# further dependencies manually.
# find_package(<dependency> REQUIRED)
-install(DIRECTORY config launch meshes rviz xacro
+install(DIRECTORY config launch meshes xacro
DESTINATION share/${PROJECT_NAME}
)
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
- # uncomment the line when a copyright and license is not present in all source files
- #set(ament_cmake_copyright_FOUND TRUE)
+ # 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)
- # uncomment the line when this package is not in a git repo
- #set(ament_cmake_cpplint_FOUND TRUE)
+ # 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()
--- /dev/null
+All rights reserved.
+
+Software License Agreement (BSD License 2.0)
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+ copyright notice, this list of conditions and the following
+ disclaimer in the documentation and/or other materials provided
+ with the distribution.
+ * Neither the name of the copyright holder nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
Alpha: 1
Show Axes: false
Show Trail: false
+ Mass Properties:
+ Inertia: false
+ Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Height: 846
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
--- /dev/null
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
+
+set-if-unset;MESA_GL_VERSION_OVERRIDE;3.3
<node if="$(var gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui"/>
<include file="$(find-pkg-share bhand_description)/launch/bhand.launch.xml"/>
- <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share bhand_description)/rviz/display.rviz"/>
+ <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share bhand_description)/config/display.rviz"/>
</launch>
--- /dev/null
+<!--******************************************************************************
+ Bhand Description
+ Gazebo Ignitio Launch File
+ Copyright (C) 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="world" default="true"/>
+
+ <arg unless="$(var pause)" name="ign_pause" default="-r"/>
+ <arg if="$(var pause)" name="ign_pause" default=""/>
+
+ <arg unless="$(var gui)" name="ign_gui" default="-s"/>
+ <arg if="$(var gui)" name="ign_gui" default=""/>
+
+ <include file="$(find-pkg-share ros_ign_gazebo)/launch/ign_gazebo.launch.py">
+ <arg name="ign_args" value="$(var ign_pause) $(var ign_gui) empty.sdf"/>
+ </include>
+
+ <include file="$(find-pkg-share bhand_description)/launch/bhand.launch.xml">
+ <arg name="world" value="$(var world)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+
+ <node name="bhand_spawner" pkg="ros_ign_gazebo" exec="create" args="-topic robot_description -name bhand"/>
+
+ <node name="clock_bridge" pkg="ros_ign_bridge" exec="parameter_bridge" args="/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+</launch>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>bhand_description</name>
- <version>3.0.0</version>
- <description><p>The bhand_description package</p>
+ <version>3.1.0</version>
+ <description><p>The wam_description package</p>
<p>This package contains xacro files for the Barrett Hand gripper.
It is based on the iri_wam_description package developed by the IRI
Robotics Lab (http://wiki.ros.org/iri_bhand_description) but with
gripper parameters (mainly inertia parameters) adapted to the
Barrett Hand model BH-280 available at UFRGS.
- </p>
+ </p>
</description>
-
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
- <license>BSD</license>
-
+ <license>BSD-2.0</license>
+
<author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
<author>IRI Robotics Lab, Ivan Rojas (irojas@iri.upc.edu)</author>
<buildtool_depend>ament_cmake</buildtool_depend>
- <exec_depend>roboticsgroup_upatras_gazebo_plugins</exec_depend>
+ <exec_depend>joint_state_publisher_gui</exec_depend>
+ <exec_depend>xacro</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
projects / ufrgs_wam.git / commitdiff