From: Walter Fetter Lages Date: Thu, 8 Sep 2022 07:56:00 +0000 (-0300) Subject: Ported wam_description to Humble. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=407aec2d4e1378c1d8180f87d0bd240e04697966;p=ufrgs_wam.git Ported wam_description to Humble. --- diff --git a/wam_description/CMakeLists.txt b/wam_description/CMakeLists.txt index 7b1ab4c..f307024 100644 --- a/wam_description/CMakeLists.txt +++ b/wam_description/CMakeLists.txt @@ -11,7 +11,7 @@ find_package(ament_cmake REQUIRED) # further dependencies manually. # find_package( REQUIRED) -install(DIRECTORY config launch meshes rviz xacro +install(DIRECTORY config launch meshes xacro DESTINATION share/${PROJECT_NAME} ) @@ -19,14 +19,17 @@ install(PROGRAMS scripts/set_home.sh scripts/set_zero.sh DESTINATION lib/${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/wam_description/LICENSE b/wam_description/LICENSE new file mode 100644 index 0000000..4362b49 --- /dev/null +++ b/wam_description/LICENSE @@ -0,0 +1,502 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. 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Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the + library `Frob' (a library for tweaking knobs) written by James Random Hacker. + + , 1 April 1990 + Ty Coon, President of Vice + +That's all there is to it! diff --git a/wam_description/rviz/display.rviz b/wam_description/config/display.rviz similarity index 84% rename from wam_description/rviz/display.rviz rename to wam_description/config/display.rviz index ae97a38..4199008 100644 --- a/wam_description/rviz/display.rviz +++ b/wam_description/config/display.rviz @@ -63,60 +63,6 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - 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: false - Show Trail: false leg1_link: Alpha: 1 Show Axes: false @@ -210,6 +156,9 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Mass Properties: + Inertia: false + Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 @@ -287,7 +236,7 @@ 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/wam_description/env-hooks/wam_description.dsv.in b/wam_description/env-hooks/wam_description.dsv.in new file mode 100644 index 0000000..30a6001 --- /dev/null +++ b/wam_description/env-hooks/wam_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/wam_description/launch/display.launch.xml b/wam_description/launch/display.launch.xml index 29640f3..1671160 100644 --- a/wam_description/launch/display.launch.xml +++ b/wam_description/launch/display.launch.xml @@ -16,6 +16,6 @@ - - + + diff --git a/wam_description/launch/ignition.launch.xml b/wam_description/launch/ignition.launch.xml new file mode 100644 index 0000000..77ab329 --- /dev/null +++ b/wam_description/launch/ignition.launch.xml @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/wam_description/package.xml b/wam_description/package.xml index 20063a1..9c616c2 100644 --- a/wam_description/package.xml +++ b/wam_description/package.xml @@ -2,7 +2,7 @@ wam_description - 3.0.0 + 3.1.0

The wam_description package

This package contains xacro files for the Barrett WAM robot arm. It is based on the iri_wam_description package developed by the IRI @@ -15,11 +15,14 @@ Walter Fetter Lages LGPL - + Walter Fetter Lages IRI Robotics Lab, Sergi Foix (sfoix@iri.upc.edu) ament_cmake + + joint_state_publisher_gui + xacro ament_lint_auto ament_lint_common