-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(tatuira_bringup)
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
-## 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 COMPONENTS
- effort_controllers
- joint_state_controller
- tatuira_description
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## 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 tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_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
-# )
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(effort_controllers REQUIRED)
+find_package(joint_state_broadcaster REQUIRED)
+find_package(tatuira_description REQUIRED)
-## 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
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## 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 your 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 tatuira_bringup
-# CATKIN_DEPENDS effort_controllers joint_state_controller tatuira_description
-# DEPENDS system_lib
+install(DIRECTORY config launch
+ DESTINATION share/${PROJECT_NAME}
)
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/tatuira_bringup.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/tatuira_bringup_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${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
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${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
-# # 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_tatuira_bringup.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+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()
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+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
+License. Each licensee is addressed as "you". "Licensees" and
+"recipients" may be individuals or organizations.
+
+ To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy. The resulting work is called a "modified version" of the
+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
+implementation is available to the public in source code form. A
+"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,
+and which are not combined with it such as to form a larger program,
+in or on a volume of a storage or distribution medium, is called an
+"aggregate" if the compilation and its resulting copyright are not
+used to limit the access or legal rights of the compilation's users
+beyond what the individual works permit. Inclusion of a covered work
+in an aggregate does not cause this License to apply to the other
+parts of the aggregate.
+
+ 6. Conveying Non-Source Forms.
+
+ You may convey a covered work in object code form under the terms
+of sections 4 and 5, provided that you also convey the
+machine-readable Corresponding Source under the terms of this License,
+in one of these ways:
+
+ a) Convey the object code in, or embodied in, a physical product
+ (including a physical distribution medium), accompanied by the
+ Corresponding Source fixed on a durable physical medium
+ customarily used for software interchange.
+
+ b) Convey the object code in, or embodied in, a physical product
+ (including a physical distribution medium), accompanied by a
+ written offer, valid for at least three years and valid for as
+ long as you offer spare parts or customer support for that product
+ model, to give anyone who possesses the object code either (1) a
+ copy of the Corresponding Source for all the software in the
+ product that is covered by this License, on a durable physical
+ medium customarily used for software interchange, for a price no
+ more than your reasonable cost of physically performing this
+ conveying of source, or (2) access to copy the
+ Corresponding Source from a network server at no charge.
+
+ c) Convey individual copies of the object code with a copy of the
+ written offer to provide the Corresponding Source. This
+ alternative is allowed only occasionally and noncommercially, and
+ only if you received the object code with such an offer, in accord
+ with subsection 6b.
+
+ d) Convey the object code by offering access from a designated
+ place (gratis or for a charge), and offer equivalent access to the
+ Corresponding Source in the same way through the same place at no
+ further charge. You need not require recipients to copy the
+ Corresponding Source along with the object code. If the place to
+ copy the object code is a network server, the Corresponding Source
+ may be on a different server (operated by you or a third party)
+ that supports equivalent copying facilities, provided you maintain
+ clear directions next to the object code saying where to find the
+ Corresponding Source. Regardless of what server hosts the
+ Corresponding Source, you remain obligated to ensure that it is
+ available for as long as needed to satisfy these requirements.
+
+ e) Convey the object code using peer-to-peer transmission, provided
+ you inform other peers where the object code and Corresponding
+ Source of the work are being offered to the general public at no
+ charge under subsection 6d.
+
+ A separable portion of the object code, whose source code is excluded
+from the Corresponding Source as a System Library, need not be
+included in conveying the object code work.
+
+ A "User Product" is either (1) a "consumer product", which means any
+tangible personal property which is normally used for personal, family,
+or household purposes, or (2) anything designed or sold for incorporation
+into a dwelling. In determining whether a product is a consumer product,
+doubtful cases shall be resolved in favor of coverage. For a particular
+product received by a particular user, "normally used" refers to a
+typical or common use of that class of product, regardless of the status
+of the particular user or of the way in which the particular user
+actually uses, or expects or is expected to use, the product. A product
+is a consumer product regardless of whether the product has substantial
+commercial, industrial or non-consumer uses, unless such uses represent
+the only significant mode of use of the product.
+
+ "Installation Information" for a User Product means any methods,
+procedures, authorization keys, or other information required to install
+and execute modified versions of a covered work in that User Product from
+a modified version of its Corresponding Source. The information must
+suffice to ensure that the continued functioning of the modified object
+code is in no case prevented or interfered with solely because
+modification has been made.
+
+ If you convey an object code work under this section in, or with, or
+specifically for use in, a User Product, and the conveying occurs as
+part of a transaction in which the right of possession and use of the
+User Product is transferred to the recipient in perpetuity or for a
+fixed term (regardless of how the transaction is characterized), the
+Corresponding Source conveyed under this section must be accompanied
+by the Installation Information. But this requirement does not apply
+if neither you nor any third party retains the ability to install
+modified object code on the User Product (for example, the work has
+been installed in ROM).
+
+ The requirement to provide Installation Information does not include a
+requirement to continue to provide support service, warranty, or updates
+for a work that has been modified or installed by the recipient, or for
+the User Product in which it has been modified or installed. Access to a
+network may be denied when the modification itself materially and
+adversely affects the operation of the network or violates the rules and
+protocols for communication across the network.
+
+ Corresponding Source conveyed, and Installation Information provided,
+in accord with this section must be in a format that is publicly
+documented (and with an implementation available to the public in
+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+ 7. Additional Terms.
+
+ "Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law. If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+ When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it. (Additional permissions may be written to require their own
+removal in certain cases when you modify the work.) You may place
+additional permissions on material, added by you to a covered work,
+for which you have or can give appropriate copyright permission.
+
+ Notwithstanding any other provision of this License, for material you
+add to a covered work, you may (if authorized by the copyright holders of
+that material) supplement the terms of this License with terms:
+
+ a) Disclaiming warranty or limiting liability differently from the
+ terms of sections 15 and 16 of this License; or
+
+ b) Requiring preservation of specified reasonable legal notices or
+ author attributions in that material or in the Appropriate Legal
+ Notices displayed by works containing it; or
+
+ c) Prohibiting misrepresentation of the origin of that material, or
+ requiring that modified versions of such material be marked in
+ reasonable ways as different from the original version; or
+
+ d) Limiting the use for publicity purposes of names of licensors or
+ authors of the material; or
+
+ e) Declining to grant rights under trademark law for use of some
+ trade names, trademarks, or service marks; or
+
+ f) Requiring indemnification of licensors and authors of that
+ material by anyone who conveys the material (or modified versions of
+ it) with contractual assumptions of liability to the recipient, for
+ any liability that these contractual assumptions directly impose on
+ those licensors and authors.
+
+ All other non-permissive additional terms are considered "further
+restrictions" within the meaning of section 10. If the Program as you
+received it, or any part of it, contains a notice stating that it is
+governed by this License along with a term that is a further
+restriction, you may remove that term. If a license document contains
+a further restriction but permits relicensing or conveying under this
+License, you may add to a covered work material governed by the terms
+of that license document, provided that the further restriction does
+not survive such relicensing or conveying.
+
+ If you add terms to a covered work in accord with this section, you
+must place, in the relevant source files, a statement of the
+additional terms that apply to those files, or a notice indicating
+where to find the applicable terms.
+
+ Additional terms, permissive or non-permissive, may be stated in the
+form of a separately written license, or stated as exceptions;
+the above requirements apply either way.
+
+ 8. Termination.
+
+ You may not propagate or modify a covered work except as expressly
+provided under this License. Any attempt otherwise to propagate or
+modify it is void, and will automatically terminate your rights under
+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+ However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
+prior to 60 days after the cessation.
+
+ Moreover, your license from a particular copyright holder is
+reinstated permanently if the copyright holder notifies you of the
+violation by some reasonable means, this is the first time you have
+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+ Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
+this License. If your rights have been terminated and not permanently
+reinstated, you do not qualify to receive new licenses for the same
+material under section 10.
+
+ 9. Acceptance Not Required for Having Copies.
+
+ You are not required to accept this License in order to receive or
+run a copy of the Program. Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance. However,
+nothing other than this License grants you permission to propagate or
+modify any covered work. These actions infringe copyright if you do
+not accept this License. Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+ 10. Automatic Licensing of Downstream Recipients.
+
+ Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License. You are not responsible
+for enforcing compliance by third parties with this License.
+
+ An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations. If propagation of a covered
+work results from an entity transaction, each party to that
+transaction who receives a copy of the work also receives whatever
+licenses to the work the party's predecessor in interest had or could
+give under the previous paragraph, plus a right to possession of the
+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+ You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License. For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+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
+License of the Program or a work on which the Program is based. The
+work thus licensed is called the contributor's "contributor version".
+
+ A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version. For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
+this License.
+
+ Each contributor grants you a non-exclusive, worldwide, royalty-free
+patent license under the contributor's essential patent claims, to
+make, use, sell, offer for sale, import and otherwise run, modify and
+propagate the contents of its contributor version.
+
+ 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>.
right_wheel_controller:
- type: effort_controllers/JointEffortController
- joint: right_rim_joint
+ ros__parameters:
+ joints: [right_rim_joint]
+ interface_name: effort
left_wheel_controller:
- type: effort_controllers/JointEffortController
- joint: left_rim_joint
+ ros__parameters:
+ joints: [left_rim_joint]
+ interface_name: effort
-joint_states_publisher:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: front_bearing_0_joint
- - name: front_wheel_rim_joint
+joint_state_broadcaster:
+ ros__parameters:
+ publish_rate: 100
+ extra_joints:
+ - front_bearing_0_joint
+ - front_wheel_rim_joint
# Watch-out: The indentation here is relevant to the semantic!
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: front_bearing_0_joint
- - name: front_wheel_rim_joint
+joint_state_broadcaster:
+ ros__parameters:
+ type: joint_state_broadcaster/JointStateBroadcaster
+ publish_rate: 100
+ extra_joints:
+ - name: front_bearing_0_joint
+ - name: front_wheel_rim_joint
dynamics_linearizing_controller:
- type: effort_controllers/DynamicsLinearizingController
- joints:
- - left_rim_joint
- - right_rim_joint
- F: [0.0, 0.452, -3.212, 0.0]
- G: [0.0888, 0.0888, -0.2008, 0.2008]
- wheel_separation: 0.8
- wheel_radius: [0.12319, 0.12319]
- odom_frame_id: "odom"
- base_frame_id: "wheel_center"
- priority: 99
- time_step: 0.01
+ ros__parameters:
+ type: effort_controllers/DynamicsLinearizingController
+ joints:
+ - left_rim_joint
+ - right_rim_joint
+ F: [0.0, 0.452, -3.212, 0.0]
+ G: [0.0888, 0.0888, -0.2008, 0.2008]
+ wheel_separation: 0.8
+ wheel_radius: [0.12319, 0.12319]
+ odom_frame_id: "odom"
+ base_frame_id: "wheel_center"
+ priority: 99
+ time_step: 0.01
# Watch-out: The indentation here is relevant to the semantic!
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: front_bearing_0_joint
- - name: front_wheel_rim_joint
+joint_state_broadcaster:
+ ros__parameters:
+ type: joint_state_broadcaster/JointStateBroadcaster
+ publish_rate: 100
+ extra_joints:
+ - name: front_bearing_0_joint
+ - name: front_wheel_rim_joint
nonsmooth_backstep_controller:
- type: effort_controllers/NonSmoothBackstepController
- joints:
- - left_rim_joint
- - right_rim_joint
- F: [0.0, 0.452, -3.212, 0.0]
- G: [0.0888, 0.0888, -0.2008, 0.2008]
- lambda: [200.0, 6.0, 6.0, 500.0, 1000.0]
- gamma: [10.0, 1.0, 10.0, 50.0]
- wheel_separation: 0.8
- wheel_radius: [0.12319, 0.12319]
- odom_frame_id: "odom"
- base_frame_id: "wheel_center"
- priority: 99
- time_step: 0.01
+ ros__parameters:
+ type: effort_controllers/NonSmoothBackstepController
+ joints:
+ - left_rim_joint
+ - right_rim_joint
+ F: [0.0, 0.452, -3.212, 0.0]
+ G: [0.0888, 0.0888, -0.2008, 0.2008]
+ lambda: [200.0, 6.0, 6.0, 500.0, 1000.0]
+ gamma: [10.0, 1.0, 10.0, 50.0]
+ wheel_separation: 0.8
+ wheel_radius: [0.12319, 0.12319]
+ odom_frame_id: "odom"
+ base_frame_id: "wheel_center"
+ priority: 99
+ time_step: 0.01
# Watch-out: The indentation here is relevant to the semantic!
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: front_bearing_0_joint
- - name: front_wheel_rim_joint
+joint_state_broadcaster:
+ ros__parameters:
+ type: joint_state_broadcaster/JointStateBroadcaster
+ publish_rate: 100
+ extra_joints:
+ - name: front_bearing_0_joint
+ - name: front_wheel_rim_joint
nonsmooth_backstep_controller:
- type: effort_controllers/NonSmoothBackstepController
- joints:
- - left_rim_joint
- - right_rim_joint
- F: [0.0, 0.452, -3.212, 0.0]
- G: [0.0888, 0.0888, -0.2008, 0.2008]
- lambda: [200.0, 40.0, 40.0, 500.0, 1000.0]
- gamma: [10.0, 1.0, 10.0, 50.0]
- wheel_separation: 0.8
- wheel_radius: [0.12319, 0.12319]
- odom_frame_id: "odom"
- base_frame_id: "wheel_center"
- priority: 99
- time_step: 0.01
+ ros__parameters:
+ type: effort_controllers/NonSmoothBackstepController
+ joints:
+ - left_rim_joint
+ - right_rim_joint
+ F: [0.0, 0.452, -3.212, 0.0]
+ G: [0.0888, 0.0888, -0.2008, 0.2008]
+ lambda: [200.0, 40.0, 40.0, 500.0, 1000.0]
+ gamma: [10.0, 1.0, 10.0, 50.0]
+ wheel_separation: 0.8
+ wheel_radius: [0.12319, 0.12319]
+ odom_frame_id: "odom"
+ base_frame_id: "wheel_center"
+ priority: 99
+ time_step: 0.01
# Watch-out: The indentation here is relevant to the semantic!
odometry_publisher:
- wheel_separation: 0.8
- wheel_radius: [0.12319, 0.12319]
- odom_frame_id: "odom"
- base_frame_id: "wheel_center"
- publish_rate: 100
-
\ No newline at end of file
+ ros__parameters:
+ wheel_separation: 0.8
+ wheel_radius: [0.12319, 0.12319]
+ odom_frame_id: "odom"
+ base_frame_id: "wheel_center"
+ publish_rate: 100
right_wheel_controller:
- type: effort_controllers/JointVelocityController
- joint: right_rim_joint
- pid: {p: 0, i: 0, d: 0}
+ ros__parameters:
+ type: effort_controllers/JointVelocityController
+ joint: right_rim_joint
+ pid: {p: 0, i: 0, d: 0}
left_wheel_controller:
- type: effort_controllers/JointVelocityController
- joint: left_rim_joint
- pid: {p: 0, i: 0, d: 0}
+ ros__parameters:
+ type: effort_controllers/JointVelocityController
+ joint: left_rim_joint
+ pid: {p: 0, i: 0, d: 0}
-joint_states_publisher:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: front_bearing_0_joint
- - name: front_wheel_rim_joint
+joint_states_broadcaster:
+ ros__parameters:
+ type: joint_state_broadcaster/JointStateBroadcaster
+ publish_rate: 100
+ extra_joints:
+ - name: front_bearing_0_joint
+ - name: front_wheel_rim_joint
# Watch-out: The indentation here is relevant to the semantic!
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
- extra_joints:
- - name: front_bearing_0_joint
- - name: front_wheel_rim_joint
+joint_state_broadcaster:
+ ros__parameters:
+ type: joint_state_broadcaster/JointStateBroadcaster
+ publish_rate: 100
+ extra_joints:
+ - name: front_bearing_0_joint
+ - name: front_wheel_rim_joint
twist_mrac_linearizing_controller:
- type: effort_controllers/TwistMracLinearizingController
- joints:
- - left_rim_joint
- - right_rim_joint
- F: [0.0, 0.452, -3.212, 0.0]
- G: [0.0888, 0.0888, -0.2008, 0.2008]
- Alpha: [10.0, 10.0]
- wheel_separation: 0.8
- wheel_radius: [0.12319, 0.12319]
- odom_frame_id: "odom"
- base_frame_id: "wheel_center"
- priority: 99
- time_step: 0.01
+ ros__parameters:
+ type: effort_controllers/TwistMracLinearizingController
+ joints:
+ - left_rim_joint
+ - right_rim_joint
+ F: [0.0, 0.452, -3.212, 0.0]
+ G: [0.0888, 0.0888, -0.2008, 0.2008]
+ Alpha: [10.0, 10.0]
+ wheel_separation: 0.8
+ wheel_radius: [0.12319, 0.12319]
+ odom_frame_id: "odom"
+ base_frame_id: "wheel_center"
+ priority: 99
+ time_step: 0.01
+++ /dev/null
-<launch>
- <rosparam file="$(find tatuira_ident)/config/ident.yaml" command="load" />
- <node name="tatuira_ident" pkg="tatuira_ident" type="tatuira_ident" output="screen">
- <remap from="dynamic_parameters" to="dynamics_linearizing_controller/dynamic_parameters"/>
- </node>
-
- <include file="$(find tatuira_bringup)/launch/dynamics_linearizing_controller.launch" />
-
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Bringup
+ Adaptive Dynamics Linearizing Controller Launch File
+ Copyright (C) 2018, 2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share tatuira_bringup)/config/dynamics_linearizin_controller.yaml"/>
+
+ <node name="tatuira_ident" pkg="tatuira_ident" exec="tatuira_ident">
+ <remap from="dynamic_parameters" to="dynamics_linearizing_controller/dynamic_parameters"/>
+ <param from="$(find-pkg-share tatuira_ident)/config/ident.yaml"/>
+ </node>
+
+ <include file="$(find-pkg-share tatuira_bringup)/launch/dynamics_linearizing_controller.launch.xml">
+ <arg name="config" value="$(var config)"/>
+ </include>
+
+</launch>
+++ /dev/null
-<launch>
- <rosparam file="$(find tatuira_ident)/config/ident.yaml" command="load" />
- <node name="tatuira_ident" pkg="tatuira_ident" type="tatuira_ident" output="screen">
- <remap from="dynamic_parameters" to="dynamics_linearizing_controller/dynamic_parameters"/>
- </node>
-
- <include file="$(find twil_bringup)/launch/nonsmooth_backstep_controller.launch" />
-
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Bringup
+ Adaptive Nonsmooth Backstepping Controller Launch File
+ Copyright (C) 2018, 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share tatuira_bringup)/config/nonsmooth_backstep_controller.yaml"/>
+
+ <node name="tatuira_ident" pkg="tatuira_ident" exec="tatuira_ident">
+ <remap from="dynamic_parameters" to="dynamics_linearizing_controller/dynamic_parameters"/>
+ <param from="$(find-pkg-share tatuira_ident)/config/ident.yaml"/>
+ </node>
+
+ <include file="$(find-pkg-share tatuira_bringup)/launch/nonsmooth_backstep_controller.launch.xml">
+ <arg name="config" value="$(var config)"/>
+ </include>
+</launch>
+++ /dev/null
-ijc.launch
\ No newline at end of file
--- /dev/null
+<!--******************************************************************************
+ Tatuira Bringup
+ Bypass Joint Controller Launch File
+ Copyright (C) 2019, 2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share tatuira_bringup)/config/bypass.yaml"/>
+
+ <node name="right_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t forward_command_controller/ForwardCommandController -p $(var config) right_wheel_controller"/>
+
+ <node name="left_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t forward_command_controller/ForwardCommandController -p $(var config) left_wheel_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
+</launch>
+++ /dev/null
-<launch>
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" args="joint_state_controller dynamics_linearizing_controller"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Bringup
+ Dynamics Linearizing Controller Launch File
+ Copyright (C) 2018, 2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share tatuira_bringup)/config/dynamics_linearizing_controller.yaml"/>
+
+ <node name="controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/DynamicsLinearizingController -p $(var config) dynamics_linearizing_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
+</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="world" default ="worlds/empty_sky.world"/>
- <arg name="d435" default="false"/>
-
- <arg name="controller" default="pid"/>
- <arg name="config" default="$(find tatuira_bringup)/config/$(arg controller).yaml"/>
-
- <arg name="odometry" default="false"/>
-
- <remap unless="$(arg odometry)" from="$(arg controller)/odom" to="/odom" />
-
- <include file="$(find tatuira_description)/launch/gazebo.launch" >
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="world" value="$(arg world)"/>
- <arg name="d435" value="$(arg d435)" />
- </include>
-
- <rosparam file="$(arg config)" command="load"/>
-
- <include file="$(find tatuira_bringup)/launch/$(arg controller).launch" />
-
- <group if="$(arg odometry)">
- <rosparam file="$(find tatuira_bringup)/config/odometry_publisher.yaml" command="load" />
-
- <node pkg="arc_odometry" type="odometry_publisher" name="odometry_publisher" />
- </group>
-
- <node pkg="tf2_ros" type="static_transform_publisher" name="world_frame_publisher" args="0 0 0 0 0 0 1 map world" />
- <node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 -0.42294 0 0 0 0.7071068 0.7071068 map odom" />
- <node pkg="tf2_ros" type="static_transform_publisher" name="wheel_center_publisher" args="0.42294 0 0 0 0 -0.7071068 0.7071068 wheel_center origin_link" />
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Bringup
+ Gazebo Launch File
+ Copyright (C) 2018, 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 ="worlds/empty_sky.world"/>
+ <arg name="d435" default="false"/>
+
+ <arg name="controller" default="pid"/>
+ <arg name="config" default="$(find-pkg-share tatuira_bringup)/config/$(var controller).yaml"/>
+
+ <arg name="odometry" default="false"/>
+
+ <!--remap unless="$(var odometry)" from="$(var controller)/odom" to="/odom"/-->
+
+ <include file="$(find-pkg-share tatuira_description)/launch/gazebo.launch.xml">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="world" value="$(var world)"/>
+ <arg name="d435" value="$(var d435)"/>
+ </include>
+
+ <include file="$(find-pkg-share tatuira_bringup)/launch/$(var controller).launch.xml">
+ <arg name="config" value="$(var config)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+
+ <node if="$(var odometry)" pkg="arc_odometry" exec="odometry_publisher" name="odometry_publisher">
+ <param from="$(find-pkg-share tatuira_bringup)/config/odometry_publisher.yaml"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+
+ <node pkg="tf2_ros" exec="static_transform_publisher" name="world_frame_publisher" args="--frame-id map --child-frame-id world"/>
+ <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="--y -0.42294 --yaw 1.5708 --frame-id map --child-frame-id odom"/>
+ <node pkg="tf2_ros" exec="static_transform_publisher" name="wheel_center_publisher" args="--x 0.42294 --yaw 1.5708 --frame-id wheel_center --child-frame-id origin_link"/>
+</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
-
- <arg name="controller" default="nonsmooth_backstep_controller"/>
- <arg name="config" default="$(find tatuira_bringup)/config/$(arg controller).yaml"/>
-
- <include file="$(find tatuira_bringup)/launch/gazebo.launch">
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="controller" value="$(arg controller)"/>
- <arg name="config" value="$(arg config)"/>
- </include>
-
- <remap from="/command" to="/$(arg controller)/command" />
-
- <node name="eight_trajectory" pkg="pose2d_trajectories" type="eight_trajectory" respawn="false" output="screen" args="_x:=0.0 _y:=-0.5 _radius:=1.0 _ang_vel:=0.1"/>
-
- <node name="pose2d_stamp" pkg="pose2d_trajectories" type="pose2d_stamp" respawn="false" output="screen" args="_frame_id:=map" />
-
- <include file="$(find tatuira_description)/launch/display.launch" />
-
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Bringup
+ Gazebo8 Launch File
+ Copyright (C) 2018, 2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+
+ <arg name="controller" default="nonsmooth_backstep_controller"/>
+ <arg name="config" default="$(find-pkg-share tatuira_bringup)/config/$(var controller).yaml"/>
+
+ <include file="$(find-pkg-share tatuira_bringup)/launch/gazebo.launch.xml">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="controller" value="$(var controller)"/>
+ <arg name="config" value="$(var config)"/>
+ </include>
+
+ <node name="eight_trajectory" pkg="pose2d_trajectories" exec="eight_trajectory">
+ <param name="x" value="0.0"/>
+ <param name="y" value="-0.5"/>
+ <param name="radius" value="1.0"/>
+ <param name="ang_vel" value="0.1"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <remap from="command" to="/$(var controller)/command"/>
+ </node>
+
+ <node name="pose2d_stamp" pkg="pose2d_trajectories" exec="pose2d_stamp" args="_frame_id:=map"/>
+
+ <include file="$(find-pkg-share tatuira_description)/launch/display.launch.xml">
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+</launch>
+++ /dev/null
-<launch>
- <node name="controller_spawner" pkg="controller_manager"
- type="spawner" respawn="false" output="screen"
- args="right_wheel_controller left_wheel_controller joint_states_publisher" />
-</launch>
+++ /dev/null
-<launch>
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" args="joint_state_controller nonsmooth_backstep_controller"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Bringup
+ Nonsmooth Backstepping Controller Launch File
+ Copyright (C) 2019, 2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share tatuira_bringup)/config/nonsmooth_backstep_controller.yaml"/>
+
+ <node name="controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/NonSmoothBackstepController -p $(var config) nonsmooth_backstep_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
+</launch>
+++ /dev/null
-ijc.launch
\ No newline at end of file
--- /dev/null
+<!--******************************************************************************
+ Tatuira Bringup
+ Independent PID Joint Controller Launch File
+ Copyright (C) 2019, 2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share tatuira_bringup)/config/pid.yaml"/>
+
+ <node name="right_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/JointVelocityController -p $(var config) right_wheel_controller"/>
+
+ <node name="left_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/JointVelocityController -p $(var config) left_wheel_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-p $(var config) joint_state_broadcaster"/>
+</launch>
+++ /dev/null
-<launch>
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
- output="screen" args="joint_state_controller twist_mrac_linearizing_controller"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Bringup
+ Twist MRAC Linearizing Controller Launch File
+ Copyright (C) 2018, 2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share tatuira_bringup)/config/twist_mrac_linearizing_controller.yaml"/>
+
+ <node name="controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/TwistMracLinearizingController -p $(var config) twist_mrac_linearizing_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster -p $(var config) joint_state_broadcaster"/>
+</launch>
<?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
<name>tatuira_bringup</name>
- <version>0.2.0</version>
- <description>The tatuira_bringup package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <version>2.0.0</version>
+ <description>Tatuira bringup package.</description>
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+ <license>GPL-3.0-only</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
- <!-- 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 multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/tatuira_bringup</url> -->
-
+ <depend>effort_controllers</depend>
+ <depend>joint_state_broadcaster</depend>
+ <depend>tatuira_description</depend>
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>effort_controllers</build_depend>
- <build_depend>joint_state_controller</build_depend>
- <build_depend>tatuira_description</build_depend>
- <build_export_depend>effort_controllers</build_export_depend>
- <build_export_depend>joint_state_controller</build_export_depend>
- <build_export_depend>tatuira_description</build_export_depend>
- <exec_depend>effort_controllers</exec_depend>
- <exec_depend>joint_state_controller</exec_depend>
- <exec_depend>tatuira_description</exec_depend>
-
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
+ <build_type>ament_cmake</build_type>
</export>
</package>
--- /dev/null
+controller_manager:
+ ros__parameters:
+ update_rate: 1000
+ use_sim_time: true
--- /dev/null
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <gazebo>
+ <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 tatuira_description)/config/controller_manager.yaml</parameters>
+ </plugin>
+ </gazebo>
+</robot>
--- /dev/null
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <ros2_control name="GazeboSystem" type="system">
+ <hardware>
+ <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+ </hardware>
+
+ <joint name="right_rim_joint">
+ <command_interface name="effort">
+ <param name="min">-3.2</param>
+ <param name="max">3.2</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="left_rim_joint">
+ <command_interface name="effort">
+ <param name="min">-3.2</param>
+ <param name="max">3.2</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+ </ros2_control>
+</robot>
<xacro:back_macro name="left" parent="center_0" reflect="-1" />
- <gazebo>
- <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
- <!--<robotNamespace>/tatuira</robotNamespace>-->
- <controlPeriod>0.001</controlPeriod>
- </plugin>
+ <xacro:include filename="ros2_control.xacro"/>
+ <xacro:include filename="gazebo_control.xacro"/>
+ <gazebo>
<plugin name="gound_truth" filename="libgazebo_ros_p3d.so">
<update_rate>100.0</update_rate>
<body_name>origin_link</body_name>
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(tatuira_ident)
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
-## 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 COMPONENTS
- roscpp
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
find_package(Eigen3 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 tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_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
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## 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 your 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 tatuira_ident
-# CATKIN_DEPENDS roscpp
-# DEPENDS Eigen3
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-# TODO: Check names of system library include directories (Eigen3)
- ${EIGEN3_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/tatuira_ident.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
add_executable(tatuira_ident src/tatuira_ident.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(tatuira_ident
- ${catkin_LIBRARIES}
-# ${Eigen3_LIBRARIES}
+target_include_directories(tatuira_ident PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
+ $<INSTALL_INTERFACE:include>)
+target_compile_features(tatuira_ident PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
+ament_target_dependencies(
+ tatuira_ident
+ "rclcpp"
+ "sensor_msgs"
+ "std_msgs"
+ "Eigen3"
)
-#############
-## 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
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS tatuira_ident
- RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
+ DESTINATION lib/${PROJECT_NAME})
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(DIRECTORY config launch
+ DESTINATION share/${PROJECT_NAME})
-#############
-## Testing ##
-#############
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_tatuira_ident.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # comment the line when a copyright and license is added to all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # comment the line when this package is in a git repo and when
+ # a copyright and license is added to all source files
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()
# Watch-out: The indentation here is relevant to the semantic!
tatuira_ident:
- wheel_separation: 0.322
- wheel_radius: [0.075, 0.075]
+ ros__parameters:
+ wheel_separation: 0.322
+ wheel_radius: [0.075, 0.075]
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
-
- <remap from="/left_wheel_controller/command" to="/left_wheel_command"/>
- <remap from="/right_wheel_controller/command" to="/right_wheel_command"/>
-
- <remap from="/ident/left_wheel_command" to="/left_wheel_command"/>
- <remap from="/ident/right_wheel_command" to="/right_wheel_command"/>
-
- <include file="$(find tatuira_bringup)/launch/gazebo.launch" >
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="controller" value="bypass"/>
- </include>
-
- <rosparam file="$(find tatuira_ident)/config/ident.yaml" command="load" />
- <include file="$(find tatuira_ident)/launch/ident.launch"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Ident
+ Gazebo Launch File
+ Copyright (C) 2018..2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+
+ <include file="$(find-pkg-share tatuira_bringup)/launch/gazebo.launch.xml">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="controller" value="bypass"/>
+ </include>
+
+ <include file="$(find-pkg-share tatuira_ident)/launch/ident.launch.xml">
+ <arg name="left_command_topic" value="/left_wheel_controller/commands"/>
+ <arg name="right_command_topic" value="/right_wheel_controller/commands"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+</launch>
+++ /dev/null
-<launch>
- <node name="tatuira_ident" pkg="tatuira_ident" type="tatuira_ident" output="screen"/>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Tatuira Ident
+ Tatuira Ident Launch File
+ Copyright (C) 2018..2023 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="left_command_topic" default="/left_wheel_command"/>
+ <arg name="right_command_topic" default="/right_wheel_command"/>
+ <arg name="use_sim_time" default="true"/>
+
+ <node name="tatuira_ident" pkg="tatuira_ident" exec="tatuira_ident">
+ <remap from="/tatuira_ident/left_wheel_command" to="$(var left_command_topic)"/>
+ <remap from="/tatuira_ident/right_wheel_command" to="$(var right_command_topic)"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <param from="$(find-pkg-share tatuira_ident)/config/ident.yaml"/>
+ </node>
+</launch>
<?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
<name>tatuira_ident</name>
- <version>0.0.1</version>
- <description>The tatuira_ident package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <version>2.0.0</version>
+ <description>Tatuira identification package.</description>
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+ <license>GPL-3.0-only</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
- <!-- 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 multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/tatuira_ident</url> -->
-
+ <depend>rclcpp</depend>
+ <depend>sensor_msgs</depend>
+ <depend>std_msgs</depend>
+ <depend>Eigen3</depend>
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author> -->
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>Eigen3</build_depend>
- <build_depend>roscpp</build_depend>
- <build_export_depend>Eigen3</build_export_depend>
- <build_export_depend>roscpp</build_export_depend>
- <exec_depend>Eigen3</exec_depend>
- <exec_depend>roscpp</exec_depend>
-
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
+ <build_type>ament_cmake</build_type>
</export>
</package>
/******************************************************************************
ROS tatuira_ident Package
Tatuira Dynamics Model
- Copyright (C) 2020 Walter Fetter Lages <w.fetter@ieee.org>
+ Copyright (C) 2020..2023 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
*******************************************************************************/
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
#include <Eigen/Dense>
-#include <std_msgs/Float64.h>
-#include <std_msgs/Float64MultiArray.h>
-#include <sensor_msgs/JointState.h>
+#include <std_msgs/msg/float64_multi_array.hpp>
+#include <sensor_msgs/msg/joint_state.hpp>
class Prbs
{
Prbs::~Prbs(void)
{
-// delete[] sh;
+ delete[] sh_;
}
Prbs::operator int(void)
}
-class Ident
+class Ident: public rclcpp::Node
{
public:
- Ident(ros::NodeHandle node);
- ~Ident(void);
- void setCommand(void);
+ Ident(void);
private:
- ros::NodeHandle node_;
-
- ros::Subscriber jointStatesSubscriber_;
- ros::Publisher dynParamPublisher_;
- ros::Publisher rightWheelCommandPublisher_;
- ros::Publisher leftWheelCommandPublisher_;
+ rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr jointStatesSubscriber_;
+ rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr dynParamPublisher_;
+ rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr rightWheelCommandPublisher_;
+ rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr leftWheelCommandPublisher_;
const int nJoints_;
std::vector<Prbs> prbs_;
int iter_;
- ros::Time lastTime_;
+ rclcpp::TimerBase::SharedPtr timer_;
+ rclcpp::Time lastTime_;
std::vector<double> wheelRadius_;
double wheelBase_;
- void jointStatesCB(const sensor_msgs::JointState::ConstPtr &jointStates);
+ void setCommandCB(void);
+ void jointStatesCB(const sensor_msgs::msg::JointState::SharedPtr jointStates);
void resetCovariance(void);
};
-Ident::Ident(ros::NodeHandle node):
+Ident::Ident(void): Node("tatuira_ident"),
nJoints_(2),u_(nJoints_),thetaEst1_(nJoints_),thetaEst2_(nJoints_),P1_(nJoints_,nJoints_),P2_(nJoints_,nJoints_),prbs_(nJoints_),wheelRadius_(nJoints_)
{
- node_=node;
-
- ros::NodeHandle n("~");
- if(!n.getParam("wheel_separation",wheelBase_))
+ try
{
- ROS_ERROR("No 'wheel_separation' in node %s.",node_.getNamespace().c_str());
- return;
+ declare_parameter("wheel_separation",rclcpp::PARAMETER_DOUBLE);
+ declare_parameter("wheel_radius",rclcpp::PARAMETER_DOUBLE_ARRAY);
+ wheelBase_=get_parameter("wheel_separation").get_value<double>();
+ wheelRadius_=get_parameter("wheel_radius").as_double_array();
}
-
- if(!n.getParam("wheel_radius",wheelRadius_))
+ catch(const std::exception &e)
{
- ROS_ERROR("No 'wheel_radius' in node %s.",node_.getNamespace().c_str());
- return;
+ RCLCPP_ERROR_STREAM(get_logger(),"Missing parameter(s): " << e.what());
+ return ;
}
- jointStatesSubscriber_=node_.subscribe("joint_states",1000,&Ident::jointStatesCB,this);
- dynParamPublisher_=node_.advertise<std_msgs::Float64MultiArray>("dynamic_parameters",1000);
- leftWheelCommandPublisher_=node_.advertise<std_msgs::Float64>("left_wheel_command",1000);
- rightWheelCommandPublisher_=node_.advertise<std_msgs::Float64>("right_wheel_command",1000);
+ jointStatesSubscriber_=create_subscription<sensor_msgs::msg::JointState>("joint_states",1000,std::bind(&Ident::jointStatesCB,this,std::placeholders::_1));
+ dynParamPublisher_=create_publisher<std_msgs::msg::Float64MultiArray>("~/dynamic_parameters",1000);
+ leftWheelCommandPublisher_=create_publisher<std_msgs::msg::Float64MultiArray>("~/left_wheel_command",1000);
+ rightWheelCommandPublisher_=create_publisher<std_msgs::msg::Float64MultiArray>("~/right_wheel_command",1000);
prbs_[0].seed(0);
prbs_[1].seed(1);
thetaEst2_.setZero();
resetCovariance();
- lastTime_=ros::Time::now();
-}
+ using namespace std::chrono_literals;
+ timer_=rclcpp::create_timer(this,this->get_clock(),10ms,std::bind(&Ident::setCommandCB,this));
-Ident::~Ident(void)
-{
- jointStatesSubscriber_.shutdown();
+ lastTime_=this->get_clock()->now();
}
void Ident::resetCovariance(void)
iter_=0;
}
-void Ident::jointStatesCB(const sensor_msgs::JointState::ConstPtr &jointStates)
+void Ident::jointStatesCB(const sensor_msgs::msg::JointState::SharedPtr jointStates)
{
- ros::Duration dt=jointStates->header.stamp-lastTime_;
+ rclcpp::Duration dt=rclcpp::Time(jointStates->header.stamp)-lastTime_;
lastTime_=jointStates->header.stamp;
Eigen::VectorXd y=-u_; //y(k+1)=(u(k+1)-u(k))/dt
torque[1]=jointStates->effort[0]; // torque(k)
y+=u_;
- y/=dt.toSec();
+ y/=dt.seconds();
Phi1[1]=torque[0]+torque[1];
Phi2[1]=torque[0]-torque[1];
thetaEst2_+=K2*(y[1]-yEst2);
P2_-=K2*Phi2.transpose()*P2_;
- std_msgs::Float64MultiArray dynParam;
- dynParam.layout.dim.push_back(std_msgs::MultiArrayDimension());
+ std_msgs::msg::Float64MultiArray dynParam;
+ dynParam.layout.dim.push_back(std_msgs::msg::MultiArrayDimension());
dynParam.layout.dim[0].label="K5 K6 K7 K8 P55 P66 P77 P88";
dynParam.layout.dim[0].size=nJoints_*4;
dynParam.layout.dim[0].stride=1;
dynParam.data.push_back(P1_(i,i));
dynParam.data.push_back(P2_(i,i));
}
- dynParamPublisher_.publish(dynParam);
+ dynParamPublisher_->publish(dynParam);
// if(iter++ > 2048) resetCovariance();
}
-void Ident::setCommand(void)
+void Ident::setCommandCB(void)
{
- std_msgs::Float64 rightCommand;
- std_msgs::Float64 leftCommand;
- rightCommand.data=5*prbs_[1]-2.5;
- leftCommand.data=5*prbs_[0]-2.5;
- rightWheelCommandPublisher_.publish(rightCommand);
- leftWheelCommandPublisher_.publish(leftCommand);
+ std_msgs::msg::Float64MultiArray rightCommand;
+ rightCommand.layout.dim.push_back(std_msgs::msg::MultiArrayDimension());
+ rightCommand.layout.dim[0].label="right wheel command";
+ rightCommand.layout.dim[0].size=1;
+ rightCommand.layout.dim[0].stride=1;
+ rightCommand.layout.data_offset=0;
+ rightCommand.data.push_back(5*prbs_[1]-2.5);
+
+ std_msgs::msg::Float64MultiArray leftCommand;
+ leftCommand.layout.dim.push_back(std_msgs::msg::MultiArrayDimension());
+ leftCommand.layout.dim[0].label="left wheel command";
+ leftCommand.layout.dim[0].size=1;
+ leftCommand.layout.dim[0].stride=1;
+ leftCommand.layout.data_offset=0;
+ leftCommand.data.push_back(5*prbs_[0]-2.5);
+
+ rightWheelCommandPublisher_->publish(rightCommand);
+ leftWheelCommandPublisher_->publish(leftCommand);
}
int main(int argc,char* argv[])
{
- ros::init(argc,argv,"tatuira_ident");
- ros::NodeHandle node;
-
- Ident ident(node);
-
- ros::Rate loop(100);
- while(ros::ok())
- {
- ident.setCommand();
-
- ros::spinOnce();
- loop.sleep();
- }
+ rclcpp::init(argc,argv);
+ rclcpp::spin(std::make_shared<Ident>());
+ rclcpp::shutdown();
return 0;
}
projects / tatuira.git / commitdiff