Separação entre a simulação utilizando Gazebo e os testes com RVIZ.

diff --git a/miitzhand_description/config/miitzhand_joints.yaml b/miitzhand_description/config/miitzhand_joints.yaml
deleted file mode 100644 (file)
index 6da2cb2..0000000
--- a/miitzhand_description/config/miitzhand_joints.yaml
+++ /dev/null
@@ -1,80 +0,0 @@
-miitzhand: \r
-\r
-    joint_state_controller:\r
-        type: joint_state_controller/JointStateController\r
-        publish_rate: 100\r
-\r
-    Pol1_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Pol_J1 \r
-        pid: {p: 200, i: 50, d: 10}\r
-\r
-    Pol2_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Pol_J2\r
-        pid: {p: 0.7, i: 1, d: 0.01}\r
-\r
-    Pol3_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Pol_J3\r
-        pid: {p: 0.1, i: 0.001, d: 0.0008}\r
-\r
-    Ind1_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Ind_J1 \r
-        pid: {p: 2, i: 0, d: 0}\r
-\r
-    Ind2_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Ind_J2\r
-        pid: {p: 2, i: 0, d: 0}\r
-\r
-    Ind3_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Ind_J3\r
-        pid: {p: 1, i: 0, d: 0}\r
-\r
-    Med1_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Med_J1 \r
-        pid: {p: 2, i: 1, d: 0}\r
-\r
-    Med2_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Med_J2\r
-        pid: {p: 1, i: 1, d: 0}\r
-\r
-    Med3_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Med_J3\r
-        pid: {p: 1, i: 1, d: 0}\r
-\r
-    Ane1_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Ane_J1 \r
-        pid: {p: 2, i: 1, d: 0}\r
-\r
-    Ane2_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Ane_J2\r
-        pid: {p: 1, i: 1, d: 0}\r
-\r
-    Ane3_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Ane_J3\r
-        pid: {p: 1, i: 1, d: 0}\r
-    \r
-    Min1_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Min_J1 \r
-        pid: {p: 2, i: 1, d: 0}\r
-\r
-    Min2_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Min_J2\r
-        pid: {p: 1, i: 1, d: 0}\r
-\r
-    Min3_position_controller:\r
-        type: effort_controllers/JointPositionController\r
-        joint: Min_J3\r
-        pid: {p: 1, i: 1, d: 0}\r

diff --git a/miitzhand_description/launch/miitzhand.launch b/miitzhand_description/launch/miitzhand.launch
deleted file mode 100644 (file)
index 3d567dd..0000000
--- a/miitzhand_description/launch/miitzhand.launch
+++ /dev/null
@@ -1,109 +0,0 @@
-<launch>
-
-       <arg
-               name="debug"
-               default="false"
-       />
-       <arg
-               name="gui"
-               default="true"
-       />
-       <arg
-               name="headless"
-               default="false"
-       />
-       <arg
-               name="paused"
-               default="true" 
-       />
-       <arg
-               name="use_sim_time"
-               default="true"
-       />
-       <include file="$(find gazebo_ros)/launch/empty_world.launch">
-
-               <arg
-                       name="debug"
-                       value="$(arg debug)"
-               />
-               <arg
-                       name="gui"
-                       value="$(arg gui)"
-               />
-               <arg
-                       name="paused"
-                       value="$(arg paused)"
-               />
-               <arg
-                       name="use_sim_time"
-                       value="$(arg use_sim_time)"
-               />
-               <arg
-                       name="headless"
-                       value="$(arg headless)"
-               />
-               <arg
-                       name="world_name"
-                       value="worlds/empty.world"
-               />
-
-       </include>
-         
-        <!-- Robot model -->
-       <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_description)/config/miitzhand_joints.yaml" />
-        
-        <!-- Controllers -->
-        <node name="controller_spawner" pkg="controller_manager" type="spawner"
-            respawn="false" output="screen" ns="/miitzhand"
-            args="--namespace=/miitzhand
-            joint_state_controller
-            Pol1_position_controller
-            Pol2_position_controller
-            Pol3_position_controller
-            Ind1_position_controller
-            Ind2_position_controller
-            Ind3_position_controller
-            Med1_position_controller
-            Med2_position_controller
-            Med3_position_controller
-            Ane1_position_controller
-            Ane2_position_controller
-            Ane3_position_controller
-            Min1_position_controller
-            Min2_position_controller
-            Min3_position_controller
-            --timeout 60">
-        </node>
-
-       <!--<node
-               name="robot_state_publisher"
-               pkg="robot_state_publisher"
-               type="robot_state_publisher"
-               respawn="false"
-               output="screen"
-       >
-
-               <param
-                       name="publish_frequency"
-                       type="double"
-                       value="100.0"
-               />
-               <remap
-                       from="/joint_states"
-                       to="/dedo/joint_states"
-               />
-
-       </node>-->
-       
-        <!-- rqt -->
-        <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
-        <node name="rqt_publisher" pkg="rqt_publisher" type="rqt_publisher" />
-        
-</launch>

diff --git a/miitzhand_description/package.xml b/miitzhand_description/package.xml
index ebb3f7e..29ba574 100644 (file)
--- a/miitzhand_description/package.xml
+++ b/miitzhand_description/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->\r
   <!-- Example:  -->\r
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->\r
-  <maintainer email="gabriel@todo.todo">gabriel</maintainer>\r
+  <maintainer email="gschmitz@ece.ufrgs.br">gabriel</maintainer>\r
 \r
 \r
   <!-- One license tag required, multiple allowed, one license per tag -->\r