From: Walter Fetter Lages Date: Wed, 28 Nov 2018 20:37:34 +0000 (-0200) Subject: Remove wam_gazebo_ros_contol. X-Git-Tag: rosbook2015initial^0 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=09fd29e1d627f3217c801b9057173206462bd5fc;p=ufrgs_wam.git Remove wam_gazebo_ros_contol. --- diff --git a/wam_gazebo_ros_control/CMakeLists.txt b/wam_gazebo_ros_control/CMakeLists.txt deleted file mode 100644 index 6b84ae6..0000000 --- a/wam_gazebo_ros_control/CMakeLists.txt +++ /dev/null @@ -1,158 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(wam_gazebo_ros_control) - -## 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) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) -find_package(gazebo REQUIRED) - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependencies might have been -## pulled in transitively but can be declared for certainty nonetheless: -## * add a build_depend tag for "message_generation" -## * add a run_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 -# ) - -################################### -## 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 you 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_gazebo_ros_control -# 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 - ${GAZEBO_INCLUDE_DIRS} -) - -## Declare a cpp library -add_library(wam_gazebo_ros_control - src/wam_robot_hw_sim.cpp -) - -## Declare a cpp executable -# add_executable(wam_gazebo_ros_control_node src/wam_gazebo_ros_control_node.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(wam_gazebo_ros_control_node wam_gazebo_ros_control_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -#target_link_libraries(${PROJECT_NAME} -# ${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 -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${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 robot_sim_plugins.xml -# # 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_gazebo_ros_control.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) diff --git a/wam_gazebo_ros_control/package.xml b/wam_gazebo_ros_control/package.xml deleted file mode 100644 index b6d8a17..0000000 --- a/wam_gazebo_ros_control/package.xml +++ /dev/null @@ -1,70 +0,0 @@ - - - wam_gazebo_ros_control - 2.0.0 - The wam_gazebo_ros_control package - - - - - Walter Fetter Lages - - - - - - GPLv3 - - - - - - - http://www.ece.ufrgs.br/~fetter/ufrgs_wam - - - - - - - Walter Fetter Lages - - - - - - - - - - - - - - catkin - - gazebo_ros_control - - wam_description - gazebo - - - - - - - - - gazebo_ros_control - - - - - - - - - - - - diff --git a/wam_gazebo_ros_control/src/wam_robot_hw_sim.cpp b/wam_gazebo_ros_control/src/wam_robot_hw_sim.cpp deleted file mode 100644 index 413c4a3..0000000 --- a/wam_gazebo_ros_control/src/wam_robot_hw_sim.cpp +++ /dev/null @@ -1,100 +0,0 @@ -#include - -#include -#include - -#include - -#include - -#include -#include -#include - -namespace wam_gazebo_ros_control -{ - class WamRobotHWSim:public gazebo_ros_control::RobotHWSim - { - unsigned int n_dof_; - - hardware_interface::JointStateInterface js_interface_; - hardware_interface::EffortJointInterface ej_interface_; - - std::vector joint_name_; - std::vector joint_position_; - std::vector joint_velocity_; - std::vector joint_effort_; - std::vector joint_effort_command_; - - std::vector sim_joints_; - - public: - - WamRobotHWSim(void):n_dof_(7),joint_name_(n_dof_),joint_position_(n_dof_), - joint_velocity_(n_dof_),joint_effort_(n_dof_),joint_effort_command_(n_dof_) - { - joint_name_[0]="wam_joint_1"; - joint_name_[1]="wam_joint_2"; - joint_name_[2]="wam_joint_3"; - joint_name_[3]="wam_joint_4"; - joint_name_[4]="wam_joint_5"; - joint_name_[5]="wam_joint_6"; - joint_name_[6]="wam_joint_7"; - - for(unsigned int j=0;j < n_dof_;j++) - { - joint_position_[j]=0.0; - joint_velocity_[j]=0.0; - joint_effort_[j]=0.0; - js_interface_.registerHandle(hardware_interface::JointStateHandle(joint_name_[j],&joint_position_[j], - &joint_velocity_[j],&joint_effort_[j])); - - joint_effort_command_[j] = 0.0; - ej_interface_.registerHandle(hardware_interface::JointHandle(js_interface_.getHandle(joint_name_[j]), - &joint_effort_command_[j])); - } - - registerInterface(&js_interface_); - registerInterface(&ej_interface_); - } - - bool initSim(const std::string& robot_namespace, - ros::NodeHandle nh,gazebo::physics::ModelPtr model, - const urdf::Model *const urdf_model, - std::vector transmissions) - { - for(unsigned int j=0;j < n_dof_;j++) - { - ROS_INFO_STREAM("Getting pointer to gazebo joint: " << joint_name_[j]); - gazebo::physics::JointPtr joint=model->GetJoint(joint_name_[j]); - if(joint) sim_joints_.push_back(joint); - else - { - ROS_ERROR_STREAM("This robot has a joint named \"" << joint_name_[j] - <<"\" which is not in the gazebo model."); - return false; - } - } - return true; - } - - void readSim(ros::Time time,ros::Duration period) - { - for(unsigned int j=0; j < n_dof_;j++) - { - joint_position_[j]=sim_joints_[j]->GetAngle(0).Radian(); - joint_velocity_[j]=sim_joints_[j]->GetVelocity(0); - joint_effort_[j]=joint_effort_command_[j]; - } - } - - void writeSim(ros::Time time,ros::Duration period) - { - for(unsigned int j=0;j < n_dof_;j++) - sim_joints_[j]->SetForce(0,joint_effort_command_[j]); - } - - }; -} - -PLUGINLIB_EXPORT_CLASS(wam_gazebo_ros_control::WamRobotHWSim,gazebo_ros_control::RobotHWSim) diff --git a/wam_gazebo_ros_control/wam_gazebo_ros_control_plugins.xml b/wam_gazebo_ros_control/wam_gazebo_ros_control_plugins.xml deleted file mode 100644 index fb5ee2b..0000000 --- a/wam_gazebo_ros_control/wam_gazebo_ros_control_plugins.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - - - A ROS/Gazebo interface for Barrett WAM, exporting a - joint_state_interface and a joint_effort_interface. - - - -