-devel/
+install/
logs/
build/
bin/
# Catkin custom files
CATKIN_IGNORE
+# Colcon custom Files
+COLCON_IGNORE
+
# Joe
DEADJOE
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(bhand_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)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
-## 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
-# )
-
-## 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 bhand_bringup
-# CATKIN_DEPENDS other_catkin_pkg
-# 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
-# ${catkin_INCLUDE_DIRS}
+install(PROGRAMS
+ scripts/close.sh
+ scripts/open.sh
+ scripts/spread_close_grasp_open.sh
+ scripts/spread_open_grasp_close.sh
+ DESTINATION lib/${PROJECT_NAME}
)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/bhand_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/bhand_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_bhand_bringup.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # uncomment the line when a copyright and license is not present in all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # uncomment the line when this package is not in a git repo
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
-bhand_controller:
- type: position_controllers/JointGroupPositionController
- joints:
- - bhand_finger1_joint_2
- - bhand_finger2_joint_2
- - bhand_finger3_joint_2
- - bhand_spread
-
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 1000
+/bhand_controller:
+ ros__parameters:
+ joints:
+ - bhand_finger1_joint_2
+ - bhand_finger2_joint_2
+ - bhand_finger3_joint_2
+ - bhand_spread
--- /dev/null
+<!--******************************************************************************
+ Barrett Hand Bringup
+ Controller Launch File
+ Copyright (C) 2018, 2021 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 bhand_bringup)/config/bhand_controller.yaml"/>
+
+ <node name="bhand_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t position_controllers/JointGroupPositionController -p $(var config) bhand_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster joint_state_broadcaster"/>
+</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="table" default="true"/>
-
-
- <include file="$(find bhand_description)/launch/gazebo.launch" >
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- </include>
-
- <rosparam file="$(find bhand_bringup)/config/bhand_controller.yaml" command="load"/>
-
- <node name="bhand_controller_spawner" pkg="controller_manager" type="spawner"
- respawn="false" output="screen"
- args="bhand_controller joint_state_controller" />
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Barret Hand Bringup
+ Gazebo Launch File
+ Copyright (C) 2018, 2021 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="bhand_controller"/>
+ <arg name="config" default="$(find-pkg-share bhand_bringup)/config/$(var controller).yaml"/>
+
+ <include file="$(find-pkg-share bhand_description)/launch/gazebo.launch.xml" >
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+
+ <include file="$(find-pkg-share bhand_bringup)/launch/$(var controller).launch.xml" >
+ <arg name="config" value="$(var config)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+</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>bhand_bringup</name>
- <version>0.1.0</version>
- <description>The bhand_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>Bring-up Barrett Hand</description>
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/bhand_bringup</url> -->
-
-
- <!-- 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>
-
- <!-- 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>
+ <buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>bhand_description</exec_depend>
<exec_depend>control_msgs</exec_depend>
<exec_depend>position_controllers</exec_depend>
<exec_depend>urdf</exec_depend>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_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>
#!/bin/bash
-rostopic pub /bhand_controller/command \
-std_msgs/Float64MultiArray \
+ros2 topic pub /bhand_controller/commands \
+std_msgs/msg/Float64MultiArray \
"{layout: {dim: [size: 4, stride: 4]}, data: [2.44, 2.44, 2.44, 3.14]}" \
"-1"
#!/bin/bash
-rostopic pub /bhand_controller/command \
-std_msgs/Float64MultiArray \
+ros2 topic pub /bhand_controller/commands \
+std_msgs/msg/Float64MultiArray \
"{layout: {dim: [size: 4, stride: 4]}, data: [0.0, 0.0, 0.0, 0.0]}" \
"-1"
#!/bin/bash
-rostopic pub /bhand_controller/command \
-std_msgs/Float64MultiArray \
+ros2 topic pub /bhand_controller/commands \
+std_msgs/msg/Float64MultiArray \
"{layout: {dim: [size: 4, stride: 4]}, data: [0.0, 0.0, 0.0, 3.14]}" \
"-1"
#!/bin/bash
-rostopic pub /bhand_controller/command \
-std_msgs/Float64MultiArray \
+ros2 topic pub /bhand_controller/commands \
+std_msgs/msg/Float64MultiArray \
"{layout: {dim: [size: 4, stride: 4]}, data: [2.44, 2.44, 2.44, 0.0]}" \
"-1"
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(bhand_description)
-## 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)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
-## 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
-# )
-
-## 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 bhand_description
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
+install(DIRECTORY config launch meshes rviz xacro
+ DESTINATION share/${PROJECT_NAME}
)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/bhand_description.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/bhand_description_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_bhand_description.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # uncomment the line when a copyright and license is not present in all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # uncomment the line when this package is not in a git repo
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
--- /dev/null
+controller_manager:
+ ros__parameters:
+ update_rate: 250
+ use_sim_time: true
--- /dev/null
+gazebo:
+ ros__parameters:
+ # This is the /clock update rate
+ publish_rate: 500.0
+++ /dev/null
-<launch>
- <arg name="world" default="false"/>
-
- <param name="robot_description" command="$(find xacro)/xacro '$(find bhand_description)/xacro/bhand.urdf.xacro' world:=$(arg world)" />
-</launch>
--- /dev/null
+<launch>
+ <arg name="world" default="false"/>
+ <arg name="use_sim_time" default="false"/>
+
+ <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+ <param name="robot_description" value="$(command 'xacro $(find-pkg-share bhand_description)/xacro/bhand.urdf.xacro world:=$(var world)')" type="str"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+</launch>
+++ /dev/null
-<launch>
- <arg name="use_gui" default="true"/>
-
- <include file="$(find bhand_description)/launch/bhand.launch" />
-
- <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find bhand_description)/rviz/urdf.rviz" required="true"/>
-</launch>
--- /dev/null
+<launch>
+ <arg name="gui" default="true"/>
+
+ <node if="$(var gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui"/>
+ <include file="$(find-pkg-share bhand_description)/launch/bhand.launch.xml"/>
+ <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share bhand_description)/rviz/display.rviz"/>
+</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="world" default="true"/>
-
- <include file="$(find gazebo_ros)/launch/empty_world.launch">
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="world_name" value="worlds/empty_sky.world" />
- </include>
-
- <include file="$(find bhand_description)/launch/bhand.launch" >
- <arg name="world" value="$(arg world)" />
- </include>
-
- <node name="bhand_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model bhand" respawn="false" output="screen" />
-</launch>
--- /dev/null
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="world" default="true"/>
+
+ <group> <include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="world" value="worlds/empty_sky.world" />
+ <arg name="extra_gazebo_args" value="--ros-args --params-file $(find-pkg-share bhand_description)/config/gazebo.yaml"/>
+ </include> </group>
+
+ <include file="$(find-pkg-share bhand_description)/launch/bhand.launch.xml">
+ <arg name="world" value="$(var world)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+
+ <node name="bhand_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity bhand"/>
+</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>bhand_description</name>
- <version>2.1.0</version>
+ <version>3.0.0</version>
<description><p>The bhand_description package</p>
- <p>This package contains xacro files for the Barrett Hand gripper.
+ <p>This package contains xacro files for the Barrett Hand gripper.
It is based on the iri_wam_description package developed by the IRI
- Robotics Lab but with gripper parameters (mainly inertia parameters)
- adapted to the Barrett Hand model BH-280 available at UFRGS.
- </p>
+ Robotics Lab (http://wiki.ros.org/iri_bhand_description) but with
+ gripper parameters (mainly inertia parameters) adapted to the
+ Barrett Hand model BH-280 available at UFRGS.
+ </p>
</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>BSD</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/bhand_description</url> -->
- <url type="website">http://www.ece.ufrgs.br/~fetter/ufrgs_wam</url>
- <url type="website">http://wiki.ros.org/iri_bhand_description</url>
-
-
- <!-- 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>
<author>IRI Robotics Lab, Ivan Rojas (irojas@iri.upc.edu)</author>
+ <buildtool_depend>ament_cmake</buildtool_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>
+ <exec_depend>roboticsgroup_upatras_gazebo_plugins</exec_depend>
- <exec_depend>roboticsgroup_gazebo_plugins</exec_depend>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
+ <build_type>ament_cmake</build_type>
+ <gazebo_ros gazebo_model_path="${prefix}/.."/>
</export>
</package>
Panels:
- - Class: rviz/Displays
+ - Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
- Expanded:
- - /RobotModel1
- - /RobotModel1/Links1
- - /RobotModel1/Links1/bhand_origin1
- Splitter Ratio: 0.588816
- Tree Height: 559
- - Class: rviz/Selection
+ Expanded: ~
+ Splitter Ratio: 0.5
+ Tree Height: 549
+ - Class: rviz_common/Selection
Name: Selection
- - Class: rviz/Tool Properties
+ - Class: rviz_common/Tool Properties
Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
+ - /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
- Splitter Ratio: 0.588679
- - Class: rviz/Views
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- - Class: rviz/Time
+ - Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
Displays:
- Alpha: 0.5
Cell Size: 1
- Class: rviz/Grid
+ Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.03
+ Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
- Class: rviz/RobotModel
+ Class: rviz_default_plugins/RobotModel
Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
- Link Tree Style: ""
+ Link Tree Style: Links in Alphabetic Order
bhand_base_link:
Alpha: 1
Show Axes: false
Value: true
bhand_origin:
Alpha: 1
- Show Axes: true
+ Show Axes: false
Show Trail: false
Name: RobotModel
- Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Frame Rate: 30
Name: root
Tools:
- - Class: rviz/Interact
+ - Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/FocusCamera
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Topic: /initialpose
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- - Class: rviz/PublishPoint
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
Single click: true
- Topic: /clicked_point
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
Value: true
Views:
Current:
- Class: rviz/Orbit
- Distance: 0.651721
+ Class: rviz_default_plugins/Orbit
+ Distance: 0.7650711536407471
Enable Stereo Rendering:
- Stereo Eye Separation: 0.06
+ Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
X: 0
Y: 0
Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.01
- Pitch: 0.635399
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.785398006439209
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 1.25857
+ Yaw: 0.785398006439209
Saved: ~
Window Geometry:
Displays:
Height: 846
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd000000040000000000000185000002bafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000036000002ba000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000036000002ba0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024700fffffffb0000000800540069006d0065010000000000000450000000000000000000000210000002ba00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Views:
collapsed: false
Width: 1200
- X: 312
- Y: 0
+ X: 60
+ Y: 60
-->
<mass value="0.14109"/>
<origin xyz="0.030616 -7.3219e-5 -0.011201"/>
- <!--inertia ixx="2.0672e-5" ixy="2.6024e-7" ixz="6.3481e-6" iyy="7.4105e-5" iyz="1.7118e-8" izz="6.8207e-5"/ -->
- <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+ <!--inertia ixx="2.0672e-5" ixy="2.6024e-7" ixz="6.3481e-6" iyy="7.4105e-5" iyz="1.7118e-8" izz="6.8207e-5"/-->
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</inertial_attr>
<origin xyz="-0.02475 0.0 ${0.1325-0.06}" rpy="0.0 0.0 0.0" />
<mass value="0.14109"/>
<origin xyz="0.030616 -7.3219e-5 -0.011201"/>
<!--inertia ixx="2.0672e-5" ixy="2.6024e-7" ixz="6.3481e-6" iyy="7.4105e-5" iyz="1.7118e-8" izz="6.8207e-5"/-->
- <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</inertial_attr>
<origin xyz="0.02475 0.0 ${0.1325-0.06}" rpy="0.0 0.0 0.0" />
<xacro:bhand_transmission joint="spread_mimic" />
<gazebo>
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <plugin name="bhand_spread_mimic_plugin" filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so">
<joint>bhand_spread</joint>
<mimicJoint>bhand_spread_mimic</mimicJoint>
<multiplier>-1.0</multiplier>
<sensitiveness>0.0</sensitiveness>
</plugin>
</gazebo>
-
+
<xacro:bhand_link1 parent="base_link" link="finger3_link_1" joint="finger3_joint_1" type="fixed">
<inertial_attr>
<inertial>
<mass value="0.14109"/>
<origin xyz="0.030616 -7.3219e-5 -0.011201"/>
<!--inertia ixx="2.0672e-5" ixy="2.6024e-7" ixz="6.3481e-6" iyy="7.4105e-5" iyz="1.7118e-8" izz="6.8207e-5"/-->
- <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+ <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+
</inertial>
</inertial_attr>
<!--inertial_attr/-->
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
- <gazebo>
- <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
- <!--robotNamespace>bhand</robotNamespace-->
-
- <!-- Custom plugin -->
- <!-- robotSimType>bhand_gazebo_ros_control/BhandRobotHWSim</robotSimType -->
-
- <!-- Default plugin -->
- <!-- robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType -->
+ </xacro:if>
- <controlPeriod>0.001</controlPeriod>
+ <ros2_control name="BhandSystem" type="system">
+ <hardware>
+ <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+ </hardware>
+
+ <joint name="bhand_finger1_joint_2">
+ <command_interface name="position">
+ <param name="min">0.0</param>
+ <param name="max">${140 * M_PI /180}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ </joint>
+
+ <joint name="bhand_finger1_joint_3">
+ <state_interface name="position"/>
+ </joint>
+
+ <joint name="bhand_finger2_joint_2">
+ <command_interface name="position">
+ <param name="min">0,9</param>
+ <param name="max">${140 * M_PI /180}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ </joint>
+
+ <joint name="bhand_finger2_joint_3">
+ <state_interface name="position"/>
+ </joint>
+
+ <joint name="bhand_finger3_joint_2">
+ <command_interface name="position">
+ <param name="min">0.0</param>
+ <param name="max">${140 * M_PI /180}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ </joint>
+
+ <joint name="bhand_finger3_joint_3">
+ <state_interface name="position"/>
+ </joint>
+
+ <joint name="bhand_spread">
+ <command_interface name="position">
+ <param name="min">0.0</param>
+ <param name="max">${M_PI}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ </joint>
+
+ <joint name="bhand_spread_mimic">
+ <state_interface name="position"/>
+ </joint>
+ </ros2_control>
+
+ <xacro:if value="$(arg world)">
+ <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>$(find bhand_description)/config/controller_manager.yaml</parameters>
</plugin>
</gazebo>
</xacro:if>
-->
<mass value="0.062139"/>
<origin xyz="0.023133 0.00078642 0.00052792"/>
- <inertia ixx="4.8162e-6" ixy="5.7981e-7" ixz="-7.2483e-7" iyy="4.3317e-5" iyz="-2.6653e-9" izz="4.4441e-5"/>
+ <!--inertia ixx="4.8162e-6" ixy="5.7981e-7" ixz="-7.2483e-7" iyy="4.3317e-5" iyz="-2.6653e-9" izz="4.4441e-5"/-->
+ <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
</transmission>
<gazebo>
- <plugin name="bhand_${joint}_mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <plugin name="bhand_${joint}_mimic_plugin" filename="libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so">
<joint>bhand_${mimic_joint}</joint>
<mimicJoint>bhand_${joint}</mimicJoint>
<multiplier>${48 / 140}</multiplier>
</plugin>
</gazebo>
-
</xacro:macro>
</robot>
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.8)
project(ufrgs_wam)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+
+find_package(ament_cmake REQUIRED)
+ament_package()
<?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>ufrgs_wam</name>
- <version>3.1.0</version>
- <description>The ufrgs_wam package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <version>4.0.0</version>
+ <description>Metapackage for the Barrett WAM robot at UFRGS</description>
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/ufrgs_wam</url> -->
-
-
- <!-- 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>
-
-
- <!-- 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>
+ <buildtool_depend>ament_cmake_ros</buildtool_depend>
<exec_depend>bhand_bringup</exec_depend>
<exec_depend>bhand_description</exec_depend>
<exec_depend>wam_node_test</exec_depend>
<exec_depend>wam_teleoplib</exec_depend>
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
- <metapackage/>
+ <build_type>ament_cmake</build_type>
</export>
</package>
+
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(wam_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)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
-## 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
-# )
-
-## 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 wam_bringup
-# CATKIN_DEPENDS other_catkin_pkg
-# 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
-# ${catkin_INCLUDE_DIRS}
+install(PROGRAMS
+ scripts/set_home.sh
+ scripts/step.sh
+ scripts/step_home.sh
+ scripts/step_zero.sh
+ DESTINATION lib/${PROJECT_NAME}
)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/wam_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/wam_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_wam_bringup.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # uncomment the line when a copyright and license is not present in all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # uncomment the line when this package is not in a git repo
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 100
-
-computed_torque_controller:
- type: effort_controllers/ComputedTorqueController
- joints:
- - wam_joint_1
- - wam_joint_2
- - wam_joint_3
- - wam_joint_4
- - wam_joint_5
- - wam_joint_6
- - wam_joint_7
- Kp: [25.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 25.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 25.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 0.0, 25.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 0.0, 0.0, 25.0, 0.0, 0.0,
- 0.0, 0.0, 0.0, 0.0, 0.0, 25.0, 0.0,
- 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 25.0]
- Kd: [10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0,
- 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, 0.0,
- 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
- gravity: {x: 0.0, y: 0.0, z: -9.8}
- chain: {root: "wam_origin", tip: "wam_tool_plate"}
- priority: 99
+/computed_torque_controller:
+ ros_parameters:
+ joints:
+ - wam_joint_1
+ - wam_joint_2
+ - wam_joint_3
+ - wam_joint_4
+ - wam_joint_5
+ - wam_joint_6
+ - wam_joint_7
+ Kp: [25.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 25.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 25.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 25.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 25.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 25.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 25.0]
+ Kd: [10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
+ gravity: {x: 0.0, y: 0.0, z: -9.8}
+ chain: {root: "wam_origin", tip: "wam_tool_plate"}
+ priority: 99
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 250
-
-pid_independent_joint_controller:
- type: effort_controllers/JointGroupPositionController
- joints:
- - wam_joint_1
- - wam_joint_2
- - wam_joint_3
- - wam_joint_4
- - wam_joint_5
- - wam_joint_6
- - wam_joint_7
-# PID parameters from /etc/barrett/wam7w.conf
- wam_joint_1/pid: {p: 900.0, i: 2.5, d: 10.0, i_clamp: 25.0}
- wam_joint_2/pid: {p: 2500.0, i: 5.0, d: 20.0, i_clamp: 20.0}
- wam_joint_3/pid: {p: 600.0, i: 2.0, d: 5.0, i_clamp: 15.0}
- wam_joint_4/pid: {p: 500.0, i: 0.5, d: 2.0, i_clamp: 15.0}
- wam_joint_5/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0}
- wam_joint_6/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0}
- wam_joint_7/pid: {p: 8.0, i: 0.1, d: 0.05, i_clamp: 5.0}
-
\ No newline at end of file
+/pid_independent_joint_controller:
+ ros__parameters:
+ joints:
+ - wam_joint_1
+ - wam_joint_2
+ - wam_joint_3
+ - wam_joint_4
+ - wam_joint_5
+ - wam_joint_6
+ - wam_joint_7
+ # PID parameters from /etc/barrett/wam7w.conf
+ wam_joint_1/pid: {p: 900.0, i: 2.5, d: 10.0, i_clamp_min: -25.0, i_clamp_max: 25.0}
+ wam_joint_2/pid: {p: 2500.0, i: 5.0, d: 20.0, i_clamp_min: -20.0, i_clamp_max: 20.0}
+ wam_joint_3/pid: {p: 600.0, i: 2.0, d: 5.0, i_clamp_min: -15.0, i_clamp_max: 15.0}
+ wam_joint_4/pid: {p: 500.0, i: 0.5, d: 2.0, i_clamp_min: -15.0, i_clamp_max: 15.0}
+ wam_joint_5/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp_min: -5.0, i_clamp_max: 5.0}
+ wam_joint_6/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp_min: -5.0, i_clamp_max: 5.0}
+ wam_joint_7/pid: {p: 8.0, i: 0.1, d: 0.05, i_clamp_min: -5.0, i_clamp_max: 5.0}
-joint_state_controller:
- type: joint_state_controller/JointStateController
- publish_rate: 250
-
-pid_plus_gravity_controller:
- type: effort_controllers/PidPlusGravityController
- joints:
- - wam_joint_1
- - wam_joint_2
- - wam_joint_3
- - wam_joint_4
- - wam_joint_5
- - wam_joint_6
- - wam_joint_7
-# PID parameters from /etc/barrett/wam7w.conf
- wam_joint_1: {p: 900.0, i: 2.5, d: 10.0, i_clamp: 25.0}
- wam_joint_2: {p: 2500.0, i: 5.0, d: 20.0, i_clamp: 20.0}
- wam_joint_3: {p: 600.0, i: 2.0, d: 5.0, i_clamp: 15.0}
- wam_joint_4: {p: 500.0, i: 0.5, d: 2.0, i_clamp: 15.0}
- wam_joint_5: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0}
- wam_joint_6: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0}
- wam_joint_7: {p: 8.0, i: 0.1, d: 0.05, i_clamp: 5.0}
- gravity: {x: 0.0, y: 0.0, z: -9.8}
- chain: {root: "wam_origin", tip: "wam_tool_plate"}
- priority: 99
-
\ No newline at end of file
+/pid_plus_gravity_controller:
+ ros__parameters:
+ joints:
+ - wam_joint_1
+ - wam_joint_2
+ - wam_joint_3
+ - wam_joint_4
+ - wam_joint_5
+ - wam_joint_6
+ - wam_joint_7
+ # PID parameters from /etc/barrett/wam7w.conf
+ wam_joint_1: {p: 900.0, i: 2.5, d: 10.0, i_clamp_min: -25.0, i_clamp_max: 25.0}
+ wam_joint_2: {p: 2500.0, i: 5.0, d: 20.0, i_clamp_min: -20.0, i_clamp_max: 20.0}
+ wam_joint_3: {p: 600.0, i: 2.0, d: 5.0, i_clamp_min: -15.0, i_clamp_max: 15.0}
+ wam_joint_4: {p: 500.0, i: 0.5, d: 2.0, i_clamp_min: -15.0, i_clamp_max: 15.0}
+ wam_joint_5: {p: 50.0, i: 0.5, d: 0.5, i_clamp_min: -5.0, i_clamp_max: 5.0}
+ wam_joint_6: {p: 50.0, i: 0.5, d: 0.5, i_clamp_min: -5.0, i_clamp_max: 5.0}
+ wam_joint_7: {p: 8.0, i: 0.1, d: 0.05, i_clamp_min: -5.0, i_clamp_max: 5.0}
+ gravity: {x: 0.0, y: 0.0, z: -9.8}
+ chain: {root: "wam_origin", tip: "wam_tool_plate"}
+ priority: 99
--- /dev/null
+<!--******************************************************************************
+ Barrett WAM Bringup
+ Computed Torque Controller Launch File
+ Copyright (C) 2021 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 wam_bringup)/config/computed_torque_controller.yaml"/>
+
+ <node name="computed_torque_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/ComputedTorqueController -p $(var config) computed_torque_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster joint_state_broadcaster"/>
+</launch>
+++ /dev/null
-<launch>
- <arg name="table" default="true"/>
- <arg name="bhand" default="true"/>
-
- <include file="$(find wam_description)/launch/wam.launch" >
- <arg name="table" value="$(arg table)" />
- <arg name="bhand" value="$(arg bhand)" />
- </include>
-
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-
- <node unless="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_bringup)/rviz/display.rviz"/>
- <node if="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_bringup)/rviz/display.rviz -f world"/>
-
-</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="table" default="true"/>
- <arg name="bhand" default="true"/>
-
- <!-- This is the default Barrett WAM Controller, used by libbarrett -->
- <arg name="controller" default="pid_plus_gravity_controller"/>
- <arg name="config" default="$(find wam_bringup)/config/$(arg controller).yaml"/>
-
- <remap from="$(arg controller)/command" to="controller/command" />
-
- <include file="$(find wam_description)/launch/gazebo.launch" >
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="table" value="$(arg table)"/>
- <arg name="bhand" value="$(arg bhand)"/>
- </include>
-
- <rosparam file="$(arg config)" command="load"/>
-
- <node name="controller_spawner" pkg="controller_manager" type="spawner"
- respawn="false" output="screen"
- args="$(arg controller)" />
-
- <node name="joint_state_controller_spawner" pkg="controller_manager" type="spawner"
- respawn="false" output="screen"
- args="joint_state_controller" />
-
- <rosparam if="$(arg bhand)" file="$(find bhand_bringup)/config/bhand_controller.yaml" command="load"/>
-
- <node if="$(arg bhand)" name="bhand_controller_spawner" pkg="controller_manager" type="spawner"
- respawn="false" output="screen"
- args="bhand_controller" />
-
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Barrett WAM Bringup
+ Gazebo Launch File
+ Copyright (C) 2018, 2021 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="table" default="true"/>
+ <arg name="bhand" default="true"/>
+
+ <!-- This is the default Barrett WAM Controller, used by libbarrett -->
+ <arg name="controller" default="pid_plus_gravity_controller"/>
+ <arg name="config" default="$(find-pkg-share wam_bringup)/config/$(var controller).yaml"/>
+
+ <include file="$(find-pkg-share wam_description)/launch/gazebo.launch.xml" >
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="table" value="$(var table)"/>
+ <arg name="bhand" value="$(var bhand)"/>
+ </include>
+
+ <include file="$(find-pkg-share wam_bringup)/launch/$(var controller).launch.xml" >
+ <arg name="config" value="$(var config)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+
+ <group if="$(var bhand)">
+ <arg name="bhand_config" default="$(find-pkg-share bhand_bringup)/config/bhand_controller.yaml"/>
+
+ <node name="bhand_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t position_controllers/JointGroupPositionController -p $(var bhand_config) bhand_controller"/>
+ </group>
+</launch>
--- /dev/null
+<!--******************************************************************************
+ Barrett WAM Bringup
+ PID Controller Launch File
+ Copyright (C) 2018, 2021 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share wam_bringup)/config/pid_independent_joint_controller.yaml"/>
+
+ <node name="pid_independent_joint_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/JointGroupPositionController -p $(var config) group_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster joint_state_broadcaster"/>
+</launch>
--- /dev/null
+<!--******************************************************************************
+ Barrett WAM Bringup
+ PID+gravity Controller Launch File
+ Copyright (C) 2021 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="config" default="$(find-pkg-share wam_bringup)/config/pid_plus_gravity_controller.yaml"/>
+
+ <node name="pid_plus_gravity_controller_spawner" pkg="controller_manager" exec="spawner"
+ args="-t effort_controllers/PidPlusGravityController -p $(var config) pid_plus_gravity_controller"/>
+
+ <node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
+ args="-t joint_state_broadcaster/JointStateBroadcaster joint_state_broadcaster"/>
+</launch>
+++ /dev/null
-<launch>
- <arg name="table" default="true"/>
- <arg name="bhand" default="true"/>
- <arg name="wampc" default="false"/>
-
- <include if="$(arg wampc)" file="$(find wam_node)/launch/wam_node.launch"/>
-
- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
- <rosparam param="source_list">["/wam/joint_states","/bhand/joint_states"]</rosparam>
- </node>
-
- <include file="$(find wam_bringup)/launch/display.launch">
- <arg name="table" value="$(arg table)"/>
- <arg name="bhand" value="$(arg bhand)"/>
- </include>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Barrett WAM Bringup
+ wam_node Launch File
+ Copyright (C) 2018, 2021 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="table" default="true"/>
+ <arg name="bhand" default="true"/>
+ <arg name="wampc" default="false"/>
+
+ <include if="$(var wampc)" file="$(find-pkg-share wam_node)/launch/wam_node.launch.xml"/>
+
+ <node name="joint_state_publisher" pkg="joint_state_publisher" exec="joint_state_publisher">
+ <param name="source_list" value="['/wam/joint_states','/bhand/joint_states']"/>
+ </node>
+
+ <include file="$(find-pkg-share wam_bringup)/launch/display.launch.xml">
+ <arg name="table" value="$(var table)"/>
+ <arg name="bhand" value="$(var bhand)"/>
+ </include>
+</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="table" default="true"/>
- <arg name="bhand" default="true"/>
-
- <include file="$(find wam_node_sim)/launch/gazebo.launch" >
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="table" value="$(arg table)"/>
- <arg name="bhand" value="$(arg bhand)"/>
- </include>
-
- <include file="$(find wam_bringup)/launch/display.launch">
- <arg name="table" value="$(arg table)"/>
- <arg name="bhand" value="$(arg bhand)"/>
- </include>
-</launch>
--- /dev/null
+<!--******************************************************************************
+ Barrett WAM Bringup
+ wam_node_sim Launch File
+ Copyright (C) 2018, 2021 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="table" default="true"/>
+ <arg name="bhand" default="true"/>
+
+ <include file="$(find-pkg-share wam_node_sim)/launch/gazebo.launch.xml" >
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="table" value="$(var table)"/>
+ <arg name="bhand" value="$(var bhand)"/>
+ </include>
+
+ <include file="$(find-pkg-share wam_bringup)/launch/display.launch.xml">
+ <arg name="table" value="$(var table)"/>
+ <arg name="bhand" value="$(var bhand)"/>
+ </include>
+</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>wam_bringup</name>
- <version>1.1.0</version>
- <description>The wam_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>Bring-up Barrett WAM</description>
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
-
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/wam_bringup</url> -->
-
-
- <!-- 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>
-
-
- <!-- 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>
+ <buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>computed_torque_controller</exec_depend>
<exec_depend>control_msgs</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>wam_description</exec_depend>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_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
-Panels:
- - Class: rviz/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
- Splitter Ratio: 0.5
- Tree Height: 558
- - Class: rviz/Selection
- Name: Selection
- - Class: rviz/Tool Properties
- Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
- - /Publish Point1
- Name: Tool Properties
- Splitter Ratio: 0.5886790156364441
- - Class: rviz/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
- - Class: rviz/Time
- Experimental: false
- Name: Time
- SyncMode: 0
- SyncSource: ""
-Preferences:
- PromptSaveOnExit: true
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.5
- Cell Size: 1
- Class: rviz/Grid
- Color: 160; 160; 164
- Enabled: true
- Line Style:
- Line Width: 0.029999999329447746
- Value: Lines
- Name: Grid
- Normal Cell Count: 0
- Offset:
- X: 0
- Y: 0
- Z: 0
- Plane: XY
- Plane Cell Count: 10
- Reference Frame: <Fixed Frame>
- Value: true
- - Alpha: 1
- Class: rviz/RobotModel
- Collision Enabled: false
- Enabled: true
- Links:
- All Links Enabled: true
- Expand Joint Details: false
- Expand Link Details: false
- Expand Tree: false
- Link Tree Style: Links in Alphabetic Order
- bhand_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger1_link_1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger1_link_2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger1_link_3:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger2_link_1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger2_link_2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger2_link_3:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger3_link_1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger3_link_2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_finger3_link_3:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- bhand_origin:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- leg1_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- leg2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- leg3_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- leg4_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- table_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wam_link_0:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wam_link_1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wam_link_2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wam_link_3:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wam_link_3_virtual:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- wam_link_4:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wam_link_4_virtual:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- wam_link_5:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wam_link_6:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wam_link_7:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- wam_link_base:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- wam_link_footprint:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- wam_origin:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- wam_tool_plate:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- world:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Name: RobotModel
- Robot Description: robot_description
- TF Prefix: ""
- Update Interval: 0
- Value: true
- Visual Enabled: true
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Default Light: true
- Fixed Frame: world
- Frame Rate: 30
- Name: root
- Tools:
- - Class: rviz/Interact
- Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/FocusCamera
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Topic: /initialpose
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- - Class: rviz/PublishPoint
- Single click: true
- Topic: /clicked_point
- Value: true
- Views:
- Current:
- Class: rviz/Orbit
- Distance: 6.422440528869629
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.05999999865889549
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Focal Point:
- X: 1.4341685771942139
- Y: -0.9101573824882507
- Z: 0.9468344449996948
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
- Invert Z Axis: false
- Name: Current View
- Near Clip Distance: 0.009999999776482582
- Pitch: 0.34479641914367676
- Target Frame: <Fixed Frame>
- Value: Orbit (rviz)
- Yaw: 2.490401029586792
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 846
- Hide Left Dock: false
- Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd000000040000000000000156000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024200fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- Time:
- collapsed: false
- Tool Properties:
- collapsed: false
- Views:
- collapsed: false
- Width: 1200
- X: 56
- Y: 37
#!/bin/bash
-rosservice call /gazebo/set_model_configuration wam joint \
+ros2 service call /gazebo/set_model_configuration wam joint \
"['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4','wam_joint_5','wam_joint_6','wam_joint_7']" \
"[0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0]"
-rostopic pub /controller/command \
-trajectory_msgs/JointTrajectoryPoint \
-"[0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0, 0]" "-1"
+ros2 topic pub /command \
+trajectory_msgs/msg/JointTrajectoryPoint \
+"{positions: [0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0], \
+velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+time_from_start: {sec: 0, nanosec: 0}}" "-1"
echo "Error: There should be 7 parameters."
exit -1;
fi;
-rostopic pub /controller/command \
-trajectory_msgs/JointTrajectoryPoint \
-"[$1, $2, $3, $4, $5, $6, $7]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0, 0]" "-1"
+ros2 topic pub /command \
+trajectory_msgs/msg/JointTrajectoryPoint \
+"{positions: [$1, $2, $3, $4, $5, $6, $7], \
+velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+time_from_start: {sec: 0, nanosec: 0}}" "-1"
#!/bin/bash
-rostopic pub /controller/command \
-trajectory_msgs/JointTrajectoryPoint \
-"[0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0, 0]" "-1"
+ros2 topic pub /command \
+trajectory_msgs/msg/JointTrajectoryPoint \
+"{positions: [0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0], \
+velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+time_from_start: {sec: 0, nanosec: 0}}" "-1"
#!/bin/bash
-rostopic pub /controller/command \
-trajectory_msgs/JointTrajectoryPoint \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0, 0]" -1
+ros2 topic pub /command \
+trajectory_msgs/msg/JointTrajectoryPoint \
+"{positions: [0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0], \
+velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \
+time_from_start: {sec: 0, nanosec: 0}}" "-1"
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(wam_description)
-## 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)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
-## 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
-# )
-
-## 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 wam_description
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
+install(DIRECTORY config launch meshes rviz xacro
+ DESTINATION share/${PROJECT_NAME}
)
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
+install(PROGRAMS scripts/set_home.sh scripts/set_zero.sh
+ DESTINATION lib/${PROJECT_NAME}
)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/wam_description.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/wam_description_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
-# )
-
-install(DIRECTORY launch
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY meshes
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-install(DIRECTORY xacro
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-
-## 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_wam_description.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # uncomment the line when a copyright and license is not present in all source files
+ #set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # uncomment the line when this package is not in a git repo
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
--- /dev/null
+controller_manager:
+ ros__parameters:
+ update_rate: 250
+ use_sim_time: true
--- /dev/null
+gazebo:
+ ros__parameters:
+ # This is the /clock update rate
+ publish_rate: 500.0
+++ /dev/null
-<launch>
- <arg name="table" default="true"/>
- <arg name="bhand" default="true"/>
- <arg name="use_gui" default="false"/>
-
- <include file="$(find wam_description)/launch/wam.launch" >
- <arg name="table" value="$(arg table)" />
- <arg name="bhand" value="$(arg bhand)" />
- </include>
-
- <node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" >
- <param name="rate" value="250" />
- </node>
-
- <node unless="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
- <rosparam param="source_list">["/wam/joint_states","/bhand/joint_states"]</rosparam>
- <param name="rate" value="250" />
- </node>
-
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
- <node unless="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/display.rviz" required="true"/>
- <node if="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/display.rviz -f world" required="true"/>
-</launch>
--- /dev/null
+<launch>
+ <arg name="table" default="true"/>
+ <arg name="bhand" default="true"/>
+ <arg name="gui" default="false"/>
+
+ <node if="$(var gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui">
+ <param name="rate" value="250"/>
+ </node>
+ <node unless="$(var gui)" name="joint_state_publisher" pkg="joint_state_publisher" exec="joint_state_publisher">
+ <param name="source_list" value="['/wam/joint_states','/bhand/joint_states']"/>
+ <param name="rate" value="250"/>
+ </node>
+
+ <include file="$(find-pkg-share wam_description)/launch/wam.launch.xml">
+ <arg name="table" value="$(var table)"/>
+ <arg name="bhand" value="$(var bhand)"/>
+ </include>
+
+ <node unless="$(var table)" name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share wam_description)/rviz/display.rviz"/>
+ <node if="$(var table)" name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share wam_description)/rviz/display.rviz -f world"/>
+</launch>
+++ /dev/null
-<launch>
- <arg name="paused" default="true"/>
- <arg name="headless" default="false"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="table" default="true"/>
- <arg name="bhand" default="true"/>
-
- <include file="$(find gazebo_ros)/launch/empty_world.launch">
- <arg name="paused" value="$(arg paused)"/>
- <arg name="headless" value="$(arg headless)"/>
- <arg name="use_sim_time" value="$(arg use_sim_time)"/>
- <arg name="world_name" value="worlds/empty_sky.world" />
- </include>
-
- <include file="$(find wam_description)/launch/wam.launch" >
- <arg name="table" value="$(arg table)" />
- <arg name="bhand" value="$(arg bhand)" />
- </include>
-
- <node name="wam_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
-</launch>
--- /dev/null
+<launch>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="table" default="true"/>
+ <arg name="bhand" default="true"/>
+
+ <group> <include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="world" value="worlds/empty_sky.world"/>
+ <arg name="extra_gazebo_args" value="--ros-args --params-file $(find-pkg-share wam_description)/config/gazebo.yaml"/>
+ </include> </group>
+
+ <include file="$(find-pkg-share wam_description)/launch/wam.launch.xml">
+ <arg name="table" value="$(var table)"/>
+ <arg name="bhand" value="$(var bhand)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
+
+ <node name="wam_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity wam"/>
+</launch>
+++ /dev/null
-<launch>
- <arg name="table" default="true"/>
- <arg name="bhand" default="true"/>
- <arg name="world" default="false"/>
-
- <param name="robot_description" command="$(find xacro)/xacro '$(find wam_description)/xacro/wam.urdf.xacro' world:=$(arg world) table:=$(arg table) bhand:=$(arg bhand)" />
-</launch>
--- /dev/null
+<launch>
+ <arg name="table" default="true"/>
+ <arg name="bhand" default="true"/>
+ <arg name="world" default="false"/>
+ <arg name="use_sim_time" default="false"/>
+
+ <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+ <param name="robot_description" value="$(command 'xacro $(find-pkg-share wam_description)/xacro/wam.urdf.xacro world:=$(var world) table:=$(var table) bhand:=$(var bhand)')" type="str"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </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>wam_description</name>
- <version>2.2.0</version>
+ <version>3.0.0</version>
<description><p>The wam_description package</p>
- <p>This package contains xacro files for the Barrett WAM robot arm.
- It is based on the iri_wam_description package developed by the IRI
- Robotics Lab. However, coordinate frames were modified to follow
- the Denavit-Hartenberg convention, as libBarrett is based on it,
- and inertial parameters were included. Inertial parameters were
- obtained from Barrett Technology, Inc, WAM Arm Inertial
- Specifications, 2008, Document: D1005, Version: AC.02.
- </p>
+
<p>This package contains xacro files for the Barrett WAM robot arm.
+ It is based on the iri_wam_description package developed by the IRI
+ Robotics Lab (http://ros.org/wiki/iri_wam_description). However,
+ coordinate frames were modified to follow the Denavit-Hartenberg
+ convention, as libBarrett is based on it, and inertial parameters
+ were included. Inertial parameters were obtained from Barrett
+ Technology, Inc, WAM Arm Inertial Specifications, 2008, Document:
+ D1005, Version: AC.02. </p>
</description>
-
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>LGPL</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/wam_description</url> -->
- <url type="website">http://www.ece.ufrgs.br/~fetter/ufrgs_wam</url>
- <url type="website">http://ros.org/wiki/iri_wam_description</url>
-
-
- <!-- 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>
<author>IRI Robotics Lab, Sergi Foix (sfoix@iri.upc.edu)</author>
+ <buildtool_depend>ament_cmake</buildtool_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>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
+ <build_type>ament_cmake</build_type>
+ <gazebo_ros gazebo_model_path="${prefix}/.."/>
</export>
</package>
Panels:
- - Class: rviz/Displays
+ - Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
+ Expanded: ~
Splitter Ratio: 0.5
- Tree Height: 558
- - Class: rviz/Selection
+ Tree Height: 549
+ - Class: rviz_common/Selection
Name: Selection
- - Class: rviz/Tool Properties
+ - Class: rviz_common/Tool Properties
Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
+ - /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- - Class: rviz/Views
+ - Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- - Class: rviz/Time
+ - Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
-Preferences:
- PromptSaveOnExit: true
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
- Class: rviz/Grid
+ Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
- Class: rviz/RobotModel
+ Class: rviz_default_plugins/RobotModel
Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Show Axes: false
Show Trail: false
Name: RobotModel
- Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
- Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- - Class: rviz/Interact
+ - Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/FocusCamera
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Topic: /initialpose
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- - Class: rviz/PublishPoint
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
Single click: true
- Topic: /clicked_point
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
Value: true
Views:
Current:
- Class: rviz/Orbit
- Distance: 4.747800827026367
+ Class: rviz_default_plugins/Orbit
+ Distance: 5.427221298217773
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0.3066835403442383
- Y: 0.3576655685901642
- Z: 1.0682051181793213
+ X: 0
+ Y: 0
+ Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.3953981399536133
+ Pitch: 0.785398006439209
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 3.848580837249756
+ Yaw: 0.785398006439209
Saved: ~
Window Geometry:
Displays:
Height: 846
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd000000040000000000000156000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024200fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Views:
collapsed: false
Width: 1200
- X: 1996
- Y: 62
+ X: 60
+ Y: 60
#!/bin/bash
-rosservice call /gazebo/set_model_configuration wam joint \
+ros2 service call /gazebo/set_model_configuration wam joint \
"['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4',' \
wam_joint_5','wam_joint_6','wam_joint_7']" \
"[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]"
#!/bin/bash
-rosservice call /gazebo/set_model_configuration wam joint \
+ros2 service call /gazebo/set_model_configuration wam joint \
"['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4', \
'wam_joint_5','wam_joint_6','wam_joint_7']" \
"[0.0,0.0,0.0,0.0,0.0,0.0,0.0]"
<xacro:wam_j7 parent="wam_link_6"/>
<xacro:wam_tool_plate parent="wam_link_7"/>
- <gazebo>
- <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
- <!--robotNamespace>wam</robotNamespace-->
-
- <!-- Custom plugin -->
- <!-- robotSimType>wam_gazebo_ros_control/WamRobotHWSim</robotSimType -->
-
- <!-- Default plugin -->
- <!-- robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType -->
-
- <controlPeriod>0.001</controlPeriod>
- </plugin>
- </gazebo>
-
+ <ros2_control name="GazeboSystem" type="system">
+ <hardware>
+ <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+ </hardware>
+
+ <joint name="wam_joint_1">
+ <command_interface name="effort">
+ <param name="min">${-1.8*42.00}</param>
+ <param name="max">${1.8*42.00}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="wam_joint_2">
+ <command_interface name="effort">
+ <param name="min">${-1.8*28.25}</param>
+ <param name="max">${1.8*28.25}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="wam_joint_3">
+ <command_interface name="effort">
+ <param name="min">${-1.8*28.25}</param>
+ <param name="max">${1.8*28.25}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="wam_joint_4">
+ <command_interface name="effort">
+ <param name="min">${-1.6*18.00}</param>
+ <param name="max">${1.6*18.00}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="wam_joint_5">
+ <command_interface name="effort">
+ <param name="min">${-0.6*9.48}</param>
+ <param name="max">${0.6*9.48}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="wam_joint_6">
+ <command_interface name="effort">
+ <param name="min">${-0.6*9.48}</param>
+ <param name="max">${0.6*9.48}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+
+ <joint name="wam_joint_7">
+ <command_interface name="effort">
+ <param name="min">${-0.613*14.93}</param>
+ <param name="max">${0.613*14.93}</param>
+ </command_interface>
+ <state_interface name="position"/>
+ <state_interface name="velocity"/>
+ <state_interface name="effort"/>
+ </joint>
+ </ros2_control>
+
+ <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>$(find wam_description)/config/controller_manager.yaml</parameters>
+ </plugin>
+ </gazebo>
+
<xacro:if value="$(arg world)">
<xacro:unless value="$(arg table)">
echo "Error: There should be 3 parameters."
exit -1;
fi;
-rosservice call /wam/cart_move "[$1, $2, $3]"
+ros2 service call /wam/cart_move "[$1, $2, $3]"
#!/bin/bash
-rosservice call /bhand/close_grasp "{}"
+ros2 service call /bhand/close_grasp "{}"
#!/bin/bash
-rosservice call /bhand/close_spread "{}"
+ros2 service call /bhand/close_spread "{}"
echo "Error: There should be 3 parameters."
exit -1;
fi;
-rosservice call /bhand/finger_pos "[$1, $2, $3]"
+ros2 service call /bhand/finger_pos "[$1, $2, $3]"
#!/bin/bash
-rosservice call /wam/go_home
+ros2 service call /wam/go_home
echo "Error: There should be 1 parameter."
exit -1;
fi;
-rosservice call /bhand/grasp_pos "$1"
+ros2 service call /bhand/grasp_pos "$1"
echo "Error: There should be 7 parameters."
exit -1;
fi;
-rosservice call /wam/joint_move "[$1, $2, $3, $4, $5, $6, $7]"
+ros2 service call /wam/joint_move "[$1, $2, $3, $4, $5, $6, $7]"
#!/bin/bash
-rosservice call /bhand/open_grasp "{}"
+ros2 service call /bhand/open_grasp "{}"
#!/bin/bash
-rosservice call /bhand/open_spread "{}"
+ros2 service call /bhand/open_spread "{}"
echo "Error: There should be 4 parameters."
exit -1;
fi;
-rosservice call /wam/ortn_move "[$1, $2, $3, $4]"
+ros2 service call /wam/ortn_move "[$1, $2, $3, $4]"
echo "Error: There should be 7 parameters."
exit -1;
fi;
-rosservice call /wam/pose_move "{pose: {position: [$1, $2, $3], orientation: [$4, $5, $6, $7] } }"
+ros2 service call /wam/pose_move "{pose: {position: [$1, $2, $3], orientation: [$4, $5, $6, $7] } }"
echo "Error: There should be 1 parameter."
exit -1;
fi;
-rosservice call /bhand/spread_pos "$1"
+ros2 service call /bhand/spread_pos "$1"
projects / ufrgs_wam.git / commitdiff