From: Walter Fetter Lages Date: Wed, 9 Jan 2019 19:03:15 +0000 (-0200) Subject: Initial commit. X-Git-Tag: sbai2019submitted~41 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=43eb61719a9a71266539eae33e5d35bd649b4b62;p=users%2Fgschmitz%2Fmiitzhand.git Initial commit. --- 43eb61719a9a71266539eae33e5d35bd649b4b62 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..14b6454 --- /dev/null +++ b/.gitignore @@ -0,0 +1,54 @@ +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +#*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE + +# Joe +DEADJOE diff --git a/miitzhand/CMakeLists.txt b/miitzhand/CMakeLists.txt new file mode 100644 index 0000000..4c45245 --- /dev/null +++ b/miitzhand/CMakeLists.txt @@ -0,0 +1,205 @@ +cmake_minimum_required(VERSION 2.8.3) +project(miitzhand) + +## 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 COMPONENTS + roscpp + rospy +) +find_package(catkin REQUIRED COMPONENTS + controller_interface + effort_controllers + urdf +) +find_package(cmake_modules 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( + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS controller_interface control_msgs urdf +# INCLUDE_DIRS include +# LIBRARIES gabrielquanser_controllers +# CATKIN_DEPENDS roscpp rospy +# 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/${PROJECT_NAME}/gabrielquanser_controllers.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/gabrielquanser_controllers_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_gabrielquanser_controllers.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/miitzhand/config/miitzhand_joints.yaml b/miitzhand/config/miitzhand_joints.yaml new file mode 100644 index 0000000..1ae15c0 --- /dev/null +++ b/miitzhand/config/miitzhand_joints.yaml @@ -0,0 +1,80 @@ +miitzhand: + + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + + Pol1_position_controller: + type: effort_controllers/JointPositionController + joint: Pol_J1 + pid: {p: 200, i: 50, d: 10} + + Pol2_position_controller: + type: effort_controllers/JointPositionController + joint: Pol_J2 + pid: {p: 0.7, i: 1, d: 0.01} + + Pol3_position_controller: + type: effort_controllers/JointPositionController + joint: Pol_J3 + pid: {p: 0.1, i: 0.001, d: 0.0008} + + Ind1_position_controller: + type: effort_controllers/JointPositionController + joint: Ind_J1 + pid: {p: 0.8, i: 1, d: 0.013} + + Ind2_position_controller: + type: effort_controllers/JointPositionController + joint: Ind_J2 + pid: {p: 2, i: 0, d: 0} + + Ind3_position_controller: + type: effort_controllers/JointPositionController + joint: Ind_J3 + pid: {p: 1, i: 0, d: 0} + + Med1_position_controller: + type: effort_controllers/JointPositionController + joint: Med_J1 + pid: {p: 2, i: 1, d: 0} + + Med2_position_controller: + type: effort_controllers/JointPositionController + joint: Med_J2 + pid: {p: 1, i: 1, d: 0} + + Med3_position_controller: + type: effort_controllers/JointPositionController + joint: Med_J3 + pid: {p: 1, i: 1, d: 0} + + Ane1_position_controller: + type: effort_controllers/JointPositionController + joint: Ane_J1 + pid: {p: 2, i: 1, d: 0} + + Ane2_position_controller: + type: effort_controllers/JointPositionController + joint: Ane_J2 + pid: {p: 1, i: 1, d: 0} + + Ane3_position_controller: + type: effort_controllers/JointPositionController + joint: Ane_J3 + pid: {p: 1, i: 1, d: 0} + + Min1_position_controller: + type: effort_controllers/JointPositionController + joint: Min_J1 + pid: {p: 2, i: 1, d: 0} + + Min2_position_controller: + type: effort_controllers/JointPositionController + joint: Min_J2 + pid: {p: 1, i: 1, d: 0} + + Min3_position_controller: + type: effort_controllers/JointPositionController + joint: Min_J3 + pid: {p: 1, i: 1, d: 0} diff --git a/miitzhand/launch/miitzhand.launch b/miitzhand/launch/miitzhand.launch new file mode 100644 index 0000000..6778c5e --- /dev/null +++ b/miitzhand/launch/miitzhand.launch @@ -0,0 +1,109 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/miitzhand/meshes/Ane_L1.STL b/miitzhand/meshes/Ane_L1.STL new file mode 100644 index 0000000..0f3479c Binary files /dev/null and b/miitzhand/meshes/Ane_L1.STL differ diff --git a/miitzhand/meshes/Ane_L2.STL b/miitzhand/meshes/Ane_L2.STL new file mode 100644 index 0000000..c4a1262 Binary files /dev/null and b/miitzhand/meshes/Ane_L2.STL differ diff --git a/miitzhand/meshes/Ane_L3.STL b/miitzhand/meshes/Ane_L3.STL new file mode 100644 index 0000000..6b376af Binary files /dev/null and b/miitzhand/meshes/Ane_L3.STL differ diff --git a/miitzhand/meshes/Ind_L1.STL b/miitzhand/meshes/Ind_L1.STL new file mode 100644 index 0000000..f0e1766 Binary files /dev/null and b/miitzhand/meshes/Ind_L1.STL differ diff --git a/miitzhand/meshes/Ind_L2.STL b/miitzhand/meshes/Ind_L2.STL new file mode 100644 index 0000000..ff32134 Binary files /dev/null and b/miitzhand/meshes/Ind_L2.STL differ diff --git a/miitzhand/meshes/Ind_L3.STL b/miitzhand/meshes/Ind_L3.STL new file mode 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a/miitzhand/meshes/Min_L3.STL b/miitzhand/meshes/Min_L3.STL new file mode 100644 index 0000000..9cc8e1f Binary files /dev/null and b/miitzhand/meshes/Min_L3.STL differ diff --git a/miitzhand/meshes/Pol_L1.STL b/miitzhand/meshes/Pol_L1.STL new file mode 100644 index 0000000..6b15b13 Binary files /dev/null and b/miitzhand/meshes/Pol_L1.STL differ diff --git a/miitzhand/meshes/Pol_L2.STL b/miitzhand/meshes/Pol_L2.STL new file mode 100644 index 0000000..a5f124f Binary files /dev/null and b/miitzhand/meshes/Pol_L2.STL differ diff --git a/miitzhand/meshes/Pol_L3.STL b/miitzhand/meshes/Pol_L3.STL new file mode 100644 index 0000000..ba04a01 Binary files /dev/null and b/miitzhand/meshes/Pol_L3.STL differ diff --git a/miitzhand/meshes/base_link.STL b/miitzhand/meshes/base_link.STL new file mode 100644 index 0000000..344a677 Binary files /dev/null and b/miitzhand/meshes/base_link.STL differ diff --git a/miitzhand/package.xml b/miitzhand/package.xml new file mode 100644 index 0000000..50fec41 --- /dev/null +++ b/miitzhand/package.xml @@ -0,0 +1,46 @@ + + + miitzhand + 0.0.0 + The package + + + + + gabriel + + + + + + MIT + + + catkin + + controller_interface + effort_controllers + roscpp + rospy + control_msgs + urdf + cmake_modules + + cmake_modules + roscpp + rospy + urdf + control_msgs + controller_interface + controller_manager + effort_controllers + joint_state_controller + joint_position_controller + + + + + + + + diff --git a/miitzhand/urdf/miitzhand.urdf b/miitzhand/urdf/miitzhand.urdf new file mode 100644 index 0000000..d4977f4 --- /dev/null +++ b/miitzhand/urdf/miitzhand.urdf @@ -0,0 +1,1092 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + + /miitzhand + 0.001 + gazebo_ros_control/DefaultRobotHWSim + + +