From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 8 Sep 2022 08:26:26 +0000 (-0300)
Subject: Ported bhand_description to Humble.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=0639728970e209a637e16f2f7144f609e9554cac;p=ufrgs_wam.git

Ported bhand_description to Humble.
---

diff --git a/bhand_description/CMakeLists.txt b/bhand_description/CMakeLists.txt
index 9f5e034..48e9fb6 100644
--- a/bhand_description/CMakeLists.txt
+++ b/bhand_description/CMakeLists.txt
@@ -11,18 +11,21 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
-install(DIRECTORY config launch meshes rviz xacro
+install(DIRECTORY config launch meshes xacro
 	DESTINATION share/${PROJECT_NAME}
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
 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)
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 
diff --git a/bhand_description/LICENSE b/bhand_description/LICENSE
new file mode 100644
index 0000000..24d43da
--- /dev/null
+++ b/bhand_description/LICENSE
@@ -0,0 +1,30 @@
+All rights reserved.
+
+Software License Agreement (BSD License 2.0)
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ * Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+   copyright notice, this list of conditions and the following
+   disclaimer in the documentation and/or other materials provided
+   with the distribution.
+ * Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/bhand_description/rviz/display.rviz b/bhand_description/config/display.rviz
similarity index 98%
rename from bhand_description/rviz/display.rviz
rename to bhand_description/config/display.rviz
index db9ead1..3fd492d 100644
--- a/bhand_description/rviz/display.rviz
+++ b/bhand_description/config/display.rviz
@@ -117,6 +117,9 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
@@ -194,7 +197,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/bhand_description/env-hooks/bhand_description.dsv.in b/bhand_description/env-hooks/bhand_description.dsv.in
new file mode 100644
index 0000000..30a6001
--- /dev/null
+++ b/bhand_description/env-hooks/bhand_description.dsv.in
@@ -0,0 +1,3 @@
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
+
+set-if-unset;MESA_GL_VERSION_OVERRIDE;3.3
diff --git a/bhand_description/launch/display.launch.xml b/bhand_description/launch/display.launch.xml
index bbae315..055fcf8 100644
--- a/bhand_description/launch/display.launch.xml
+++ b/bhand_description/launch/display.launch.xml
@@ -3,5 +3,5 @@
 
 	<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"/>
+	<node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share bhand_description)/config/display.rviz"/>
 </launch>
diff --git a/bhand_description/launch/ignition.launch.xml b/bhand_description/launch/ignition.launch.xml
new file mode 100644
index 0000000..1776afb
--- /dev/null
+++ b/bhand_description/launch/ignition.launch.xml
@@ -0,0 +1,48 @@
+<!--******************************************************************************
+	                    Bhand  Description
+	                  Gazebo Ignitio Launch File
+          Copyright (C) 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+        This program is free software: you can redistribute it and/or modify
+        it under the terms of the GNU General Public License as published by
+        the Free Software Foundation, either version 3 of the License, or
+        (at your option) any later version.
+
+        This program is distributed in the hope that it will be useful, but
+        WITHOUT ANY WARRANTY; without even the implied warranty of
+        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+        Geneal Public License for more details.
+
+        You should have received a copy of the GNU General Public License
+        along with this program.  If not, see
+        <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+	<arg name="pause" default="true"/>
+	<arg name="gui" default="true"/>
+	<arg name="use_sim_time" default="true"/>
+	<arg name="world" default="true"/>
+
+	<arg unless="$(var pause)" name="ign_pause" default="-r"/>
+	<arg if="$(var pause)" name="ign_pause" default=""/>
+	
+	<arg unless="$(var gui)" name="ign_gui" default="-s"/>
+	<arg if="$(var gui)" name="ign_gui" default=""/>
+
+	<include file="$(find-pkg-share ros_ign_gazebo)/launch/ign_gazebo.launch.py">
+		<arg name="ign_args" value="$(var ign_pause) $(var ign_gui) empty.sdf"/>
+	</include>
+	
+	<include file="$(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="ros_ign_gazebo" exec="create" args="-topic robot_description -name bhand"/>
+
+	<node name="clock_bridge" pkg="ros_ign_bridge" exec="parameter_bridge" args="/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock">
+		<param name="use_sim_time" value="$(var use_sim_time)"/>
+	</node>
+</launch>
diff --git a/bhand_description/package.xml b/bhand_description/package.xml
index 802edb2..3ea3b45 100644
--- a/bhand_description/package.xml
+++ b/bhand_description/package.xml
@@ -2,25 +2,25 @@
 <?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>3.0.0</version>
-  <description><p>The bhand_description package</p>
+  <version>3.1.0</version>
+  <description><p>The wam_description package</p>
   	<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 (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>
+  	</p>  
   </description>
-
   <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-  <license>BSD</license>
-  
+  <license>BSD-2.0</license>
+
   <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>
 
-  <exec_depend>roboticsgroup_upatras_gazebo_plugins</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>