--- /dev/null
+install/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+#*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+# Colcon custom Files
+COLCON_IGNORE
+
+# Joe
+DEADJOE
--- /dev/null
+cmake_minimum_required(VERSION 3.8)
+project(crane)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+ament_package()
--- /dev/null
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
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+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
--- /dev/null
+<?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>crane</name>
+ <version>0.0.0</version>
+ <description>Metapackage for the Crane robot</description>
+ <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+ <license>GPL-3.0-only</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <exec_depend>crane_description</exec_depend>
+ <exec_depend>crane_hardware</exec_depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>
--- /dev/null
+cmake_minimum_required(VERSION 3.8)
+project(crane_description)
+
+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)
+
+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()
+
+install(
+ DIRECTORY config launch urdf
+ DESTINATION share/${PROJECT_NAME}
+)
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
+ament_package()
--- /dev/null
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received. You must make sure that they, too, receive
+or can get the source code. And you must show them these terms so they
+know their rights.
+
+ Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+ For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software. For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+ Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so. This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software. The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable. Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products. If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+ Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary. To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ TERMS AND CONDITIONS
+
+ 0. Definitions.
+
+ "This License" refers to version 3 of the GNU General Public License.
+
+ "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+ "The Program" refers to any copyrightable work licensed under this
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+
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+earlier work or a work "based on" the earlier work.
+
+ A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+ To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy. Propagation includes copying,
+distribution (with or without modification), making available to the
+public, and in some countries other activities as well.
+
+ To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies. Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+ An interactive user interface displays "Appropriate Legal Notices"
+to the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
+work under this License, and how to view a copy of this License. If
+the interface presents a list of user commands or options, such as a
+menu, a prominent item in the list meets this criterion.
+
+ 1. Source Code.
+
+ The "source code" for a work means the preferred form of the work
+for making modifications to it. "Object code" means any non-source
+form of a work.
+
+ A "Standard Interface" means an interface that either is an official
+standard defined by a recognized standards body, or, in the case of
+interfaces specified for a particular programming language, one that
+is widely used among developers working in that language.
+
+ The "System Libraries" of an executable work include anything, other
+than the work as a whole, that (a) is included in the normal form of
+packaging a Major Component, but which is not part of that Major
+Component, and (b) serves only to enable use of the work with that
+Major Component, or to implement a Standard Interface for which an
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+"Major Component", in this context, means a major essential component
+(kernel, window system, and so on) of the specific operating system
+(if any) on which the executable work runs, or a compiler used to
+produce the work, or an object code interpreter used to run it.
+
+ The "Corresponding Source" for a work in object code form means all
+the source code needed to generate, install, and (for an executable
+work) run the object code and to modify the work, including scripts to
+control those activities. However, it does not include the work's
+System Libraries, or general-purpose tools or generally available free
+programs which are used unmodified in performing those activities but
+which are not part of the work. For example, Corresponding Source
+includes interface definition files associated with source files for
+the work, and the source code for shared libraries and dynamically
+linked subprograms that the work is specifically designed to require,
+such as by intimate data communication or control flow between those
+subprograms and other parts of the work.
+
+ The Corresponding Source need not include anything that users
+can regenerate automatically from other parts of the Corresponding
+Source.
+
+ The Corresponding Source for a work in source code form is that
+same work.
+
+ 2. Basic Permissions.
+
+ All rights granted under this License are granted for the term of
+copyright on the Program, and are irrevocable provided the stated
+conditions are met. This License explicitly affirms your unlimited
+permission to run the unmodified Program. The output from running a
+covered work is covered by this License only if the output, given its
+content, constitutes a covered work. This License acknowledges your
+rights of fair use or other equivalent, as provided by copyright law.
+
+ You may make, run and propagate covered works that you do not
+convey, without conditions so long as your license otherwise remains
+in force. You may convey covered works to others for the sole purpose
+of having them make modifications exclusively for you, or provide you
+with facilities for running those works, provided that you comply with
+the terms of this License in conveying all material for which you do
+not control copyright. Those thus making or running the covered works
+for you must do so exclusively on your behalf, under your direction
+and control, on terms that prohibit them from making any copies of
+your copyrighted material outside their relationship with you.
+
+ Conveying under any other circumstances is permitted solely under
+the conditions stated below. Sublicensing is not allowed; section 10
+makes it unnecessary.
+
+ 3. Protecting Users' Legal Rights From Anti-Circumvention Law.
+
+ No covered work shall be deemed part of an effective technological
+measure under any applicable law fulfilling obligations under article
+11 of the WIPO copyright treaty adopted on 20 December 1996, or
+similar laws prohibiting or restricting circumvention of such
+measures.
+
+ When you convey a covered work, you waive any legal power to forbid
+circumvention of technological measures to the extent such circumvention
+is effected by exercising rights under this License with respect to
+the covered work, and you disclaim any intention to limit operation or
+modification of the work as a means of enforcing, against the work's
+users, your or third parties' legal rights to forbid circumvention of
+technological measures.
+
+ 4. Conveying Verbatim Copies.
+
+ You may convey verbatim copies of the Program's source code as you
+receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice;
+keep intact all notices stating that this License and any
+non-permissive terms added in accord with section 7 apply to the code;
+keep intact all notices of the absence of any warranty; and give all
+recipients a copy of this License along with the Program.
+
+ You may charge any price or no price for each copy that you convey,
+and you may offer support or warranty protection for a fee.
+
+ 5. Conveying Modified Source Versions.
+
+ You may convey a work based on the Program, or the modifications to
+produce it from the Program, in the form of source code under the
+terms of section 4, provided that you also meet all of these conditions:
+
+ a) The work must carry prominent notices stating that you modified
+ it, and giving a relevant date.
+
+ b) The work must carry prominent notices stating that it is
+ released under this License and any conditions added under section
+ 7. This requirement modifies the requirement in section 4 to
+ "keep intact all notices".
+
+ c) You must license the entire work, as a whole, under this
+ License to anyone who comes into possession of a copy. This
+ License will therefore apply, along with any applicable section 7
+ additional terms, to the whole of the work, and all its parts,
+ regardless of how they are packaged. This License gives no
+ permission to license the work in any other way, but it does not
+ invalidate such permission if you have separately received it.
+
+ d) If the work has interactive user interfaces, each must display
+ Appropriate Legal Notices; however, if the Program has interactive
+ interfaces that do not display Appropriate Legal Notices, your
+ work need not make them do so.
+
+ A compilation of a covered work with other separate and independent
+works, which are not by their nature extensions of the covered work,
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+beyond what the individual works permit. Inclusion of a covered work
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+
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+
+ You may convey a covered work in object code form under the terms
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+
+ d) Convey the object code by offering access from a designated
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+ available for as long as needed to satisfy these requirements.
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+ e) Convey the object code using peer-to-peer transmission, provided
+ you inform other peers where the object code and Corresponding
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+included in conveying the object code work.
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+tangible personal property which is normally used for personal, family,
+or household purposes, or (2) anything designed or sold for incorporation
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+ "Additional permissions" are terms that supplement the terms of this
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+
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+
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+
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+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+ 11. Patents.
+
+ A "contributor" is a copyright holder who authorizes use under this
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+work thus licensed is called the contributor's "contributor version".
+
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+
+ In the following three paragraphs, a "patent license" is any express
+agreement or commitment, however denominated, not to enforce a patent
+(such as an express permission to practice a patent or covenant not to
+sue for patent infringement). To "grant" such a patent license to a
+party means to make such an agreement or commitment not to enforce a
+patent against the party.
+
+ If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
+to copy, free of charge and under the terms of this License, through a
+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
+license to downstream recipients. "Knowingly relying" means you have
+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
+in a country, would infringe one or more identifiable patents in that
+country that you have reason to believe are valid.
+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<https://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<https://www.gnu.org/licenses/why-not-lgpl.html>.
--- /dev/null
+controller_manager:
+ ros__parameters:
+ update_rate: 1000
+ use_sim_time: true
--- /dev/null
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded: ~
+ Splitter Ratio: 0.5
+ Tree Height: 549
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_bottom_front_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_bottom_left_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_bottom_rear_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_bottom_right_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Mass Properties:
+ Inertia: false
+ Mass: false
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz_default_plugins/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ base_bottom_front_link:
+ Value: true
+ base_bottom_left_link:
+ Value: true
+ base_bottom_rear_link:
+ Value: true
+ base_bottom_right_link:
+ Value: true
+ base_link:
+ Value: true
+ map:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: false
+ Tree:
+ map:
+ base_link:
+ base_bottom_front_link:
+ {}
+ base_bottom_left_link:
+ {}
+ base_bottom_rear_link:
+ {}
+ base_bottom_right_link:
+ {}
+ Update Interval: 0
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 3.8662915229797363
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.6552025079727173
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 1.5753883123397827
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 828
+ Y: 72
--- /dev/null
+gazebo:
+ ros__parameters:
+ # This is the /clock update rate
+ publish_rate: 1000.0
--- /dev/null
+- ros_topic_name: "/clock"
+ gz_topic_name: "/clock"
+ ros_type_name: "rosgraph_msgs/msg/Clock"
+ gz_type_name: "ignition.msgs.Clock"
+# subscriber_queue: 5 # Default 10
+# publisher_queue: 6 # Default 10
+# lazy: true # Default "false"
+ direction: GZ_TO_ROS # Default "BIDIRECTIONAL" - Bridge both directions
+ # "GZ_TO_ROS" - Bridge Ignition topic to ROS
+ # "ROS_TO_GZ" - Bridge ROS topic to Ignition
--- /dev/null
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
+
+set-if-unset;MESA_GL_VERSION_OVERRIDE;3.3
--- /dev/null
+<!--******************************************************************************
+ Crane Description
+ Crane Launch File
+ Copyright (C) 2024 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="use_sim_time" default="false"/>
+ <arg name="ignition" default="false"/>
+ <arg name="hardware" default="false"/>
+
+ <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+ <param name="robot_description" value="$(command 'xacro $(find-pkg-share crane_description)/urdf/crane.urdf.xacro ignition:=$(var ignition) hardware:=$(var hardware)')" type="str"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+</launch>
--- /dev/null
+<!--******************************************************************************
+ Crane Description
+ Rviz Launch File
+ Copyright (C) 2024 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="gui" default="false"/>
+ <arg name="use_sim_time" default="false"/>
+
+ <node pkg="tf2_ros" exec="static_transform_publisher" name="crane_origin_publisher" args="--frame-id map --child-frame-id base_link"/>
+ <node if="$(var gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui"/>
+ <include file="$(find-pkg-share crane_description)/launch/crane.launch.xml">
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+ <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share crane_description)/config/display.rviz">
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+</launch>
--- /dev/null
+<!--******************************************************************************
+ Crane Description
+ Gazebo Classic Launch File
+ Copyright (C) 2024 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="worlds/empty_sky.world"/>
+
+ <include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="world" value="$(var world)"/>
+ <arg name="params_file" value="$(find-pkg-share crane_description)/config/gazebo.yaml"/>
+ </include>
+
+ <include file="$(find-pkg-share crane_description)/launch/crane.launch.xml">
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+
+ <node name="crane_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity crane"/>
+</launch>
--- /dev/null
+<!--******************************************************************************
+ Crane Description
+ Gazebo Ignitio Launch File
+ Copyright (C) 2024 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="empty.sdf"/>
+
+ <arg unless="$(var pause)" name="gz_pause" default="-r"/>
+ <arg if="$(var pause)" name="gz_pause" default=""/>
+
+ <arg unless="$(var gui)" name="gz_gui" default="-s"/>
+ <arg if="$(var gui)" name="gz_gui" default=""/>
+
+ <include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py">
+ <arg name="gz_args" value="$(var gz_pause) $(var gz_gui) $(var world)"/>
+ </include>
+
+ <include file="$(find-pkg-share crane_description)/launch/crane.launch.xml">
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+
+ <node name="crane_spawner" pkg="ros_gz_sim" exec="create" args="-topic robot_description -name crane"/>
+
+ <node name="gz_bridge" pkg="ros_gz_bridge" exec="parameter_bridge">
+ <param name="config_file" value="$(find-pkg-share crane_description)/config/gz_bridge.yaml"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>crane_description</name>
+ <version>0.0.0</version>
+ <description>Description of the crane robot</description>
+ <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+ <license>GPL-3.0-only</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <exec_depend>joint_state_publisher_gui</exec_depend>
+ <exec_depend>xacro</exec_depend>
+
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ <gazebo_ros gazebo_model_path="${prefix}/.."/>
+ </export>
+</package>
--- /dev/null
+<?xml version="1.0" ?>
+<!--******************************************************************************
+ Crane Description
+ Base Description
+ Copyright (C) 2024 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/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:arg name="ignition" default="false"/>
+
+ <xacro:include filename="prismatic.xacro"/>
+
+ <xacro:property name="base_width" value="1580e-3"/>
+ <xacro:property name="base_length" value="1080e-3"/>
+ <xacro:property name="base_height" value="1080e-3"/>
+
+ <xacro:property name="profile_width" value="80e-3"/>
+
+ <xacro:macro name="base" params="name parent *origin">
+ <xacro:rectangular name="base_bottom_front"
+ width="${profile_width}"
+ length="${base_width}"
+ height="${profile_width}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="0 ${base_length/2} 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_bottom_rear"
+ width="${profile_width}"
+ length="${base_width}"
+ height="${profile_width}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="0 ${-base_length/2} 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_bottom_right"
+ width="${base_length}"
+ length="${profile_width}"
+ height="${profile_width}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="${-base_width/2} 0 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_bottom_left"
+ width="${base_length}"
+ length="${profile_width}"
+ height="${profile_width}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="${base_width/2} 0 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_front_right"
+ width="${profile_width}"
+ length="${profile_width}"
+ height="${base_height}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="${-base_width/2} ${base_length/2} ${base_height/2}"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_front_left"
+ width="${profile_width}"
+ length="${profile_width}"
+ height="${base_height}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="${base_width/2} ${base_length/2} ${base_height/2}"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_rear_right"
+ width="${profile_width}"
+ length="${profile_width}"
+ height="${base_height}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="${-base_width/2} ${-base_length/2} ${base_height/2}"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_rear_left"
+ width="${profile_width}"
+ length="${profile_width}"
+ height="${base_height}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="${base_width/2} ${-base_length/2} ${base_height/2}"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_top_front"
+ width="${profile_width}"
+ length="${base_width}"
+ height="${profile_width}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="0 ${base_length/2} ${base_height}"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_top_rear"
+ width="${profile_width}"
+ length="${base_width}"
+ height="${profile_width}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="0 ${-base_length/2} ${base_height}"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_top_right"
+ width="${base_length}"
+ length="${profile_width}"
+ height="${profile_width}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="${-base_width/2} 0 ${base_height}"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="base_top_left"
+ width="${base_length}"
+ length="${profile_width}"
+ height="${profile_width}"
+ mass="${base_width*profile_width*profile_width*1.0}"
+ parent="${parent}">
+ <origin xyz="${base_width/2} 0 ${base_height}"/>
+ </xacro:rectangular>
+ </xacro:macro>
+</robot>
--- /dev/null
+<?xml version="1.0" ?>
+<!--******************************************************************************
+ Crane Description
+ Bridge Description
+ Copyright (C) 2024 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:arg name="ignition" default="false"/>
+
+ <xacro:include filename="prismatic.xacro"/>
+
+ <xacro:property name="bridge_width" value="300e-3"/>
+ <xacro:property name="bridge_length" value="1080e-3"/>
+ <xacro:property name="bridge_height" value="80e-3"/>
+
+ <xacro:property name="profile_width" value="80e-3"/>
+
+ <xacro:macro name="bridge" params="name parent *origin">
+
+ <link name="${name}_link"/>
+
+ <joint name="${name}_joint" type="prismatic">
+ <xacro:insert_block name="origin"/>
+ <parent link="${parent}" />
+ <child link="${name}_link" />
+ <axis xyz="1 0 0" />
+ <limit lower="${-(base_width-bridge_width)/2}" upper="${(base_width-bridge_width)/2}" effort="1.0" velocity="10.0"/>
+ </joint>
+
+ <xacro:rectangular name="bridge_front"
+ width="${profile_width}"
+ length="${bridge_width}"
+ height="${profile_width}"
+ mass="${bridge_width*profile_width*profile_width*1.0}"
+ parent="${name}_link">
+ <origin xyz="0 ${bridge_length/2} 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="bridge_rear"
+ width="${profile_width}"
+ length="${bridge_width}"
+ height="${profile_width}"
+ mass="${bridge_width*profile_width*profile_width*1.0}"
+ parent="${name}_link">
+ <origin xyz="0 ${-bridge_length/2} 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="bridge_right"
+ width="${bridge_length}"
+ length="${profile_width}"
+ height="${profile_width}"
+ mass="${bridge_width*profile_width*profile_width*1.0}"
+ parent="${name}_link">
+ <origin xyz="${-(bridge_width-profile_width)/2} 0 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="bridge_left"
+ width="${bridge_length}"
+ length="${profile_width}"
+ height="${profile_width}"
+ mass="${bridge_width*profile_width*profile_width*1.0}"
+ parent="${name}_link">
+ <origin xyz="${(bridge_width-profile_width)/2} 0 0"/>
+ </xacro:rectangular>
+ </xacro:macro>
+</robot>
--- /dev/null
+<?xml version="1.0"?>
+<!--******************************************************************************
+ Crane Description
+ Hook Description
+ Copyright (C) 2024 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/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="crane">
+
+ <xacro:arg name="ignition" default="false"/>
+
+ <xacro:include filename="material.xacro"/>
+ <xacro:include filename="base.xacro"/>
+ <xacro:include filename="bridge.xacro"/>
+ <xacro:include filename="trolley.xacro"/>
+ <xacro:include filename="hoist.xacro"/>
+ <xacro:include filename="hook.xacro"/>
+
+ <link name="base_link"/>
+
+ <xacro:base name="base" parent="base_link">
+ <origin xyz="0 0 0"/>
+ </xacro:base>
+
+ <xacro:bridge name="bridge" parent="base_link">
+ <origin xyz="0 0 ${base_height+profile_width}"/>
+ </xacro:bridge>
+
+ <xacro:trolley name="trolley" parent="bridge_link">
+ <origin xyz="0 0 ${(bridge_height+trolley_height)/2}"/>
+ </xacro:trolley>
+
+ <xacro:hoist name="hoist" parent="trolley_link">
+ <origin xyz="0 0 0"/>
+ </xacro:hoist>
+
+ <xacro:hook name="hook" parent="hoist_yaw_link">
+ <origin xyz="0 0 0"/>
+ <limit lower="${-base_height}" upper="0" effort="1.0" velocity="10.0"/>
+ </xacro:hook>
+
+ <xacro:include filename="ros2_control.xacro"/>
+ <xacro:include filename="gazebo_control.xacro"/>
+</robot>
--- /dev/null
+<?xml version="1.0"?>
+<!--******************************************************************************
+ Crane Description
+ Gazebo Plugins
+ Copyright (C) 2024 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/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:arg name="ignition" default="false"/>
+
+ <gazebo>
+ <!-- Gazebo Cassic -->
+ <xacro:unless value="$(arg ignition)">
+ <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+ <robot_param>robot_description</robot_param>
+ <robot_param_node>robot_state_publisher</robot_param_node>
+ <parameters>$(find crane_description)/config/controller_manager.yaml</parameters>
+ </plugin>
+ </xacro:unless>
+ <!-- Gazebo Ignition -->
+ <xacro:if value="$(arg ignition)">
+ <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+ <robot_param>robot_description</robot_param>
+ <robot_param_node>robot_state_publisher</robot_param_node>
+ <parameters>$(find crane_description)/config/controller_manager.yaml</parameters>
+ </plugin>
+ </xacro:if>
+ </gazebo>
+
+</robot>
--- /dev/null
+<?xml version="1.0" ?>
+<!--******************************************************************************
+ Crane Description
+ Hoist Description
+ Copyright (C) 2024 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/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:arg name="ignition" default="false"/>
+
+ <xacro:include filename="prismatic.xacro"/>
+
+ <xacro:property name="hoist_width" value="${300e-3-2*trolley_height}"/>
+ <xacro:property name="hoist_length" value="40e-3"/>
+ <xacro:property name="hoist_height" value="40e-3"/>
+
+ <xacro:macro name="hoist" params="name parent *origin">
+
+ <xacro:rectangular name="${name}"
+ width="${hoist_height}"
+ length="${hoist_width}"
+ height="${hoist_height}"
+ mass="${hoist_width*hoist_height*hoist_height*1.0}"
+ parent="${parent}">
+ <xacro:insert_block name="origin"/>
+ </xacro:rectangular>
+
+ <joint name="${name}_roll_joint" type="revolute">
+ <origin rpy="0 0 0"/>
+ <parent link="${name}_link" />
+ <child link="${name}_roll_link" />
+ <axis xyz="1 0 0" />
+ <limit lower="${-pi/4}" upper="${pi/4}" effort="1.0" velocity="10.0"/>
+ </joint>
+
+ <link name="${name}_roll_link"/>
+
+ <joint name="${name}_pitch_joint" type="revolute">
+ <origin rpy="0 0 0"/>
+ <parent link="${name}_roll_link" />
+ <child link="${name}_pitch_link" />
+ <axis xyz="0 1 0" />
+ <limit lower="${-pi/4}" upper="${pi/4}" effort="1.0" velocity="10.0"/>
+ </joint>
+
+ <link name="${name}_pitch_link"/>
+
+ <joint name="${name}_yaw_joint" type="revolute">
+ <origin rpy="0 0 0"/>
+ <parent link="${name}_pitch_link" />
+ <child link="${name}_yaw_link" />
+ <axis xyz="0 0 1" />
+ <limit lower="${-pi/4}" upper="${pi/4}" effort="1.0" velocity="10.0"/>
+ </joint>
+
+ <link name="${name}_yaw_link"/>
+ </xacro:macro>
+</robot>
--- /dev/null
+<?xml version="1.0" ?>
+<!--******************************************************************************
+ Crane Description
+ Hoist Description
+ Copyright (C) 2024 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:arg name="ignition" default="false"/>
+
+ <xacro:include filename="prismatic.xacro"/>
+
+ <xacro:property name="hook_width" value="40e-3"/>
+ <xacro:property name="hook_length" value="40e-3"/>
+ <xacro:property name="hook_height" value="40e-3"/>
+
+ <xacro:macro name="hook" params="name parent *origin *limit">
+ <link name="${name}_link"/>
+
+ <joint name="${name}_joint" type="prismatic">
+ <xacro:insert_block name="origin"/>
+ <parent link="${parent}"/>
+ <child link="${name}_link"/>
+ <axis xyz="0 0 1"/>
+ <xacro:insert_block name="limit"/>
+ </joint>
+ </xacro:macro>
+</robot>
--- /dev/null
+<?xml version="1.0" ?>
+<!--******************************************************************************
+ Crane Description
+ Material Description
+ Copyright (C) 2024 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/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+
+ <material name="blue">
+ <color rgba="0.2 0.2 1 1"/>
+ </material>
+
+ <material name="grey">
+ <color rgba="0.7 0.7 0.7 1"/>
+ </material>
+
+ <material name="orange">
+ <color rgba="1 0.3 0.1 1"/>
+ </material>
+
+ <material name="red">
+ <color rgba="0.851 0.0 0.0 1.0"/>
+ </material>
+
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+</robot>
--- /dev/null
+<?xml version="1.0"?>
+<!--******************************************************************************
+ Crane Description
+ Rectangular Profiles Macros
+ Copyright (C) 2024 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/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:macro name="prismatic" params="name length width height mass parent *origin *limit">
+ <link name="${name}_link">
+ <visual>
+ <geometry>
+ <box size="${length} ${width} ${height}"/>
+ </geometry>
+ <material name="red">
+ <color rgba="0.7 0.0 0.0 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="${length} ${width} ${height}"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <mass value="${mass}" />
+ <inertia ixx="${mass/12*(length*length+height*height)}"
+ ixy="0.0" ixz="0.0"
+ iyy="${mass/12*(width*width+height*height)}"
+ iyz="0.0"
+ izz="${mass/12*(width*width+length*length)}"/>
+ </inertial>
+ </link>
+
+ <joint name="${name}_joint" type="prismatic">
+ <xacro:insert_block name="origin"/>
+ <parent link="${parent}"/>
+ <child link="${name}_link"/>
+ <axis xyz="0 0 1"/>
+ <xacro:insert_block name="limit"/>
+ </joint>
+
+ <gazebo reference="${name}_link">
+ <material>Gazebo/Red</material>
+ </gazebo>
+ </xacro:macro>
+
+ <xacro:macro name="rectangular" params="name length width height mass parent *origin">
+ <link name="${name}_link">
+ <visual>
+ <geometry>
+ <box size="${length} ${width} ${height}"/>
+ </geometry>
+ <material name="grey">
+ <color rgba="0.7 0.7 0.7 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="${length} ${width} ${height}"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <mass value="${mass}" />
+ <inertia ixx="${mass/12*(length*length+height*height)}"
+ ixy="0.0" ixz="0.0"
+ iyy="${mass/12*(width*width+height*height)}"
+ iyz="0.0"
+ izz="${mass/12*(width*width+length*length)}"/>
+ </inertial>
+ </link>
+
+ <joint name="${name}_joint" type="fixed">
+ <xacro:insert_block name="origin"/>
+ <parent link="${parent}" />
+ <child link="${name}_link" />
+ </joint>
+
+ <gazebo reference="${name}_link">
+ <material>Gazebo/Grey</material>
+ </gazebo>
+ </xacro:macro>
+</robot>
--- /dev/null
+<?xml version="1.0"?>
+<!--******************************************************************************
+ Crane Description
+ ros2_control Plugins
+ Copyright (C) 2024 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:arg name="ignition" default="false"/>
+
+ <ros2_control name="CraneSystem" type="system">
+
+ <xacro:unless value="$(arg hardware)">
+ <!-- Gazebo Classic -->
+ <xacro:unless value="$(arg ignition)">
+ <hardware>
+ <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+ </hardware>
+ </xacro:unless>
+
+ <xacro:if value="$(arg ignition)">
+ <!-- Gazebo Ignition -->
+ <hardware>
+ <plugin>ign_ros2_control/IgnitionSystem</plugin>
+ </hardware>
+ </xacro:if>
+ </xacro:unless>
+
+ <xacro:if value="$(arg hardware)">
+ <!-- Actual Hardware -->
+ <hardware>
+ <plugin>crane_hardware/EdubotSystem</plugin>
+ </hardware>
+ </xacro:if>
+
+ <joint name="bridge_joint">
+ <command_interface name="effort">
+ <param name="min">-1.0</param>
+ <param name="max">1.0</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="trolley_joint">
+ <command_interface name="effort">
+ <param name="min">-1.0</param>
+ <param name="max">1.0</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="hoist_roll_joint">
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ </joint>
+
+ <joint name="hoist_pitch_joint">
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ </joint>
+
+ <joint name="hoist_yaw_joint">
+ <!--state_interface name="position"/>
+ <state_interface name="velocity"/-->
+ </joint>
+
+ <joint name="hook_joint">
+ <command_interface name="effort">
+ <param name="min">-1.0</param>
+ <param name="max">1.0</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+ </ros2_control>
+</robot>
--- /dev/null
+<?xml version="1.0" ?>
+<!--******************************************************************************
+ Crane Description
+ Trolley Description
+ Copyright (C) 2024 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/>.
+
+*******************************************************************************-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:arg name="ignition" default="false"/>
+
+ <xacro:include filename="prismatic.xacro"/>
+
+ <xacro:property name="trolley_width" value="300e-3"/>
+ <xacro:property name="trolley_length" value="300e-3"/>
+ <xacro:property name="trolley_height" value="40e-3"/>
+
+ <xacro:macro name="trolley" params="name parent *origin">
+
+ <link name="${name}_link"/>
+
+ <joint name="${name}_joint" type="prismatic">
+ <xacro:insert_block name="origin"/>
+ <parent link="${parent}" />
+ <child link="${name}_link" />
+ <axis xyz="0 1 0" />
+ <limit lower="${-(bridge_length-trolley_width)/2}" upper="${(bridge_length-trolley_width)/2}" effort="1.0" velocity="10.0"/>
+ </joint>
+
+ <xacro:rectangular name="trolley_front"
+ width="${trolley_height}"
+ length="${trolley_width}"
+ height="${trolley_height}"
+ mass="${trolley_width*trolley_height*trolley_height*1.0}"
+ parent="${name}_link">
+ <origin xyz="0 ${trolley_length/2} 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="trolley_rear"
+ width="${trolley_height}"
+ length="${trolley_width}"
+ height="${trolley_height}"
+ mass="${trolley_width*trolley_height*trolley_height*1.0}"
+ parent="${name}_link">
+ <origin xyz="0 ${-trolley_length/2} 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="trolley_right"
+ width="${trolley_length}"
+ length="${trolley_height}"
+ height="${trolley_height}"
+ mass="${trolley_width*trolley_height*trolley_height*1.0}"
+ parent="${name}_link">
+ <origin xyz="${-(trolley_width-trolley_height)/2} 0 0"/>
+ </xacro:rectangular>
+
+ <xacro:rectangular name="trolley_left"
+ width="${trolley_length}"
+ length="${trolley_height}"
+ height="${trolley_height}"
+ mass="${trolley_width*trolley_height*trolley_height*1.0}"
+ parent="${name}_link">
+ <origin xyz="${(trolley_width-trolley_height)/2} 0 0"/>
+ </xacro:rectangular>
+ </xacro:macro>
+</robot>
projects / crane_description.git / commitdiff