From: Walter Fetter Lages Date: Thu, 11 Oct 2018 04:05:22 +0000 (-0300) Subject: Initial commit. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=6bc8679347f10519c49900f104d00b8d3cab10f3;p=tatuira.git Initial commit. --- 6bc8679347f10519c49900f104d00b8d3cab10f3 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..c1edc29 --- /dev/null +++ b/.gitignore @@ -0,0 +1,51 @@ +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 diff --git a/tatuira_bringup/CMakeLists.txt b/tatuira_bringup/CMakeLists.txt new file mode 100644 index 0000000..e2776ce --- /dev/null +++ b/tatuira_bringup/CMakeLists.txt @@ -0,0 +1,201 @@ +cmake_minimum_required(VERSION 2.8.3) +project(tatuira_bringup) + +## 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 + effort_controllers + joint_state_controller + linearizing_controllers + linearizing_controllers_msgs + nonsmooth_backstep_controller +) + +## 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 +# linearizing_controllers_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 tatuira_bringup +# CATKIN_DEPENDS effort_controllers joint_state_controller linearizing_controllers linearizing_controllers_msgs nonsmooth_backstep_controller +# 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/${PROJECT_NAME}/tatuira_bringup.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/tatuira_bringup_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_tatuira_bringup.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/tatuira_bringup/config/bypass.yaml b/tatuira_bringup/config/bypass.yaml new file mode 100644 index 0000000..cc6b5ee --- /dev/null +++ b/tatuira_bringup/config/bypass.yaml @@ -0,0 +1,11 @@ +right_wheel_controller: + type: effort_controllers/JointEffortController + joint: right_rim_joint + +left_wheel_controller: + type: effort_controllers/JointEffortController + joint: left_rim_joint + +joint_states_publisher: + type: joint_state_controller/JointStateController + publish_rate: 100 diff --git a/tatuira_bringup/config/pid.yaml b/tatuira_bringup/config/pid.yaml new file mode 100644 index 0000000..8494efa --- /dev/null +++ b/tatuira_bringup/config/pid.yaml @@ -0,0 +1,13 @@ +right_wheel_controller: + type: effort_controllers/JointVelocityController + joint: right_rim_joint + pid: {p: 0, i: 0, d: 0} + +left_wheel_controller: + type: effort_controllers/JointVelocityController + joint: left_rim_joint + pid: {p: 0, i: 0, d: 0} + +joint_states_publisher: + type: joint_state_controller/JointStateController + publish_rate: 100 diff --git a/tatuira_bringup/launch/bypass.launch b/tatuira_bringup/launch/bypass.launch new file mode 120000 index 0000000..0cda797 --- /dev/null +++ b/tatuira_bringup/launch/bypass.launch @@ -0,0 +1 @@ +ijc.launch \ No newline at end of file diff --git a/tatuira_bringup/launch/gazebo.launch b/tatuira_bringup/launch/gazebo.launch new file mode 100644 index 0000000..22b797b --- /dev/null +++ b/tatuira_bringup/launch/gazebo.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/tatuira_bringup/launch/ijc.launch b/tatuira_bringup/launch/ijc.launch new file mode 100644 index 0000000..e7ae76c --- /dev/null +++ b/tatuira_bringup/launch/ijc.launch @@ -0,0 +1,5 @@ + + + diff --git a/tatuira_bringup/launch/pid.launch b/tatuira_bringup/launch/pid.launch new file mode 120000 index 0000000..0cda797 --- /dev/null +++ b/tatuira_bringup/launch/pid.launch @@ -0,0 +1 @@ +ijc.launch \ No newline at end of file diff --git a/tatuira_bringup/package.xml b/tatuira_bringup/package.xml new file mode 100644 index 0000000..e713736 --- /dev/null +++ b/tatuira_bringup/package.xml @@ -0,0 +1,61 @@ + + + tatuira_bringup + 0.0.0 + The tatuira_bringup package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + catkin + effort_controllers + joint_state_controller + linearizing_controllers + linearizing_controllers_msgs + nonsmooth_backstep_controller + effort_controllers + joint_state_controller + linearizing_controllers + linearizing_controllers_msgs + nonsmooth_backstep_controller + + + + + + + + diff --git a/tatuira_description/CMakeLists.txt b/tatuira_description/CMakeLists.txt new file mode 100644 index 0000000..f20304c --- /dev/null +++ b/tatuira_description/CMakeLists.txt @@ -0,0 +1,195 @@ +cmake_minimum_required(VERSION 2.8.3) +project(tatuira_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 tatuira_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/${PROJECT_NAME}/tatuira_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/tatuira_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_tatuira_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/tatuira_description/launch/display.launch b/tatuira_description/launch/display.launch new file mode 100644 index 0000000..33699a9 --- /dev/null +++ b/tatuira_description/launch/display.launch @@ -0,0 +1,14 @@ + + + + + + + + diff --git a/tatuira_description/launch/gazebo.launch b/tatuira_description/launch/gazebo.launch new file mode 100644 index 0000000..8304524 --- /dev/null +++ b/tatuira_description/launch/gazebo.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + diff --git a/tatuira_description/launch/tatuira.launch b/tatuira_description/launch/tatuira.launch new 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a/tatuira_description/mesh/wheel_rim.STL b/tatuira_description/mesh/wheel_rim.STL new file mode 100644 index 0000000..f3dbda9 Binary files /dev/null and b/tatuira_description/mesh/wheel_rim.STL differ diff --git a/tatuira_description/mesh/wheel_tire.STL b/tatuira_description/mesh/wheel_tire.STL new file mode 100644 index 0000000..eb9eec0 Binary files /dev/null and b/tatuira_description/mesh/wheel_tire.STL differ diff --git a/tatuira_description/package.xml b/tatuira_description/package.xml new file mode 100644 index 0000000..365591d --- /dev/null +++ b/tatuira_description/package.xml @@ -0,0 +1,53 @@ + + + tatuira_description + 0.0.0 + The tatuira_description package + + + + + Guilherme Alan Ritter + Walter Fetter Lages + + + + + + GPLv2 + + + + + + + + + + + + + Guilherme Alan Ritter + Walter Fetter Lages + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/tatuira_description/rviz/display.rviz b/tatuira_description/rviz/display.rviz new file mode 100644 index 0000000..7fb0d18 --- /dev/null +++ b/tatuira_description/rviz/display.rviz @@ -0,0 +1,459 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 730 + - 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: Links in Alphabetic Order + awac_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + center_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_axle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_bearing_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_bearing_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_bearing_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_fork_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_fork_fixture_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_fork_leg_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_fork_leg_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_fork_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_wheel_rim_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_wheel_tire_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_back_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_back_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_motor_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_motor_support_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_motor_support_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_motor_support_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_motor_support_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_pinion_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_rim_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_tire_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + origin_link: + Alpha: 1 + Show Axes: false + Show Trail: false + right_back_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_back_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_motor_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_motor_support_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_motor_support_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_motor_support_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_motor_support_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_pinion_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_rim_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_tire_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + awac_link: + Value: true + center_0_link: + Value: true + center_1_link: + Value: true + front_0_link: + Value: true + front_1_link: + Value: true + front_2_link: + Value: true + front_axle_link: + Value: true + front_bearing_0_link: + Value: true + front_bearing_1_link: + Value: true + front_bearing_2_link: + Value: true + front_fork_base_link: + Value: true + front_fork_fixture_link: + Value: true + front_fork_leg_left_link: + Value: true + front_fork_leg_right_link: + Value: true + front_fork_plate_link: + Value: true + front_wheel_rim_link: + Value: true + front_wheel_tire_link: + Value: true + left_back_0_link: + Value: true + left_back_1_link: + Value: true + left_motor_link: + Value: true + left_motor_support_0_link: + Value: true + left_motor_support_1_link: + Value: true + left_motor_support_2_link: + Value: true + left_motor_support_3_link: + Value: true + left_pinion_link: + Value: true + left_rim_link: + Value: true + left_tire_link: + Value: true + map: + Value: true + origin_link: + Value: true + right_back_0_link: + Value: true + right_back_1_link: + Value: true + right_motor_link: + Value: true + right_motor_support_0_link: + Value: true + right_motor_support_1_link: + Value: true + right_motor_support_2_link: + Value: true + right_motor_support_3_link: + Value: true + right_pinion_link: + Value: true + right_rim_link: + Value: true + right_tire_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: false + Show Axes: true + Show Names: false + Tree: + map: + origin_link: + center_0_link: + awac_link: + {} + center_1_link: + {} + front_0_link: + front_1_link: + {} + front_2_link: + front_fork_fixture_link: + front_axle_link: + front_bearing_0_link: + front_fork_base_link: + front_bearing_1_link: + front_bearing_2_link: + {} + front_fork_leg_left_link: + {} + front_fork_leg_right_link: + front_wheel_rim_link: + front_wheel_tire_link: + {} + front_fork_plate_link: + {} + left_back_0_link: + left_back_1_link: + left_motor_support_0_link: + left_motor_support_1_link: + {} + left_motor_support_2_link: + left_rim_link: + left_tire_link: + {} + left_motor_support_3_link: + left_motor_link: + left_pinion_link: + {} + right_back_0_link: + right_back_1_link: + right_motor_support_0_link: + right_motor_support_1_link: + {} + right_motor_support_2_link: + right_rim_link: + right_tire_link: + {} + right_motor_support_3_link: + right_motor_link: + right_pinion_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + 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: 4.47293 + 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: 0.945398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.125398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1023 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1676 + X: 0 + Y: 0 diff --git a/tatuira_description/xacro/back.urdf.xacro b/tatuira_description/xacro/back.urdf.xacro new file mode 100644 index 0000000..c342b36 --- /dev/null +++ b/tatuira_description/xacro/back.urdf.xacro @@ -0,0 +1,179 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission" + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + + diff --git a/tatuira_description/xacro/front.urdf.xacro b/tatuira_description/xacro/front.urdf.xacro new file mode 100644 index 0000000..8e2d5c6 --- /dev/null +++ b/tatuira_description/xacro/front.urdf.xacro @@ -0,0 +1,244 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tatuira_description/xacro/link_joint.urdf.xacro b/tatuira_description/xacro/link_joint.urdf.xacro new file mode 100644 index 0000000..0f01741 --- /dev/null +++ b/tatuira_description/xacro/link_joint.urdf.xacro @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${color} + ${color} + ${color} + 0.0 0.0 0.0 0.0 + + + + + + + diff --git a/tatuira_description/xacro/main.urdf.xacro b/tatuira_description/xacro/main.urdf.xacro new file mode 100644 index 0000000..1933c09 --- /dev/null +++ b/tatuira_description/xacro/main.urdf.xacro @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + 0.001 + + + + diff --git a/tatuira_description/xacro/wheel.urdf.xacro b/tatuira_description/xacro/wheel.urdf.xacro new file mode 100644 index 0000000..b804108 --- /dev/null +++ b/tatuira_description/xacro/wheel.urdf.xacro @@ -0,0 +1,48 @@ + + + + + + + + + + + + + +