topic name of the publisher, queue size
16 | 		rpid = Pid_dim("Roll","pid_tuning_roll",1000)
17 | 		ypid = Pid_dim("Yaw","pid_tuning_yaw",1000)
18 | 		tpid = Pid_dim("Throttle","pid_tuning_altitude",1000)
19 | 		ppid.root.mainloop()
20 | 
21 | 	elif pitch_ui and roll_ui and yaw_ui:
22 | 		ppid = Pid_dim("Pitch","pid_tuning_pitch",1000) #Title of the ui, topic name of the publisher, queue size
23 | 		rpid = Pid_dim("Roll","pid_tuning_roll",1000)
24 | 		ypid = Pid_dim("Yaw","pid_tuning_yaw",1000)
25 | 		ppid.root.mainloop()
26 | 
27 | 	elif pitch_ui and roll_ui and throttle_ui:
28 | 		ppid = Pid_dim("Pitch","pid_tuning_pitch",1000) #Title of the ui, topic name of the publisher, queue size
29 | 		rpid = Pid_dim("Roll","pid_tuning_roll",1000)
30 | 		tpid = Pid_dim("Throttle","pid_tuning_altitude",1000)
31 | 		ppid.root.mainloop()
32 | 
33 | 	elif pitch_ui and yaw_ui and throttle_ui:
34 | 		ppid = Pid_dim("Pitch","pid_tuning_pitch",1000) #Title of the ui, topic name of the publisher, queue size
35 | 		ypid = Pid_dim("Yaw","pid_tuning_yaw",1000)
36 | 		tpid = Pid_dim("Throttle","pid_tuning_altitude",1000)
37 | 		ppid.root.mainloop()
38 | 
39 | 	elif roll_ui and yaw_ui and throttle_ui:
40 | 		rpid = Pid_dim("Roll","pid_tuning_roll",1000)#Title of the ui, topic name of the publisher, queue size
41 | 		ypid = Pid_dim("Yaw","pid_tuning_yaw",1000)
42 | 		tpid = Pid_dim("Throttle","pid_tuning_altitude",1000)
43 | 		rpid.root.mainloop()
44 | 
45 | 	elif pitch_ui and roll_ui:
46 | 		ppid = Pid_dim("Pitch","pid_tuning_pitch",1000) #Title of the ui, topic name of the publisher, queue size
47 | 		rpid = Pid_dim("Roll","pid_tuning_roll",1000)
48 | 		ppid.root.mainloop()
49 | 
50 | 	elif pitch_ui and yaw_ui:
51 | 		ppid = Pid_dim("Pitch","pid_tuning_pitch",1000) #Title of the ui, topic name of the publisher, queue size
52 | 		ypid = Pid_dim("Yaw","pid_tuning_yaw",1000)
53 | 		ppid.root.mainloop()
54 | 
55 | 	elif pitch_ui and yaw_ui:
56 | 		ppid = Pid_dim("Pitch","pid_tuning_pitch",1000) #Title of the ui, topic name of the publisher, queue size
57 | 		tpid = Pid_dim("Throttle","pid_tuning_altitude",1000)
58 | 		ppid.root.mainloop()
59 | 
60 | 	elif roll_ui and yaw_ui:
61 | 		rpid = Pid_dim("Roll","pid_tuning_roll",1000)
62 | 		ypid = Pid_dim("Yaw","pid_tuning_yaw",1000)
63 | 		rpid.root.mainloop()
64 | 
65 | 	elif roll_ui and throttle_ui:
66 | 		rpid = Pid_dim("Roll","pid_tuning_roll",1000)
67 | 		tpid = Pid_dim("Throttle","pid_tuning_altitude",1000)
68 | 		rpid.root.mainloop()
69 | 
70 | 	elif yaw_ui and throttle_ui:
71 | 		ypid = Pid_dim("Yaw","pid_tuning_yaw",1000)
72 | 		tpid = Pid_dim("Throttle","pid_tuning_altitude",1000)
73 | 		ypid.root.mainloop()
74 | 
75 | 	elif pitch_ui:
76 | 		ppid = Pid_dim("Pitch","pid_tuning_pitch",1000) #Title of the ui, topic name of the publisher, queue size
77 | 		ppid.root.mainloop()
78 | 
79 | 	elif roll_ui:
80 | 		rpid = Pid_dim("Roll","pid_tuning_roll",1000)
81 | 		rpid.root.mainloop()
82 | 
83 | 	elif yaw_ui:
84 | 		ypid = Pid_dim("Yaw","pid_tuning_yaw",1000)
85 | 		ypid.root.mainloop()
86 | 
87 | 	elif throttle_ui:
88 | 		tpid = Pid_dim("Throttle","pid_tuning_altitude",1000)
89 | 		tpid.root.mainloop()
90 | 
91 | 	else:
92 | 		rospy.loginfo("UI DISABLED")
93 | 
94 | 


--------------------------------------------------------------------------------
/.gitignore:
--------------------------------------------------------------------------------
  1 | # Created by https://www.toptal.com/developers/gitignore/api/python
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167 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(pid_tune)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   roscpp
 12 |   rospy
 13 |   std_msgs
 14 |   message_generation
 15 | )
 16 | 
 17 | ## System dependencies are found with CMake's conventions
 18 | # find_package(Boost REQUIRED COMPONENTS system)
 19 | 
 20 | 
 21 | ## Uncomment this if the package has a setup.py. This macro ensures
 22 | ## modules and global scripts declared therein get installed
 23 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 24 | # catkin_python_setup()
 25 | 
 26 | ################################################
 27 | ## Declare ROS messages, services and actions ##
 28 | ################################################
 29 | 
 30 | ## To declare and build messages, services or actions from within this
 31 | ## package, follow these steps:
 32 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 33 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 34 | ## * In the file package.xml:
 35 | ##   * add a build_depend tag for "message_generation"
 36 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 37 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 38 | ##     but can be declared for certainty nonetheless:
 39 | ##     * add a run_depend tag for "message_runtime"
 40 | ## * In this file (CMakeLists.txt):
 41 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 42 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 43 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 44 | ##     catkin_package(CATKIN_DEPENDS ...)
 45 | ##   * uncomment the add_*_files sections below as needed
 46 | ##     and list every .msg/.srv/.action file to be processed
 47 | ##   * uncomment the generate_messages entry below
 48 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 49 | 
 50 | ## Generate messages in the 'msg' folder
 51 |  add_message_files(
 52 |    FILES
 53 |    PidTune.msg
 54 |  )
 55 | 
 56 | ## Generate services in the 'srv' folder
 57 | # add_service_files(
 58 | #   FILES
 59 | #   Service1.srv
 60 | #   Service2.srv
 61 | # )
 62 | 
 63 | ## Generate actions in the 'action' folder
 64 | # add_action_files(
 65 | #   FILES
 66 | #   Action1.action
 67 | #   Action2.action
 68 | # )
 69 | 
 70 | ## Generate added messages and services with any dependencies listed here
 71 |  generate_messages(
 72 |    DEPENDENCIES
 73 |    std_msgs
 74 |  )
 75 | 
 76 | ################################################
 77 | ## Declare ROS dynamic reconfigure parameters ##
 78 | ################################################
 79 | 
 80 | ## To declare and build dynamic reconfigure parameters within this
 81 | ## package, follow these steps:
 82 | ## * In the file package.xml:
 83 | ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
 84 | ## * In this file (CMakeLists.txt):
 85 | ##   * add "dynamic_reconfigure" to
 86 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 87 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 88 | ##     and list every .cfg file to be processed
 89 | 
 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 91 | # generate_dynamic_reconfigure_options(
 92 | #   cfg/DynReconf1.cfg
 93 | #   cfg/DynReconf2.cfg
 94 | # )
 95 | 
 96 | ###################################
 97 | ## catkin specific configuration ##
 98 | ###################################
 99 | ## The catkin_package macro generates cmake config files for your package
100 | ## Declare things to be passed to dependent projects
101 | ## INCLUDE_DIRS: uncomment this if your package contains header files
102 | ## LIBRARIES: libraries you create in this project that dependent projects also need
103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
104 | ## DEPENDS: system dependencies of this project that dependent projects also need
105 | catkin_package(
106 | #  INCLUDE_DIRS include
107 | #  LIBRARIES pid_tune
108 | #  CATKIN_DEPENDS roscpp rospy std_msgs
109 | #  DEPENDS system_lib
110 |  #message_runtime
111 | )
112 | 
113 | ###########
114 | ## Build ##
115 | ###########
116 | 
117 | ## Specify additional locations of header files
118 | ## Your package locations should be listed before other locations
119 | include_directories(
120 | # include
121 |   ${catkin_INCLUDE_DIRS}
122 | )
123 | 
124 | ## Declare a C++ library
125 | # add_library(${PROJECT_NAME}
126 | #   src/${PROJECT_NAME}/pid_tune.cpp
127 | # )
128 | 
129 | ## Add cmake target dependencies of the library
130 | ## as an example, code may need to be generated before libraries
131 | ## either from message generation or dynamic reconfigure
132 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
133 | 
134 | ## Declare a C++ executable
135 | ## With catkin_make all packages are built within a single CMake context
136 | ## The recommended prefix ensures that target names across packages don't collide
137 | # add_executable(${PROJECT_NAME}_node src/pid_tune_node.cpp)
138 | 
139 | ## Rename C++ executable without prefix
140 | ## The above recommended prefix causes long target names, the following renames the
141 | ## target back to the shorter version for ease of user use
142 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
143 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
144 | 
145 | ## Add cmake target dependencies of the executable
146 | ## same as for the library above
147 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
148 | 
149 | ## Specify libraries to link a library or executable target against
150 | # target_link_libraries(${PROJECT_NAME}_node
151 | #   ${catkin_LIBRARIES}
152 | # )
153 | 
154 | #############
155 | ## Install ##
156 | #############
157 | 
158 | # all install targets should use catkin DESTINATION variables
159 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
160 | 
161 | ## Mark executable scripts (Python etc.) for installation
162 | ## in contrast to setup.py, you can choose the destination
163 | # install(PROGRAMS
164 | #   scripts/my_python_script
165 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
166 | # )
167 | 
168 | ## Mark executables and/or libraries for installation
169 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
170 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
171 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
172 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
173 | # )
174 | 
175 | ## Mark cpp header files for installation
176 | # install(DIRECTORY include/${PROJECT_NAME}/
177 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
178 | #   FILES_MATCHING PATTERN "*.h"
179 | #   PATTERN ".svn" EXCLUDE
180 | # )
181 | 
182 | ## Mark other files for installation (e.g. launch and bag files, etc.)
183 | # install(FILES
184 | #   # myfile1
185 | #   # myfile2
186 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
187 | # )
188 | 
189 | #############
190 | ## Testing ##
191 | #############
192 | 
193 | ## Add gtest based cpp test target and link libraries
194 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_pid_tune.cpp)
195 | # if(TARGET ${PROJECT_NAME}-test)
196 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
197 | # endif()
198 | 
199 | ## Add folders to be run by python nosetests
200 | # catkin_add_nosetests(test)
201 | 


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