Rename wam_simulation to wam_bringup.

diff --git a/wam_simulation/CMakeLists.txt b/wam_bringup/CMakeLists.txt
similarity index 94%
rename from wam_simulation/CMakeLists.txt
rename to wam_bringup/CMakeLists.txt
index 1734d6d..b45cd2f 100644 (file)
--- a/wam_simulation/CMakeLists.txt
+++ b/wam_bringup/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(wam_simulation)
+project(wam_bringup)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -93,15 +93,15 @@ catkin_package(
 #)
 
 ## Declare a cpp library
-#add_library(wam_simulation
+#add_library(wam_bringup
 #)
 
 ## Declare a cpp executable
-# add_executable(wam_simulation_node src/wam_simulation_node.cpp)
+# add_executable(wam_bringup_node src/wam_bringup_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_simulation_node wam_simulation_generate_messages_cpp)
+# add_dependencies(wam_bringup_node wam_bringup_generate_messages_cpp)
 
 ## Specify libraries to link a library or executable target against
 #target_link_libraries(${PROJECT_NAME}
@@ -148,7 +148,7 @@ catkin_package(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_wam_simulation.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_wam_bringup.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

diff --git a/wam_simulation/config/computed_torque_controller.yaml b/wam_bringup/config/computed_torque_controller.yaml
similarity index 100%
rename from wam_simulation/config/computed_torque_controller.yaml
rename to wam_bringup/config/computed_torque_controller.yaml

diff --git a/wam_simulation/config/pid_plus_gravity_controller.yaml b/wam_bringup/config/pid_plus_gravity_controller.yaml
similarity index 99%
rename from wam_simulation/config/pid_plus_gravity_controller.yaml
rename to wam_bringup/config/pid_plus_gravity_controller.yaml
index 8039807..5dd9e7c 100644 (file)
--- a/wam_simulation/config/pid_plus_gravity_controller.yaml
+++ b/wam_bringup/config/pid_plus_gravity_controller.yaml
@@ -23,4 +23,4 @@ pid_plus_gravity_controller:
   gravity: {x: 0.0, y: 0.0, z: -9.8}
   chain: {root: "wam_origin", tip: "wam_tool_plate"}
   priority: 99
-  
+   
\ No newline at end of file

diff --git a/wam_simulation/launch/gazebo.launch b/wam_bringup/launch/gazebo.launch
similarity index 91%
rename from wam_simulation/launch/gazebo.launch
rename to wam_bringup/launch/gazebo.launch
index 69f26d6..5f4cb81 100644 (file)
--- a/wam_simulation/launch/gazebo.launch
+++ b/wam_bringup/launch/gazebo.launch
@@ -7,7 +7,7 @@
 
        <!-- This is the default Barrett WAM Controller, used by libbarrett -->
        <arg name="controller" default="pid_plus_gravity_controller"/>
-       <arg name="config" default="$(find wam_simulation)/config/$(arg controller).yaml"/>
+       <arg name="config" default="$(find wam_bringup)/config/$(arg controller).yaml"/>
        
        <remap from="$(arg controller)/command" to="controller/command" />
 

diff --git a/wam_simulation/package.xml b/wam_bringup/package.xml
similarity index 93%
rename from wam_simulation/package.xml
rename to wam_bringup/package.xml
index 70eaee5..39e213a 100644 (file)
--- a/wam_simulation/package.xml
+++ b/wam_bringup/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package>
-  <name>wam_simulation</name>
+  <name>wam_bringup</name>
   <version>1.0.0</version>
-  <description>The wam_simulation package</description>
+  <description>The wam_bringup package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
@@ -19,7 +19,7 @@
   <!-- 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_simulation</url> -->
+  <!-- <url type="website">http://wiki.ros.org/wam_bringup</url> -->
   <url type="website">http://www.ece.ufrgs.br/ufrgs_wam</url>
 
 

diff --git a/wam_simulation/scripts/set_home.sh b/wam_bringup/scripts/set_home.sh
similarity index 100%
rename from wam_simulation/scripts/set_home.sh
rename to wam_bringup/scripts/set_home.sh

diff --git a/wam_simulation/scripts/move_initial.sh b/wam_bringup/scripts/step.sh
similarity index 60%
rename from wam_simulation/scripts/move_initial.sh
rename to wam_bringup/scripts/step.sh
index 7dcea5a..010384b 100755 (executable)
--- a/wam_simulation/scripts/move_initial.sh
+++ b/wam_bringup/scripts/step.sh
@@ -1,9 +1,13 @@
 #!/bin/bash
 
+if [ "$#" -ne 7 ]; then
+       echo "Error: There should be 7 parameters."
+       exit -1;
+fi;
 rostopic pub /controller/command \
 trajectory_msgs/JointTrajectoryPoint \
-"[0.0,0.75,0.0,1.5,0.0,0.9,0.0]" \
+"[$1, $2, $3, $4, $5, $6, $7]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
 "[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0]" -1
+"[0.0, 0.0]" "-1"

diff --git a/wam_simulation/scripts/move_home.sh b/wam_bringup/scripts/step_home.sh
similarity index 100%
rename from wam_simulation/scripts/move_home.sh
rename to wam_bringup/scripts/step_home.sh

diff --git a/wam_simulation/scripts/move_zero.sh b/wam_bringup/scripts/step_zero.sh
similarity index 100%
rename from wam_simulation/scripts/move_zero.sh
rename to wam_bringup/scripts/step_zero.sh

diff --git a/wam_simulation/scripts/set_initial.sh b/wam_simulation/scripts/set_initial.sh
deleted file mode 100755 (executable)
index 57bf9d1..0000000
--- a/wam_simulation/scripts/set_initial.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/bin/bash
-
-rosservice call /gazebo/set_model_configuration wam joint \
-"['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4', \
-'wam_joint_5','wam_joint_6','wam_joint_7']" \
-"[0.0,0.75,0.0,1.5,0.0,0.9,0.0]"
-
-rostopic pub /wam/controller/command \
-trajectory_msgs/JointTrajectoryPoint \
-"[0.0,0.75,0.0,1.5,0.0,0.9,0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0]" -1