+++ /dev/null
-cmake_minimum_required(VERSION 2.8.3)
-project(wam_gazebo_ros_control)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-find_package(gazebo REQUIRED)
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependencies might have been
-## pulled in transitively but can be declared for certainty nonetheless:
-## * add a build_depend tag for "message_generation"
-## * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES wam_gazebo_ros_control
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(include
- ${GAZEBO_INCLUDE_DIRS}
-)
-
-## Declare a cpp library
-add_library(wam_gazebo_ros_control
- src/wam_robot_hw_sim.cpp
-)
-
-## Declare a cpp executable
-# add_executable(wam_gazebo_ros_control_node src/wam_gazebo_ros_control_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(wam_gazebo_ros_control_node wam_gazebo_ros_control_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-#target_link_libraries(${PROJECT_NAME}
-# ${catkin_LIBRARIES}
-#)
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
- )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-install(FILES robot_sim_plugins.xml
-# # myfile1
-# # myfile2
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_wam_gazebo_ros_control.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+++ /dev/null
-<?xml version="1.0"?>
-<package>
- <name>wam_gazebo_ros_control</name>
- <version>2.0.0</version>
- <description>The wam_gazebo_ros_control package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>GPLv3</license>
-
-
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/wam_control_gazebo</url> -->
- <url type="website">http://www.ece.ufrgs.br/~fetter/ufrgs_wam</url>
-
-
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
-
-
- <!-- The *_depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
-
- <build_depend>gazebo_ros_control</build_depend>
- <!--build_depend>gazebo_ros_control_plugin</build_depend-->
- <build_depend>wam_description</build_depend>
- <build_depend>gazebo</build_depend>
-
- <!--run_depend>roscpp</run_depend-->
- <!--run_depend>gazebo</run_depend-->
- <!--run_depend>gazebo_ros</run_depend-->
- <!--run_depend>controller_manager</run_depend-->
- <!--run_depend>pluginlib</run_depend-->
- <!--run_depend>transmission_interface</run_depend-->
- <!--run_depend>urdf</run_depend-->
- <run_depend>gazebo_ros_control</run_depend>
-
- <!-- The export tag contains other, unspecified, tags -->
- <export>
- <!-- You can specify that this package is a metapackage here: -->
- <!-- <metapackage/> -->
-
- <!-- Other tools can request additional information be placed here -->
-
- <gazebo_ros_control plugin="${prefix}/wam_gazebo_ros_control_plugins.xml" />
-
- </export>
-</package>
+++ /dev/null
-#include <pluginlib/class_list_macros.h>
-
-#include <hardware_interface/joint_command_interface.h>
-#include <hardware_interface/robot_hw.h>
-
-#include <gazebo_ros_control/robot_hw_sim.h>
-
-#include <angles/angles.h>
-
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
-#include <gazebo/common/common.hh>
-
-namespace wam_gazebo_ros_control
-{
- class WamRobotHWSim:public gazebo_ros_control::RobotHWSim
- {
- unsigned int n_dof_;
-
- hardware_interface::JointStateInterface js_interface_;
- hardware_interface::EffortJointInterface ej_interface_;
-
- std::vector<std::string> joint_name_;
- std::vector<double> joint_position_;
- std::vector<double> joint_velocity_;
- std::vector<double> joint_effort_;
- std::vector<double> joint_effort_command_;
-
- std::vector<gazebo::physics::JointPtr> sim_joints_;
-
- public:
-
- WamRobotHWSim(void):n_dof_(7),joint_name_(n_dof_),joint_position_(n_dof_),
- joint_velocity_(n_dof_),joint_effort_(n_dof_),joint_effort_command_(n_dof_)
- {
- joint_name_[0]="wam_joint_1";
- joint_name_[1]="wam_joint_2";
- joint_name_[2]="wam_joint_3";
- joint_name_[3]="wam_joint_4";
- joint_name_[4]="wam_joint_5";
- joint_name_[5]="wam_joint_6";
- joint_name_[6]="wam_joint_7";
-
- for(unsigned int j=0;j < n_dof_;j++)
- {
- joint_position_[j]=0.0;
- joint_velocity_[j]=0.0;
- joint_effort_[j]=0.0;
- js_interface_.registerHandle(hardware_interface::JointStateHandle(joint_name_[j],&joint_position_[j],
- &joint_velocity_[j],&joint_effort_[j]));
-
- joint_effort_command_[j] = 0.0;
- ej_interface_.registerHandle(hardware_interface::JointHandle(js_interface_.getHandle(joint_name_[j]),
- &joint_effort_command_[j]));
- }
-
- registerInterface(&js_interface_);
- registerInterface(&ej_interface_);
- }
-
- bool initSim(const std::string& robot_namespace,
- ros::NodeHandle nh,gazebo::physics::ModelPtr model,
- const urdf::Model *const urdf_model,
- std::vector<transmission_interface::TransmissionInfo> transmissions)
- {
- for(unsigned int j=0;j < n_dof_;j++)
- {
- ROS_INFO_STREAM("Getting pointer to gazebo joint: " << joint_name_[j]);
- gazebo::physics::JointPtr joint=model->GetJoint(joint_name_[j]);
- if(joint) sim_joints_.push_back(joint);
- else
- {
- ROS_ERROR_STREAM("This robot has a joint named \"" << joint_name_[j]
- <<"\" which is not in the gazebo model.");
- return false;
- }
- }
- return true;
- }
-
- void readSim(ros::Time time,ros::Duration period)
- {
- for(unsigned int j=0; j < n_dof_;j++)
- {
- joint_position_[j]=sim_joints_[j]->GetAngle(0).Radian();
- joint_velocity_[j]=sim_joints_[j]->GetVelocity(0);
- joint_effort_[j]=joint_effort_command_[j];
- }
- }
-
- void writeSim(ros::Time time,ros::Duration period)
- {
- for(unsigned int j=0;j < n_dof_;j++)
- sim_joints_[j]->SetForce(0,joint_effort_command_[j]);
- }
-
- };
-}
-
-PLUGINLIB_EXPORT_CLASS(wam_gazebo_ros_control::WamRobotHWSim,gazebo_ros_control::RobotHWSim)
+++ /dev/null
-<library path="lib/libwam_gazebo_ros_control">
-
- <class
- name="wam_gazebo_ros_control/WamRobotHWSim"
- type="wam_gazebo_ros_control::WamRobotHWSim"
- base_class_type="gazebo_ros_control::RobotHWSim">
- <description>
- A ROS/Gazebo interface for Barrett WAM, exporting a
- joint_state_interface and a joint_effort_interface.
- </description>
- </class>
-
-</library>
projects / ufrgs_wam.git / commitdiff