From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Tue, 15 Jan 2019 03:57:10 +0000 (-0200)
Subject: Alterações em miitzhand_bringup.
X-Git-Tag: sbai2019submitted~28
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=988d1554326a8720768bd1f5a69565bbe3d0b7c9;p=users%2Fgschmitz%2Fmiitzhand.git

Alterações em miitzhand_bringup.
---

diff --git a/miitzhand_bringup/CMakeLists.txt b/miitzhand_bringup/CMakeLists.txt
index 881c244..797b22c 100644
--- a/miitzhand_bringup/CMakeLists.txt
+++ b/miitzhand_bringup/CMakeLists.txt
@@ -12,7 +12,6 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
 )
 find_package(catkin REQUIRED COMPONENTS
-  controller_interface
   effort_controllers
   urdf
 )
@@ -108,7 +107,7 @@ find_package(cmake_modules REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
    LIBRARIES ${PROJECT_NAME}
-   CATKIN_DEPENDS controller_interface control_msgs urdf
+   CATKIN_DEPENDS control_msgs urdf
 #  INCLUDE_DIRS include
 #  LIBRARIES gabrielquanser_controllers
 #  CATKIN_DEPENDS roscpp rospy
diff --git a/miitzhand_bringup/config/miitzhand.yaml b/miitzhand_bringup/config/miitzhand.yaml
new file mode 100644
index 0000000..8aa038e
--- /dev/null
+++ b/miitzhand_bringup/config/miitzhand.yaml
@@ -0,0 +1,35 @@
+miitzhand: 
+
+    joint_state_controller:
+        type: joint_state_controller/JointStateController
+        publish_rate: 100
+
+    thumb1_controller:
+        type: effort_controllers/JointPositionController
+        joint: thumb_j1 
+        pid: {p: 1, i: 0, d: 0}
+
+    thumb2_controller:
+        type: effort_controllers/JointPositionController
+        joint: thumb_j2
+        pid: {p: 1, i: 0, d: 0}
+
+    index_controller:
+        type: effort_controllers/JointPositionController
+        joint: index_j1
+        pid: {p: 1, i: 0, d: 0}
+
+    middle_controller:
+        type: effort_controllers/JointPositionController
+        joint: middle_j1 
+        pid: {p: 1, i: 0, d: 0}
+
+    ring_controller:
+        type: effort_controllers/JointPositionController
+        joint: ring_j1
+        pid: {p: 1, i: 0, d: 0}
+
+    little_controller:
+        type: effort_controllers/JointPositionController
+        joint: little_j1
+        pid: {p: 1, i: 0, d: 0}
diff --git a/miitzhand_bringup/config/miitzhand_joints.yaml b/miitzhand_bringup/config/miitzhand_joints.yaml
deleted file mode 100644
index 4fcce1c..0000000
--- a/miitzhand_bringup/config/miitzhand_joints.yaml
+++ /dev/null
@@ -1,80 +0,0 @@
-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: 2, i: 0, d: 0}
-
-    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_bringup/launch/gazebo.launch b/miitzhand_bringup/launch/gazebo.launch
index 86ee70e..202846a 100644
--- a/miitzhand_bringup/launch/gazebo.launch
+++ b/miitzhand_bringup/launch/gazebo.launch
@@ -1,109 +1,40 @@
 <launch>
+	<arg name="debug" default="false" />
+	<arg name="gui" default="true" />
+	<arg name="headless" default="false" />
+	<arg name="paused" default="true" />
+	<arg name="use_sim_time" default="true"/>
 
-	<arg
-		name="debug"
-		default="false"
-	/>
-	<arg
-		name="gui"
-		default="true"
-	/>
-	<arg
-		name="headless"
-		default="false"
-	/>
-	<arg
-		name="paused"
-		default="true" 
-	/>
-	<arg
-		name="use_sim_time"
-		default="true"
-	/>
-	<include file="$(find gazebo_ros)/launch/empty_world.launch">
-
-		<arg
-			name="debug"
-			value="$(arg debug)"
-		/>
-		<arg
-			name="gui"
-			value="$(arg gui)"
-		/>
-		<arg
-			name="paused"
-			value="$(arg paused)"
-		/>
-		<arg
-			name="use_sim_time"
-			value="$(arg use_sim_time)"
-		/>
-		<arg
-			name="headless"
-			value="$(arg headless)"
-		/>
-		<arg
-			name="world_name"
-			value="worlds/empty.world"
-		/>
-
-	</include>
+   <include file="$(find gazebo_ros)/launch/empty_world.launch">
+	<arg name="debug" value="$(arg debug)" />
+	<arg name="gui" value="$(arg gui)" />
+	<arg name="paused" value="$(arg paused)" />
+	<arg name="use_sim_time" value="$(arg use_sim_time)" />
+	<arg name="headless" value="$(arg headless)" />
+	<arg name="world_name" value="worlds/empty.world" />
+   </include>
          
         <!-- Robot model -->
-	<param name="robot_description" textfile="$(find miitzhand_description)/urdf/miitzhand.urdf" />
+	<include file="$(find miitzhand_description)/launch/miitzhand.launch" />
         
         <!-- Spawn the robot model -->
         <node name="miitzhand_spawner" pkg="gazebo_ros" type="spawn_model" output="screen" 
               args="-urdf -param robot_description -model miitzhand" />
       
-        <!-- Load controllers -->
-        <rosparam command="load" file="$(find miitzhand_bringup)/config/miitzhand_joints.yaml" />
+        <!-- Controllers Settings-->
+        <rosparam command="load" file="$(find miitzhand_bringup)/config/miitzhand.yaml" />
         
-        <!-- Controllers -->
         <node name="controller_spawner" pkg="controller_manager" type="spawner"
             respawn="false" output="screen" ns="/miitzhand"
             args="
-            joint_state_controller
-            Pol1_position_controller
-            Pol2_position_controller
-            Pol3_position_controller
-            Ind1_position_controller
-            Ind2_position_controller
-            Ind3_position_controller
-            Med1_position_controller
-            Med2_position_controller
-            Med3_position_controller
-            Ane1_position_controller
-            Ane2_position_controller
-            Ane3_position_controller
-            Min1_position_controller
-            Min2_position_controller
-            Min3_position_controller
+            joint_state_controller  
+            thumb1_controller
+            thumb2_controller
+            index_controller
+            middle_controller
+            ring_controller
+            little_controller
             --timeout 60">
         </node>
-
-	<!--<node
-		name="robot_state_publisher"
-		pkg="robot_state_publisher"
-		type="robot_state_publisher"
-		respawn="false"
-		output="screen"
-	>
-
-		<param
-			name="publish_frequency"
-			type="double"
-			value="100.0"
-		/>
-		<remap
-			from="/joint_states"
-			to="/dedo/joint_states"
-		/>
-
-	</node>-->
-	
-        <!-- rqt -->
-        <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
-        <node name="rqt_publisher" pkg="rqt_publisher" type="rqt_publisher" />
-        
+	      
 </launch>
diff --git a/miitzhand_bringup/package.xml b/miitzhand_bringup/package.xml
index d428bce..56b8439 100644
--- a/miitzhand_bringup/package.xml
+++ b/miitzhand_bringup/package.xml
@@ -16,9 +16,8 @@
   <license>MIT</license>
 
   <!--   <test_depend>gtest</test_depend> -->
-   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>controller_interface</build_depend>
   <build_depend>effort_controllers</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
@@ -31,12 +30,9 @@
   <run_depend>rospy</run_depend>
   <run_depend>urdf</run_depend>
   <run_depend>control_msgs</run_depend>
-  <run_depend>controller_interface</run_depend>
   <run_depend>controller_manager</run_depend>
   <run_depend>effort_controllers</run_depend>
   <run_depend>joint_state_controller</run_depend>
-  <run_depend>joint_position_controller</run_depend>
-
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>