From: Walter Fetter Lages Date: Wed, 28 Nov 2018 21:52:11 +0000 (-0200) Subject: Remove Barrett Hand description. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=1487ff363760aa3d01e2d7126313a158408693f5;p=ufrgs_wam.git Remove Barrett Hand description. --- diff --git a/ufrgs_bhand_description/CMakeLists.txt b/ufrgs_bhand_description/CMakeLists.txt deleted file mode 100644 index b5575a6..0000000 --- a/ufrgs_bhand_description/CMakeLists.txt +++ /dev/null @@ -1,195 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ufrgs_bhand_description) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## 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) - - -## 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 run_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 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 -# ) - -################################################ -## 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 run_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 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 ufrgs_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 -# ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/ufrgs_bhand_description.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/ufrgs_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 -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# 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 -# # 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_ufrgs_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) diff --git a/ufrgs_bhand_description/launch/bhand.launch b/ufrgs_bhand_description/launch/bhand.launch deleted file mode 100644 index 5d4f5b1..0000000 --- a/ufrgs_bhand_description/launch/bhand.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/ufrgs_bhand_description/launch/display.launch b/ufrgs_bhand_description/launch/display.launch deleted file mode 100644 index 95f1f44..0000000 --- a/ufrgs_bhand_description/launch/display.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/ufrgs_bhand_description/launch/gazebo.launch b/ufrgs_bhand_description/launch/gazebo.launch deleted file mode 100644 index 391e1d3..0000000 --- a/ufrgs_bhand_description/launch/gazebo.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ufrgs_bhand_description/meshes/bh_base.stl b/ufrgs_bhand_description/meshes/bh_base.stl deleted file mode 100644 index dce76f7..0000000 Binary files a/ufrgs_bhand_description/meshes/bh_base.stl and /dev/null differ diff --git a/ufrgs_bhand_description/meshes/bh_link1.stl b/ufrgs_bhand_description/meshes/bh_link1.stl deleted file mode 100644 index bf35bd9..0000000 Binary files a/ufrgs_bhand_description/meshes/bh_link1.stl and /dev/null differ diff --git a/ufrgs_bhand_description/meshes/bh_link2.stl b/ufrgs_bhand_description/meshes/bh_link2.stl deleted file mode 100644 index f74e529..0000000 Binary files a/ufrgs_bhand_description/meshes/bh_link2.stl and /dev/null differ diff --git a/ufrgs_bhand_description/meshes/bh_link3.stl b/ufrgs_bhand_description/meshes/bh_link3.stl deleted file mode 100644 index d9361c6..0000000 Binary files a/ufrgs_bhand_description/meshes/bh_link3.stl and /dev/null differ diff --git a/ufrgs_bhand_description/package.xml b/ufrgs_bhand_description/package.xml deleted file mode 100644 index ec9f31e..0000000 --- a/ufrgs_bhand_description/package.xml +++ /dev/null @@ -1,60 +0,0 @@ - - - ufrgs_bhand_description - 2.0.0 -

The ufrgs_bhand_description package

- -

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 available at UFRGS. -

- - - - - - fetter@ece.ufrgs.br - - - - - - BSD - - - - - - - http://www.ece.ufrgs.br/~fetter/ufrgs_wam - http://wiki.ros.org/iri_bhand_description - - - - - - Walter Fetter Lages - IRI Robotics Lab, Ivan Rojas (irojas@iri.upc.edu) - - - - - - - - - - - - - - catkin - - - - - - - - diff --git a/ufrgs_bhand_description/rviz/urdf.rviz b/ufrgs_bhand_description/rviz/urdf.rviz deleted file mode 100644 index f2c716b..0000000 --- a/ufrgs_bhand_description/rviz/urdf.rviz +++ /dev/null @@ -1,180 +0,0 @@ -Panels: - - Class: rviz/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 - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference 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: "" - 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: true - 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 - Fixed Frame: bhand_origin - 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: 0.651721 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.635399 - Target Frame: - Value: Orbit (rviz) - Yaw: 1.25857 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000185000002bafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000036000002ba000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000036000002ba0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024700fffffffb0000000800540069006d0065010000000000000450000000000000000000000210000002ba00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 312 - Y: 0 diff --git a/ufrgs_bhand_description/xacro/bhand.urdf.xacro b/ufrgs_bhand_description/xacro/bhand.urdf.xacro deleted file mode 100644 index d71d447..0000000 --- a/ufrgs_bhand_description/xacro/bhand.urdf.xacro +++ /dev/null @@ -1,103 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ufrgs_bhand_description/xacro/bhand0.urdf.xacro b/ufrgs_bhand_description/xacro/bhand0.urdf.xacro deleted file mode 100644 index 1722201..0000000 --- a/ufrgs_bhand_description/xacro/bhand0.urdf.xacro +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro b/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro deleted file mode 100644 index 5548aa2..0000000 --- a/ufrgs_bhand_description/xacro/bhand_base.urdf.xacro +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - Gazebo/Blue - - - - - - - - - - - - - - diff --git a/ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro b/ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro deleted file mode 100644 index e9d9fc2..0000000 --- a/ufrgs_bhand_description/xacro/bhand_finger.urdf.xacro +++ /dev/null @@ -1,72 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - true - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 1 - - - - - -