From: Walter Fetter Lages Date: Fri, 18 May 2018 14:19:07 +0000 (-0300) Subject: Initial cammit. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=6cd43600e1c9f9d62f481055f9d9e1b0386f2bb1;p=q2d.git Initial cammit. --- 6cd43600e1c9f9d62f481055f9d9e1b0386f2bb1 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/q2d_bringup/CMakeLists.txt b/q2d_bringup/CMakeLists.txt new file mode 100644 index 0000000..c361cb8 --- /dev/null +++ b/q2d_bringup/CMakeLists.txt @@ -0,0 +1,198 @@ +cmake_minimum_required(VERSION 2.8.3) +project(q2d_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 +) + +## 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 q2d_bringup +# CATKIN_DEPENDS effort_controllers joint_state_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/${PROJECT_NAME}/q2d_bringup.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/q2d_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_q2d_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/q2d_bringup/config/bypass.yaml b/q2d_bringup/config/bypass.yaml new file mode 100644 index 0000000..8a606df --- /dev/null +++ b/q2d_bringup/config/bypass.yaml @@ -0,0 +1,11 @@ +shoulder_controller: + type: effort_controllers/JointEffortController + joint: shoulder_active_joint + +elbow_controller: + type: effort_controllers/JointEffortController + joint: elbow_active_joint + +joint_states_publisher: + type: joint_state_controller/JointStateController + publish_rate: 100 diff --git a/q2d_bringup/config/pid.yaml b/q2d_bringup/config/pid.yaml new file mode 100644 index 0000000..5d0200c --- /dev/null +++ b/q2d_bringup/config/pid.yaml @@ -0,0 +1,13 @@ +shoulder_controller: + type: effort_controllers/JointPositionController + joint: shoulder_active_joint + pid: {p: 2310, i: 4640, d: 0.299} + +elbow_controller: + type: effort_controllers/JointPositionController + joint: elbow_active_joint + pid: {p: 339, i: 851, d: 0.351} + +joint_states_publisher: + type: joint_state_controller/JointStateController + publish_rate: 100 diff --git a/q2d_bringup/launch/bypass.launch b/q2d_bringup/launch/bypass.launch new file mode 120000 index 0000000..0cda797 --- /dev/null +++ b/q2d_bringup/launch/bypass.launch @@ -0,0 +1 @@ +ijc.launch \ No newline at end of file diff --git a/q2d_bringup/launch/gazebo.launch b/q2d_bringup/launch/gazebo.launch new file mode 100644 index 0000000..7905c32 --- /dev/null +++ b/q2d_bringup/launch/gazebo.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/q2d_bringup/launch/ijc.launch b/q2d_bringup/launch/ijc.launch new file mode 100644 index 0000000..b7cecda --- /dev/null +++ b/q2d_bringup/launch/ijc.launch @@ -0,0 +1,5 @@ + + + diff --git a/q2d_bringup/launch/pid.launch b/q2d_bringup/launch/pid.launch new file mode 120000 index 0000000..0cda797 --- /dev/null +++ b/q2d_bringup/launch/pid.launch @@ -0,0 +1 @@ +ijc.launch \ No newline at end of file diff --git a/q2d_bringup/package.xml b/q2d_bringup/package.xml new file mode 100644 index 0000000..f667209 --- /dev/null +++ b/q2d_bringup/package.xml @@ -0,0 +1,55 @@ + + + q2d_bringup + 0.0.0 + The q2d_bringup package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + catkin + effort_controllers + joint_state_controller + effort_controllers + joint_state_controller + + + + + + + + diff --git a/q2d_bringup/scripts/ijc_square.py b/q2d_bringup/scripts/ijc_square.py new file mode 100755 index 0000000..7aa27ac --- /dev/null +++ b/q2d_bringup/scripts/ijc_square.py @@ -0,0 +1,32 @@ +#!/usr/bin/python + +import sys +import time + +import rospy +from std_msgs.msg import Float64 + +def square(): + if len(sys.argv) < 5: + print 'square.py topic min max period' + exit() + ref=Float64() + + pub=rospy.Publisher(sys.argv[1],Float64,queue_size=1) + + rospy.init_node('square',anonymous=True) + + while True: + ref.data=float(sys.argv[2]); + pub.publish(ref) + time.sleep(float(sys.argv[4])) + + ref.data=float(sys.argv[3]); + pub.publish(ref) + time.sleep(float(sys.argv[4])) + +if __name__ == '__main__': + try: + square() + except rospy.ROSInterruptException: + pass diff --git a/q2d_bringup/scripts/ijc_step.sh b/q2d_bringup/scripts/ijc_step.sh new file mode 100755 index 0000000..21510ed --- /dev/null +++ b/q2d_bringup/scripts/ijc_step.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +rostopic pub /shoulder_controller/command std_msgs/Float64 "{data: $1}" -1 & +rostopic pub /elbow_controller/command std_msgs/Float64 "{data: $2}" -1 diff --git a/q2d_description/CMakeLists.txt b/q2d_description/CMakeLists.txt new file mode 100644 index 0000000..9c17b38 --- /dev/null +++ b/q2d_description/CMakeLists.txt @@ -0,0 +1,195 @@ +cmake_minimum_required(VERSION 2.8.3) +project(q2d_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 q2d_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/${PROJECT_NAME}/q2d_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/q2d_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_q2d_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/q2d_description/launch/display.launch b/q2d_description/launch/display.launch new file mode 100644 index 0000000..7719432 --- /dev/null +++ b/q2d_description/launch/display.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/q2d_description/launch/gazebo.launch b/q2d_description/launch/gazebo.launch new file mode 100644 index 0000000..8ab520b --- /dev/null +++ b/q2d_description/launch/gazebo.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/q2d_description/launch/q2d.launch b/q2d_description/launch/q2d.launch new file mode 100644 index 0000000..0f26a2f --- /dev/null +++ b/q2d_description/launch/q2d.launch @@ -0,0 +1,3 @@ + + + diff --git a/q2d_description/meshes/base.STL b/q2d_description/meshes/base.STL new file mode 100644 index 0000000..63ccaf9 Binary files /dev/null and b/q2d_description/meshes/base.STL differ diff --git a/q2d_description/meshes/collision/elbow_active.STL b/q2d_description/meshes/collision/elbow_active.STL new file mode 100644 index 0000000..a4832a7 Binary files /dev/null and b/q2d_description/meshes/collision/elbow_active.STL differ diff --git a/q2d_description/meshes/collision/elbow_passive.STL b/q2d_description/meshes/collision/elbow_passive.STL new file mode 100644 index 0000000..bbfdc91 Binary files /dev/null and b/q2d_description/meshes/collision/elbow_passive.STL differ diff --git a/q2d_description/meshes/collision/shoulder_active.STL b/q2d_description/meshes/collision/shoulder_active.STL new file mode 100644 index 0000000..4cd3f56 Binary files /dev/null and b/q2d_description/meshes/collision/shoulder_active.STL differ diff --git a/q2d_description/meshes/collision/shoulder_passive.STL b/q2d_description/meshes/collision/shoulder_passive.STL new file mode 100644 index 0000000..4267488 Binary files /dev/null and b/q2d_description/meshes/collision/shoulder_passive.STL differ diff --git a/q2d_description/meshes/elbow_active.STL b/q2d_description/meshes/elbow_active.STL new file mode 100644 index 0000000..b6ed156 Binary files /dev/null and b/q2d_description/meshes/elbow_active.STL differ diff --git a/q2d_description/meshes/elbow_passive.STL b/q2d_description/meshes/elbow_passive.STL new file mode 100644 index 0000000..172078b Binary files /dev/null and b/q2d_description/meshes/elbow_passive.STL differ diff --git a/q2d_description/meshes/shoulder_active.STL b/q2d_description/meshes/shoulder_active.STL new file mode 100644 index 0000000..b78c97a Binary files /dev/null and b/q2d_description/meshes/shoulder_active.STL differ diff --git a/q2d_description/meshes/shoulder_passive.STL b/q2d_description/meshes/shoulder_passive.STL new file mode 100644 index 0000000..c478d73 Binary files /dev/null and b/q2d_description/meshes/shoulder_passive.STL differ diff --git a/q2d_description/package.xml b/q2d_description/package.xml new file mode 100644 index 0000000..9661aa7 --- /dev/null +++ b/q2d_description/package.xml @@ -0,0 +1,53 @@ + + + q2d_description + 0.0.0 + The q2d_description package + + + + + Guilherme Alan Ritter + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Guilherme Alan Ritter + Walter Fetter Lages + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/q2d_description/rviz/display.rviz b/q2d_description/rviz/display.rviz new file mode 100644 index 0000000..3ea4af4 --- /dev/null +++ b/q2d_description/rviz/display.rviz @@ -0,0 +1,158 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + 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: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_active_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_passive_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + end_link: + Alpha: 1 + Show Axes: false + Show Trail: false + origin_link: + Alpha: 1 + Show Axes: false + Show Trail: false + shoulder_active_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_passive_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 + 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: 1.74931 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.170924 + Y: -0.214539 + Z: 0.105634 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.505398 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.70358 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + 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: 1200 + X: 336 + Y: 94 diff --git a/q2d_description/urdf/q2d.urdf b/q2d_description/urdf/q2d.urdf new file mode 100644 index 0000000..7915de2 --- /dev/null +++ b/q2d_description/urdf/q2d.urdf @@ -0,0 +1,258 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + + + gazebo_ros_electrical/DCmotorRobotHWSim + + + 0.001 + + + + + + + 0.55 0.45 0.45 1.0 + 0.55 0.45 0.45 1.0 + 0.55 0.45 0.45 1.0 + 0.0 0.0 0.0 0.0 + + + + + + + + 0.55 0.55 0.45 1.0 + 0.55 0.55 0.45 1.0 + 0.55 0.55 0.45 1.0 + 0.0 0.0 0.0 0.0 + + + + + + + + 0.55 0.45 0.45 1.0 + 0.55 0.45 0.45 1.0 + 0.55 0.45 0.45 1.0 + 0.0 0.0 0.0 0.0 + + + + + + + + 0.45 0.55 0.55 1.0 + 0.45 0.55 0.55 1.0 + 0.45 0.55 0.55 1.0 + 0.0 0.0 0.0 0.0 + + + + + + + + 0.45 0.45 0.45 1.0 + 0.45 0.45 0.45 1.0 + 0.45 0.45 0.45 1.0 + 0.0 0.0 0.0 0.0 + + + + diff --git a/q2d_teleop/CMakeLists.txt b/q2d_teleop/CMakeLists.txt new file mode 100644 index 0000000..1faf3e2 --- /dev/null +++ b/q2d_teleop/CMakeLists.txt @@ -0,0 +1,216 @@ +cmake_minimum_required(VERSION 2.8.3) +project(q2d_teleop) + +## 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 + cmake_modules + gfxtablet_ros + joy + kdl_parser + orocos_kdl + roscpp + sensor_msgs + geometry_msgs + std_msgs + urdf +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) +find_package(Eigen 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 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 +# sensor_msgs geometry_msgs # std_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 q2d_teleop +# CATKIN_DEPENDS cmake_modules gfxtablet_ros joy kdl_parser orocos_kdl roscpp sensor_msgs goemetry_msgs std_msgs urdf +# DEPENDS Eigen +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +# TODO: Check names of system library include directories (Eigen) + ${Eigen_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/q2d_teleop.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(q2d_teleop_tablet src/q2d_teleop_tablet.cpp) +add_executable(q2d_teleop_rviz src/q2d_teleop_rviz.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${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(q2d_teleop_tablet + ${catkin_LIBRARIES} + ${Eigen_LIBRARIES} +) + +target_link_libraries(q2d_teleop_rviz + ${catkin_LIBRARIES} + ${Eigen_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_q2d_teleop.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/q2d_teleop/launch/display.launch b/q2d_teleop/launch/display.launch new file mode 100644 index 0000000..87fb46b --- /dev/null +++ b/q2d_teleop/launch/display.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/q2d_teleop/launch/gazebo.launch b/q2d_teleop/launch/gazebo.launch new file mode 100644 index 0000000..5a801ac --- /dev/null +++ b/q2d_teleop/launch/gazebo.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/q2d_teleop/launch/q2d_teleop_rviz.launch b/q2d_teleop/launch/q2d_teleop_rviz.launch new file mode 100644 index 0000000..3a9ecfc --- /dev/null +++ b/q2d_teleop/launch/q2d_teleop_rviz.launch @@ -0,0 +1,4 @@ + + + diff --git a/q2d_teleop/launch/q2d_teleop_tablet.launch b/q2d_teleop/launch/q2d_teleop_tablet.launch new file mode 100644 index 0000000..0dd86d9 --- /dev/null +++ b/q2d_teleop/launch/q2d_teleop_tablet.launch @@ -0,0 +1,4 @@ + + + diff --git a/q2d_teleop/package.xml b/q2d_teleop/package.xml new file mode 100644 index 0000000..74dc4e4 --- /dev/null +++ b/q2d_teleop/package.xml @@ -0,0 +1,73 @@ + + + q2d_teleop + 0.0.0 + The q2d_teleop package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + catkin + Eigen + cmake_modules + gfxtablet_ros + joy + kdl_parser + orocos_kdl + roscpp + sensor_msgs + geometry_msgs + std_msgs + urdf + Eigen + cmake_modules + gfxtablet_ros + joy + kdl_parser + orocos_kdl + roscpp + sensor_msgs + geometry_msgs + std_msgs + urdf + + + + + + + + diff --git a/q2d_teleop/rviz/display.rviz b/q2d_teleop/rviz/display.rviz new file mode 100644 index 0000000..40ef76e --- /dev/null +++ b/q2d_teleop/rviz/display.rviz @@ -0,0 +1,178 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1/Offset1 + - /RobotModel1 + - /RobotModel1/Links1 + - /RobotModel1/Links1/tool_link1 + - /RobotModel1/Links1/tool_link1/Position1 + Splitter Ratio: 0.5 + 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: 0.2 + 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: 8 + Reference Frame: + Value: true + - Alpha: 0 + Cell Size: 0.001 + Class: rviz/Grid + Color: 59; 59; 59 + 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: 1220 + 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_active_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + elbow_passive_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + origin_link: + Alpha: 1 + Show Axes: false + Show Trail: false + shoulder_active_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + shoulder_passive_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool_link: + Alpha: 1 + Show Axes: true + Show Trail: true + 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: 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: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 348.433 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0.00473011 + Y: -0.00390336 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + 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: 1200 + X: 60 + Y: 60 diff --git a/q2d_teleop/src/q2d_teleop_rviz.cpp b/q2d_teleop/src/q2d_teleop_rviz.cpp new file mode 100644 index 0000000..025fdd1 --- /dev/null +++ b/q2d_teleop/src/q2d_teleop_rviz.cpp @@ -0,0 +1,179 @@ +/* + q2d_teleop_rviz: A ROS node to teloperate the Quanser 2DSFJE robot. + + Copyright (c) 2018 Walter Fetter Lages + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +*/ + +#include +#include +#include +#include +#include + +#define sqr(x) (x*x) + +class Q2dTeleop +{ + public: + Q2dTeleop(ros::NodeHandle node); + ~Q2dTeleop(void); + void publish(void); + + private: + ros::NodeHandle node_; + + ros::Subscriber clickSub_; + ros::Publisher shoulderCmdPub_; + ros::Publisher elbowCmdPub_; + + KDL::Frame goal_; + KDL::ChainIkSolverPos_LMA *ikSolverPos_; + KDL::JntArray q_; + + void clickCB(const geometry_msgs::PointStamped &click); +}; + +Q2dTeleop::Q2dTeleop(ros::NodeHandle node): q_(2) +{ + node_=node; + + clickSub_=node_.subscribe("/clicked_point",100,&Q2dTeleop::clickCB,this); + shoulderCmdPub_=node_.advertise("shoulder_controller/command",100); + elbowCmdPub_=node_.advertise("elbow_controller/command",100); + + std::string robotDescription; + if(!node.getParam("robot_description",robotDescription)) + ROS_ERROR_STREAM("Could not find 'robot_description'."); + + KDL::Tree tree; + if (!kdl_parser::treeFromString(robotDescription,tree)) + ROS_ERROR_STREAM("Failed to construct KDL tree."); + + KDL::Chain chain; + if (!tree.getChain("origin_link","tool_link",chain)) + ROS_ERROR_STREAM("Failed to get chain from KDL tree."); + + q_.resize(chain.getNrOfJoints()); + + goal_.Identity(); + goal_.p.x(0.61); + goal_.p.z(0.1477); + + Eigen::Matrix L; + L << 1.0 , 1.0 , 1.0, 0.01, 0.01, 0.01; + + ikSolverPos_=new KDL::ChainIkSolverPos_LMA(chain,L); + ikSolverPos_->display_information=true; + +/* + std::cout << "q_=" << q_ << std::endl; + std::cout << "goal=" << goal_ << std::endl; + + KDL::JntArray q_out=q_; + int error=0; + if((error=ikSolverPos_->CartToJnt(q_,goal_,q_out)) < 0) + ROS_ERROR_STREAM("Failed to compute invere kinematics: (" << error << ") " + << ikSolverPos_->strError(error)); + q_=q_out; + std::cout << "q_=" << q_ << std::endl; +*/ +} + +Q2dTeleop::~Q2dTeleop(void) +{ + clickSub_.shutdown(); + shoulderCmdPub_.shutdown(); + elbowCmdPub_.shutdown(); + delete ikSolverPos_; +} + +void Q2dTeleop::clickCB(const geometry_msgs::PointStamped &click) +{ + goal_.p.x(click.point.x); + goal_.p.y(click.point.y); + goal_.p.z(0.1477); + goal_.M.RotZ(atan2(click.point.y,click.point.x)); + + publish(); +} + +void Q2dTeleop::publish(void) +{ +/* + std::cout << "q_=" << q_ << std::endl; + std::cout << "goal=" << goal_ << std::endl; + + KDL::JntArray q_out=q_; + int error=0; + if((error=ikSolverPos_->CartToJnt(q_,goal_,q_out)) < 0) + ROS_ERROR_STREAM("Failed to compute invere kinematics: (" << error << ") " + << ikSolverPos_->strError(error)); + q_=q_out; + std::cout << "q_=" << q_ << std::endl; +*/ + + const double l1=0.343; + const double l2=0.267; + double c1=(sqr(goal_.p.x())+sqr(goal_.p.y())-sqr(l1)-sqr(l2))/2/l1/l2; + if(c1 >= 0.0 && c1 <= 1.0) + { + double s1a=sqrt(1-sqr(c1)); + double s1b=-s1a; + double q1a=atan2(s1a,c1); + double q1b=atan2(s1b,c1); + + double q0a=atan2(goal_.p.y(),goal_.p.x())-atan2(l2*s1a,l1+l2*c1); + double q0b=atan2(goal_.p.y(),goal_.p.x())-atan2(l2*s1b,l1+l2*c1); + + if((fabs(q_(0)-q0a) < fabs(q_(0)-q0b)) || (cos(q0a) > 0.0)) + { + q_(0)=q0a; + q_(1)=q1a; + } + else + { + q_(0)=q0b; + q_(1)=q1b; + } + } + + std_msgs::Float64 shoulderCmd; + std_msgs::Float64 elbowCmd; + + shoulderCmd.data=q_(0); + elbowCmd.data=q_(1); + + shoulderCmdPub_.publish(shoulderCmd); + elbowCmdPub_.publish(elbowCmd); +} + + +int main(int argc,char* argv[]) +{ + ros::init(argc,argv,"q2d_teleop_rviz"); + ros::NodeHandle node; + + Q2dTeleop q2dTeleop(node); + + ros::spin(); + + return 0; +} diff --git a/q2d_teleop/src/q2d_teleop_tablet.cpp b/q2d_teleop/src/q2d_teleop_tablet.cpp new file mode 100644 index 0000000..663f237 --- /dev/null +++ b/q2d_teleop/src/q2d_teleop_tablet.cpp @@ -0,0 +1,185 @@ +/* + q2d_teleop_tablet: A ROS node to teloperate the Quanser 2DSFJE robot. + + Copyright (c) 2018 Walter Fetter Lages + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +*/ + +#include +#include +#include +#include +#include + +#define sqr(x) (x*x) + +//DEBUG +#include +#include + +class Q2dTeleop +{ + public: + Q2dTeleop(ros::NodeHandle node); + ~Q2dTeleop(void); + void publish(void); + + private: + ros::NodeHandle node_; + + ros::Subscriber joySub_; + ros::Publisher shoulderCmdPub_; + ros::Publisher elbowCmdPub_; + + KDL::Frame goal_; + KDL::ChainIkSolverPos_LMA *ikSolverPos_; + KDL::JntArray q_; + + void joyCB(const sensor_msgs::Joy &joy); +}; + +Q2dTeleop::Q2dTeleop(ros::NodeHandle node): q_(2) +{ + node_=node; + + joySub_=node_.subscribe("joy",100,&Q2dTeleop::joyCB,this); + shoulderCmdPub_=node_.advertise("shoulder_controller/command",100); + elbowCmdPub_=node_.advertise("elbow_controller/command",100); + + std::string robotDescription; + if(!node.getParam("robot_description",robotDescription)) + ROS_ERROR_STREAM("Could not find 'robot_description'."); + + KDL::Tree tree; + if (!kdl_parser::treeFromString(robotDescription,tree)) + ROS_ERROR_STREAM("Failed to construct KDL tree."); + + KDL::Chain chain; + if (!tree.getChain("origin_link","tool_link",chain)) + ROS_ERROR_STREAM("Failed to get chain from KDL tree."); + + q_.resize(chain.getNrOfJoints()); + + goal_.Identity(); + goal_.p.x(0.61); + goal_.p.z(0.1477); + + Eigen::Matrix L; + L << 1.0 , 1.0 , 1.0, 0.01, 0.01, 0.01; + + ikSolverPos_=new KDL::ChainIkSolverPos_LMA(chain,L); + ikSolverPos_->display_information=true; + +/* + std::cout << "q_=" << q_ << std::endl; + std::cout << "goal=" << goal_ << std::endl; + + KDL::JntArray q_out=q_; + int error=0; + if((error=ikSolverPos_->CartToJnt(q_,goal_,q_out)) < 0) + ROS_ERROR_STREAM("Failed to compute invere kinematics: (" << error << ") " + << ikSolverPos_->strError(error)); + q_=q_out; + std::cout << "q_=" << q_ << std::endl; +*/ +} + +Q2dTeleop::~Q2dTeleop(void) +{ + joySub_.shutdown(); + shoulderCmdPub_.shutdown(); + elbowCmdPub_.shutdown(); + delete ikSolverPos_; +} + +void Q2dTeleop::joyCB(const sensor_msgs::Joy &joy) +{ +// goal_.p.x(joy.axes[0]*0.61/2.0); +// goal_.p.y(-joy.axes[1]*0.61); + goal_.p.x(joy.axes[0]*0.8); + goal_.p.y(-joy.axes[1]*0.8); // 20 cm/division in GfxTablet + goal_.p.z(0.1477); + goal_.M.RotZ(atan2(joy.axes[1],joy.axes[0])); + + publish(); +} + +void Q2dTeleop::publish(void) +{ +/* + std::cout << "q_=" << q_ << std::endl; + std::cout << "goal=" << goal_ << std::endl; + + KDL::JntArray q_out=q_; + int error=0; + if((error=ikSolverPos_->CartToJnt(q_,goal_,q_out)) < 0) + ROS_ERROR_STREAM("Failed to compute invere kinematics: (" << error << ") " + << ikSolverPos_->strError(error)); + q_=q_out; + std::cout << "q_=" << q_ << std::endl; +*/ + + const double l1=0.343; + const double l2=0.267; + double c1=(sqr(goal_.p.x())+sqr(goal_.p.y())-sqr(l1)-sqr(l2))/2/l1/l2; + if(c1 >= 0.0 && c1 <= 1.0) + { + double s1a=sqrt(1-sqr(c1)); + double s1b=-s1a; + double q1a=atan2(s1a,c1); + double q1b=atan2(s1b,c1); + + double q0a=atan2(goal_.p.y(),goal_.p.x())-atan2(l2*s1a,l1+l2*c1); + double q0b=atan2(goal_.p.y(),goal_.p.x())-atan2(l2*s1b,l1+l2*c1); + + if((fabs(q_(0)-q0a) < fabs(q_(0)-q0b)) || (cos(q0a) > 0.0)) + { + q_(0)=q0a; + q_(1)=q1a; + } + else + { + q_(0)=q0b; + q_(1)=q1b; + } + } + + std_msgs::Float64 shoulderCmd; + std_msgs::Float64 elbowCmd; + + shoulderCmd.data=q_(0); + elbowCmd.data=q_(1); + + shoulderCmdPub_.publish(shoulderCmd); + elbowCmdPub_.publish(elbowCmd); +} + + +int main(int argc,char* argv[]) +{ + ros::init(argc,argv,"q2d_teleop_tablet"); + ros::NodeHandle node; + + Q2dTeleop q2dTeleop(node); + + ros::spin(); + + return 0; +}