From 2f82a20026e1ef722218fbacde7b0fbda460f884 Mon Sep 17 00:00:00 2001
From: Robot <zhangwanjie@126.com>
Date: Fri, 3 Nov 2023 22:18:58 +0800
Subject: [PATCH] update 11_grab_object

---
 demo_cmakelists/11_grab_object.txt | 39 ++++++++++++++++++++++++++++++
 demo_cpp/11_grab_object.cpp        |  1 -
 demo_package/11_grab_object.xml    | 24 ++++++++++++++++++
 3 files changed, 63 insertions(+), 1 deletion(-)
 create mode 100644 demo_cmakelists/11_grab_object.txt
 create mode 100644 demo_package/11_grab_object.xml

diff --git a/demo_cmakelists/11_grab_object.txt b/demo_cmakelists/11_grab_object.txt
new file mode 100644
index 0000000..83d6f0f
--- /dev/null
+++ b/demo_cmakelists/11_grab_object.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.8)
+project(mani_pkg)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(wpr_simulation2 REQUIRED)
+
+add_executable(grab_object src/grab_object.cpp)
+ament_target_dependencies(grab_object
+  "rclcpp" "std_msgs" "geometry_msgs" "sensor_msgs" "wpr_simulation2"
+)
+
+install(TARGETS grab_object
+DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/demo_cpp/11_grab_object.cpp b/demo_cpp/11_grab_object.cpp
index 221fb58..1f14ef0 100644
--- a/demo_cpp/11_grab_object.cpp
+++ b/demo_cpp/11_grab_object.cpp
@@ -22,7 +22,6 @@ rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr mani_pub;
 float object_x = 0.0;
 float object_y = 0.0;
 float object_z = 0.0;
-int count = 0;
 
 float align_x = 1.0;
 float align_y = 0.0;
diff --git a/demo_package/11_grab_object.xml b/demo_package/11_grab_object.xml
new file mode 100644
index 0000000..bd11825
--- /dev/null
+++ b/demo_package/11_grab_object.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mani_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="robot@6-robot.com">robot</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>wpr_simulation2</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>