first commit

diff --git a/miitzhand/CMakeLists.txt b/miitzhand_description/CMakeLists.txt
similarity index 96%
rename from miitzhand/CMakeLists.txt
rename to miitzhand_description/CMakeLists.txt
index 4c45245..4151842 100644 (file)
--- a/miitzhand/CMakeLists.txt
+++ b/miitzhand_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)\r
-project(miitzhand)\r
+project(miitzhand_description)\r
 \r
 ## Compile as C++11, supported in ROS Kinetic and newer\r
 # add_compile_options(-std=c++11)\r

diff --git a/miitzhand/config/miitzhand_joints.yaml b/miitzhand_description/config/miitzhand_joints.yaml
similarity index 95%
rename from miitzhand/config/miitzhand_joints.yaml
rename to miitzhand_description/config/miitzhand_joints.yaml
index 1ae15c0..6da2cb2 100644 (file)
--- a/miitzhand/config/miitzhand_joints.yaml
+++ b/miitzhand_description/config/miitzhand_joints.yaml
@@ -22,7 +22,7 @@ miitzhand:
     Ind1_position_controller:\r
         type: effort_controllers/JointPositionController\r
         joint: Ind_J1 \r
-        pid: {p: 0.8, i: 1, d: 0.013}\r
+        pid: {p: 2, i: 0, d: 0}\r
 \r
     Ind2_position_controller:\r
         type: effort_controllers/JointPositionController\r

diff --git a/miitzhand/launch/miitzhand.launch b/miitzhand_description/launch/miitzhand.launch
similarity index 92%
rename from miitzhand/launch/miitzhand.launch
rename to miitzhand_description/launch/miitzhand.launch
index 6778c5e..3d567dd 100644 (file)
--- a/miitzhand/launch/miitzhand.launch
+++ b/miitzhand_description/launch/miitzhand.launch
@@ -50,14 +50,14 @@
        </include>
          
         <!-- Robot model -->
-       <param name="robot_description" textfile="$(find miitzhand)/urdf/miitzhand.urdf" />
+       <param name="robot_description" textfile="$(find miitzhand_description)/urdf/miitzhand.urdf" />
         
         <!-- Spawn the robot model -->
         <node name="miitzhand_spawner" pkg="gazebo_ros" type="spawn_model" output="screen" 
               args="-urdf -param robot_description -model miitzhand" />
       
         <!-- Load controllers -->
-        <rosparam command="load" file="$(find miitzhand)/config/miitzhand_joints.yaml" />
+        <rosparam command="load" file="$(find miitzhand_description)/config/miitzhand_joints.yaml" />
         
         <!-- Controllers -->
         <node name="controller_spawner" pkg="controller_manager" type="spawner"

diff --git a/miitzhand/meshes/Ane_L1.STL b/miitzhand_description/meshes/Ane_L1.STL
similarity index 100%
rename from miitzhand/meshes/Ane_L1.STL
rename to miitzhand_description/meshes/Ane_L1.STL

diff --git a/miitzhand/meshes/Ane_L2.STL b/miitzhand_description/meshes/Ane_L2.STL
similarity index 100%
rename from miitzhand/meshes/Ane_L2.STL
rename to miitzhand_description/meshes/Ane_L2.STL

diff --git a/miitzhand/meshes/Ane_L3.STL b/miitzhand_description/meshes/Ane_L3.STL
similarity index 100%
rename from miitzhand/meshes/Ane_L3.STL
rename to miitzhand_description/meshes/Ane_L3.STL

diff --git a/miitzhand/meshes/Ind_L1.STL b/miitzhand_description/meshes/Ind_L1.STL
similarity index 100%
rename from miitzhand/meshes/Ind_L1.STL
rename to miitzhand_description/meshes/Ind_L1.STL

diff --git a/miitzhand/meshes/Ind_L2.STL b/miitzhand_description/meshes/Ind_L2.STL
similarity index 100%
rename from miitzhand/meshes/Ind_L2.STL
rename to miitzhand_description/meshes/Ind_L2.STL

diff --git a/miitzhand/meshes/Ind_L3.STL b/miitzhand_description/meshes/Ind_L3.STL
similarity index 100%
rename from miitzhand/meshes/Ind_L3.STL
rename to miitzhand_description/meshes/Ind_L3.STL

diff --git a/miitzhand/meshes/Med_L1.STL b/miitzhand_description/meshes/Med_L1.STL
similarity index 100%
rename from miitzhand/meshes/Med_L1.STL
rename to miitzhand_description/meshes/Med_L1.STL

diff --git a/miitzhand/meshes/Med_L2.STL b/miitzhand_description/meshes/Med_L2.STL
similarity index 100%
rename from miitzhand/meshes/Med_L2.STL
rename to miitzhand_description/meshes/Med_L2.STL

diff --git a/miitzhand/meshes/Med_L3.STL b/miitzhand_description/meshes/Med_L3.STL
similarity index 100%
rename from miitzhand/meshes/Med_L3.STL
rename to miitzhand_description/meshes/Med_L3.STL

diff --git a/miitzhand/meshes/Min_L1.STL b/miitzhand_description/meshes/Min_L1.STL
similarity index 100%
rename from miitzhand/meshes/Min_L1.STL
rename to miitzhand_description/meshes/Min_L1.STL

diff --git a/miitzhand/meshes/Min_L2.STL b/miitzhand_description/meshes/Min_L2.STL
similarity index 100%
rename from miitzhand/meshes/Min_L2.STL
rename to miitzhand_description/meshes/Min_L2.STL

diff --git a/miitzhand/meshes/Min_L3.STL b/miitzhand_description/meshes/Min_L3.STL
similarity index 100%
rename from miitzhand/meshes/Min_L3.STL
rename to miitzhand_description/meshes/Min_L3.STL

diff --git a/miitzhand/meshes/Pol_L1.STL b/miitzhand_description/meshes/Pol_L1.STL
similarity index 100%
rename from miitzhand/meshes/Pol_L1.STL
rename to miitzhand_description/meshes/Pol_L1.STL

diff --git a/miitzhand/meshes/Pol_L2.STL b/miitzhand_description/meshes/Pol_L2.STL
similarity index 100%
rename from miitzhand/meshes/Pol_L2.STL
rename to miitzhand_description/meshes/Pol_L2.STL

diff --git a/miitzhand/meshes/Pol_L3.STL b/miitzhand_description/meshes/Pol_L3.STL
similarity index 100%
rename from miitzhand/meshes/Pol_L3.STL
rename to miitzhand_description/meshes/Pol_L3.STL

diff --git a/miitzhand/meshes/base_link.STL b/miitzhand_description/meshes/base_link.STL
similarity index 100%
rename from miitzhand/meshes/base_link.STL
rename to miitzhand_description/meshes/base_link.STL

diff --git a/miitzhand/package.xml b/miitzhand_description/package.xml
similarity index 94%
rename from miitzhand/package.xml
rename to miitzhand_description/package.xml
index 50fec41..ebb3f7e 100644 (file)
--- a/miitzhand/package.xml
+++ b/miitzhand_description/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>\r
 <package>\r
-  <name>miitzhand</name>\r
+  <name>miitzhand_description</name>\r
   <version>0.0.0</version>\r
   <description>The  package</description>\r
 \r

diff --git a/miitzhand/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
similarity index 84%
rename from miitzhand/urdf/miitzhand.urdf
rename to miitzhand_description/urdf/miitzhand.urdf
index d4977f4..d364975 100644 (file)
--- a/miitzhand/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -24,7 +24,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/base_link.STL" />\r
+          filename="package://miitzhand_description/meshes/base_link.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -38,7 +38,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/base_link.STL" />\r
+          filename="package://miitzhand_description/meshes/base_link.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -68,7 +68,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Min_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Min_L1.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -82,7 +82,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Min_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Min_L1.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -126,7 +126,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Min_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Min_L2.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -140,7 +140,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Min_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Min_L2.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -184,7 +184,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Min_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Min_L3.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -198,7 +198,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Min_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Min_L3.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -242,7 +242,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ane_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Ane_L1.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -256,7 +256,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ane_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Ane_L1.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -300,7 +300,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ane_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Ane_L2.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -314,7 +314,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ane_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Ane_L2.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -358,7 +358,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ane_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Ane_L3.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -372,7 +372,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ane_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Ane_L3.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -416,7 +416,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Med_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Med_L1.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -430,7 +430,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Med_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Med_L1.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -474,7 +474,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Med_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Med_L2.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -488,7 +488,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Med_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Med_L2.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -532,7 +532,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Med_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Med_L3.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -546,7 +546,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Med_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Med_L3.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -590,7 +590,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ind_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Ind_L1.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -604,7 +604,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ind_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Ind_L1.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -648,7 +648,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ind_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Ind_L2.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -662,7 +662,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ind_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Ind_L2.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -706,7 +706,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ind_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Ind_L3.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -720,7 +720,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Ind_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Ind_L3.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -764,7 +764,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Pol_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Pol_L1.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -778,7 +778,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Pol_L1.STL" />\r
+          filename="package://miitzhand_description/meshes/Pol_L1.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -822,7 +822,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Pol_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Pol_L2.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -836,7 +836,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Pol_L2.STL" />\r
+          filename="package://miitzhand_description/meshes/Pol_L2.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -880,7 +880,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Pol_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Pol_L3.STL" />\r
       </geometry>\r
       <material\r
         name="">\r
@@ -894,7 +894,7 @@
         rpy="0 0 0" />\r
       <geometry>\r
         <mesh\r
-          filename="package://miitzhand/meshes/Pol_L3.STL" />\r
+          filename="package://miitzhand_description/meshes/Pol_L3.STL" />\r
       </geometry>\r
     </collision>\r
   </link>\r
@@ -923,7 +923,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Pol1_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -934,7 +933,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Pol2_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -945,7 +943,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Pol3_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -956,7 +953,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Ind1_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -967,7 +963,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Ind2_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -978,7 +973,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Ind3_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -989,7 +983,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Med1_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -1000,7 +993,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Med2_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -1011,7 +1003,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Med3_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -1022,7 +1013,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Ane1_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -1033,7 +1023,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Ane2_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -1044,7 +1033,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Ane3_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -1055,7 +1043,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Min1_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -1066,7 +1053,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Min2_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r
@@ -1077,7 +1063,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>\r
         </joint>\r
         <actuator name="Min3_motor">\r
-                <hardwareInterface>EffortJointInterface</hardwareInterface>\r
                 <mechanicalReduction>1</mechanicalReduction>\r
         </actuator>\r
   </transmission>\r