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

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/src/nxt_msgs/__init__.py
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+ros/stacks/nxt/nxt_msgs/src/nxt_msgs/msg/_Gyro.py
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+ros/stacks/nxt/nxt_python/gyro.patch
+ros/stacks/nxt/nxt_python/installed
+ros/stacks/nxt/nxt_python/mainpage.dox
+ros/stacks/nxt/nxt_python/manifest.xml
+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