From: Walter Fetter Lages Date: Sat, 2 Oct 2021 06:16:27 +0000 (-0300) Subject: Port wam_description, wam_bringup, bhand_description and bhand_bringup to Galactic. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=dfb931520b68e376d23a2e44d310e6d369b5f0a1;p=ufrgs_wam.git Port wam_description, wam_bringup, bhand_description and bhand_bringup to Galactic. --- diff --git a/.gitignore b/.gitignore index 14b6454..3c6771d 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,4 @@ -devel/ +install/ logs/ build/ bin/ @@ -50,5 +50,8 @@ qtcreator-* # Catkin custom files CATKIN_IGNORE +# Colcon custom Files +COLCON_IGNORE + # Joe DEADJOE diff --git a/bhand_bringup/CMakeLists.txt b/bhand_bringup/CMakeLists.txt index 04f86a0..915d2df 100644 --- a/bhand_bringup/CMakeLists.txt +++ b/bhand_bringup/CMakeLists.txt @@ -1,202 +1,37 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(bhand_bringup) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## 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) +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( 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 exec_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 exec_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 exec_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 your 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 bhand_bringup -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib +install(DIRECTORY config launch + DESTINATION share/${PROJECT_NAME} ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include -# ${catkin_INCLUDE_DIRS} +install(PROGRAMS + scripts/close.sh + scripts/open.sh + scripts/spread_close_grasp_open.sh + scripts/spread_open_grasp_close.sh + DESTINATION lib/${PROJECT_NAME} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/bhand_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/bhand_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 -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${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_bhand_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) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/bhand_bringup/config/bhand_controller.yaml b/bhand_bringup/config/bhand_controller.yaml index aef878b..ba8e211 100644 --- a/bhand_bringup/config/bhand_controller.yaml +++ b/bhand_bringup/config/bhand_controller.yaml @@ -1,11 +1,7 @@ -bhand_controller: - type: position_controllers/JointGroupPositionController - joints: - - bhand_finger1_joint_2 - - bhand_finger2_joint_2 - - bhand_finger3_joint_2 - - bhand_spread - -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 1000 +/bhand_controller: + ros__parameters: + joints: + - bhand_finger1_joint_2 + - bhand_finger2_joint_2 + - bhand_finger3_joint_2 + - bhand_spread diff --git a/bhand_bringup/launch/bhand_controller.launch.xml b/bhand_bringup/launch/bhand_controller.launch.xml new file mode 100644 index 0000000..d76ed96 --- /dev/null +++ b/bhand_bringup/launch/bhand_controller.launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + diff --git a/bhand_bringup/launch/gazebo.launch b/bhand_bringup/launch/gazebo.launch deleted file mode 100644 index 2923fa4..0000000 --- a/bhand_bringup/launch/gazebo.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/bhand_bringup/launch/gazebo.launch.xml b/bhand_bringup/launch/gazebo.launch.xml new file mode 100644 index 0000000..07dda4d --- /dev/null +++ b/bhand_bringup/launch/gazebo.launch.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/bhand_bringup/package.xml b/bhand_bringup/package.xml index f16f85f..39bf53f 100644 --- a/bhand_bringup/package.xml +++ b/bhand_bringup/package.xml @@ -1,54 +1,13 @@ - + + bhand_bringup - 0.1.0 - The bhand_bringup package - - - - + 2.0.0 + Bring-up Barrett Hand Walter Fetter Lages - - - - - GPLv3 - - - - - - - - - - - - Walter Fetter Lages - - - - - - - - - - - - - - - - - - - - - - catkin + ament_cmake bhand_description control_msgs @@ -56,10 +15,10 @@ position_controllers urdf + ament_lint_auto + ament_lint_common - - - + ament_cmake diff --git a/bhand_bringup/scripts/close.sh b/bhand_bringup/scripts/close.sh index ddb19ac..4357e97 100755 --- a/bhand_bringup/scripts/close.sh +++ b/bhand_bringup/scripts/close.sh @@ -1,6 +1,6 @@ #!/bin/bash -rostopic pub /bhand_controller/command \ -std_msgs/Float64MultiArray \ +ros2 topic pub /bhand_controller/commands \ +std_msgs/msg/Float64MultiArray \ "{layout: {dim: [size: 4, stride: 4]}, data: [2.44, 2.44, 2.44, 3.14]}" \ "-1" diff --git a/bhand_bringup/scripts/open.sh b/bhand_bringup/scripts/open.sh index b898bdb..4d384d7 100755 --- a/bhand_bringup/scripts/open.sh +++ b/bhand_bringup/scripts/open.sh @@ -1,6 +1,6 @@ #!/bin/bash -rostopic pub /bhand_controller/command \ -std_msgs/Float64MultiArray \ +ros2 topic pub /bhand_controller/commands \ +std_msgs/msg/Float64MultiArray \ "{layout: {dim: [size: 4, stride: 4]}, data: [0.0, 0.0, 0.0, 0.0]}" \ "-1" diff --git a/bhand_bringup/scripts/spread_close_grasp_open.sh b/bhand_bringup/scripts/spread_close_grasp_open.sh index de0749e..8c758e2 100755 --- a/bhand_bringup/scripts/spread_close_grasp_open.sh +++ b/bhand_bringup/scripts/spread_close_grasp_open.sh @@ -1,6 +1,6 @@ #!/bin/bash -rostopic pub /bhand_controller/command \ -std_msgs/Float64MultiArray \ +ros2 topic pub /bhand_controller/commands \ +std_msgs/msg/Float64MultiArray \ "{layout: {dim: [size: 4, stride: 4]}, data: [0.0, 0.0, 0.0, 3.14]}" \ "-1" diff --git a/bhand_bringup/scripts/spread_open_grasp_close.sh b/bhand_bringup/scripts/spread_open_grasp_close.sh index aadda2a..2e9c96e 100755 --- a/bhand_bringup/scripts/spread_open_grasp_close.sh +++ b/bhand_bringup/scripts/spread_open_grasp_close.sh @@ -1,6 +1,6 @@ #!/bin/bash -rostopic pub /bhand_controller/command \ -std_msgs/Float64MultiArray \ +ros2 topic pub /bhand_controller/commands \ +std_msgs/msg/Float64MultiArray \ "{layout: {dim: [size: 4, stride: 4]}, data: [2.44, 2.44, 2.44, 0.0]}" \ "-1" diff --git a/bhand_description/CMakeLists.txt b/bhand_description/CMakeLists.txt index 54d2070..9f5e034 100644 --- a/bhand_description/CMakeLists.txt +++ b/bhand_description/CMakeLists.txt @@ -1,202 +1,29 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(bhand_description) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## 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) +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( 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 exec_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 exec_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 exec_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 your 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 bhand_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 -# ${catkin_INCLUDE_DIRS} +install(DIRECTORY config launch meshes rviz xacro + DESTINATION share/${PROJECT_NAME} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/bhand_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/bhand_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 -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${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_bhand_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) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/bhand_description/config/controller_manager.yaml b/bhand_description/config/controller_manager.yaml new file mode 100644 index 0000000..64241d6 --- /dev/null +++ b/bhand_description/config/controller_manager.yaml @@ -0,0 +1,4 @@ +controller_manager: + ros__parameters: + update_rate: 250 + use_sim_time: true diff --git a/bhand_description/config/gazebo.yaml b/bhand_description/config/gazebo.yaml new file mode 100644 index 0000000..1dca709 --- /dev/null +++ b/bhand_description/config/gazebo.yaml @@ -0,0 +1,4 @@ +gazebo: + ros__parameters: + # This is the /clock update rate + publish_rate: 500.0 diff --git a/bhand_description/launch/bhand.launch b/bhand_description/launch/bhand.launch deleted file mode 100644 index ec65298..0000000 --- a/bhand_description/launch/bhand.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/bhand_description/launch/bhand.launch.xml b/bhand_description/launch/bhand.launch.xml new file mode 100644 index 0000000..631d77d --- /dev/null +++ b/bhand_description/launch/bhand.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/bhand_description/launch/display.launch b/bhand_description/launch/display.launch deleted file mode 100644 index 07a23ed..0000000 --- a/bhand_description/launch/display.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/bhand_description/launch/display.launch.xml b/bhand_description/launch/display.launch.xml new file mode 100644 index 0000000..bbae315 --- /dev/null +++ b/bhand_description/launch/display.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/bhand_description/launch/gazebo.launch b/bhand_description/launch/gazebo.launch deleted file mode 100644 index 2ede0d2..0000000 --- a/bhand_description/launch/gazebo.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/bhand_description/launch/gazebo.launch.xml b/bhand_description/launch/gazebo.launch.xml new file mode 100644 index 0000000..de382c1 --- /dev/null +++ b/bhand_description/launch/gazebo.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/bhand_description/meshes/bh_base.stl b/bhand_description/meshes/bh_base.stl index dce76f7..eb82c37 100644 Binary files a/bhand_description/meshes/bh_base.stl and b/bhand_description/meshes/bh_base.stl differ diff --git a/bhand_description/meshes/bh_link1.stl b/bhand_description/meshes/bh_link1.stl index bf35bd9..5cd15e9 100644 Binary files a/bhand_description/meshes/bh_link1.stl and b/bhand_description/meshes/bh_link1.stl differ diff --git a/bhand_description/meshes/bh_link2.stl b/bhand_description/meshes/bh_link2.stl index f74e529..8073c9d 100644 Binary files a/bhand_description/meshes/bh_link2.stl and b/bhand_description/meshes/bh_link2.stl differ diff --git a/bhand_description/meshes/bh_link3.stl b/bhand_description/meshes/bh_link3.stl index d9361c6..a8617c4 100644 Binary files a/bhand_description/meshes/bh_link3.stl and b/bhand_description/meshes/bh_link3.stl differ diff --git a/bhand_description/package.xml b/bhand_description/package.xml index b493b8e..802edb2 100644 --- a/bhand_description/package.xml +++ b/bhand_description/package.xml @@ -1,71 +1,32 @@ - + + bhand_description - 2.1.0 + 3.0.0

The bhand_description package

-

This package contains xacro files for the Barrett Hand gripper. +

This package contains xacro files for the Barrett Hand gripper. It is based on the iri_wam_description package developed by the IRI - Robotics Lab but with gripper parameters (mainly inertia parameters) - adapted to the Barrett Hand model BH-280 available at UFRGS. -

+ Robotics Lab (http://wiki.ros.org/iri_bhand_description) but with + gripper parameters (mainly inertia parameters) adapted to the + Barrett Hand model BH-280 available at UFRGS. +

- - - - Walter Fetter Lages - - - - - BSD - - - - - - - http://www.ece.ufrgs.br/~fetter/ufrgs_wam - http://wiki.ros.org/iri_bhand_description - - - - - - + Walter Fetter Lages IRI Robotics Lab, Ivan Rojas (irojas@iri.upc.edu) + ament_cmake - - - - - - - - - - - - - - - - - - - - - catkin + roboticsgroup_upatras_gazebo_plugins - roboticsgroup_gazebo_plugins + ament_lint_auto + ament_lint_common - - - + ament_cmake + diff --git a/bhand_description/rviz/urdf.rviz b/bhand_description/rviz/display.rviz similarity index 58% rename from bhand_description/rviz/urdf.rviz rename to bhand_description/rviz/display.rviz index f2c716b..db9ead1 100644 --- a/bhand_description/rviz/urdf.rviz +++ b/bhand_description/rviz/display.rviz @@ -1,29 +1,25 @@ Panels: - - Class: rviz/Displays + - Class: rviz_common/Displays Help Height: 78 Name: Displays Property Tree Widget: - Expanded: - - /RobotModel1 - - /RobotModel1/Links1 - - /RobotModel1/Links1/bhand_origin1 - Splitter Ratio: 0.588816 - Tree Height: 559 - - Class: rviz/Selection + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection Name: Selection - - Class: rviz/Tool Properties + - Class: rviz_common/Tool Properties Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 + - /2D Goal Pose1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time + - Class: rviz_common/Time Experimental: false Name: Time SyncMode: 0 @@ -33,11 +29,11 @@ Visualization Manager: Displays: - Alpha: 0.5 Cell Size: 1 - Class: rviz/Grid + Class: rviz_default_plugins/Grid Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -50,15 +46,23 @@ Visualization Manager: Reference Frame: Value: true - Alpha: 1 - Class: rviz/RobotModel + Class: rviz_default_plugins/RobotModel Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description Enabled: true Links: All Links Enabled: true Expand Joint Details: false Expand Link Details: false Expand Tree: false - Link Tree Style: "" + Link Tree Style: Links in Alphabetic Order bhand_base_link: Alpha: 1 Show Axes: false @@ -111,10 +115,9 @@ Visualization Manager: Value: true bhand_origin: Alpha: 1 - Show Axes: true + Show Axes: false Show Trail: false Name: RobotModel - Robot Description: robot_description TF Prefix: "" Update Interval: 0 Value: true @@ -126,26 +129,48 @@ Visualization Manager: Frame Rate: 30 Name: root Tools: - - Class: rviz/Interact + - Class: rviz_default_plugins/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 + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint Single click: true - Topic: /clicked_point + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: - Class: rviz/Orbit - Distance: 0.651721 + Class: rviz_default_plugins/Orbit + Distance: 0.7650711536407471 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false @@ -153,12 +178,15 @@ Visualization Manager: X: 0 Y: 0 Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.635399 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 Target Frame: Value: Orbit (rviz) - Yaw: 1.25857 + Yaw: 0.785398006439209 Saved: ~ Window Geometry: Displays: @@ -166,7 +194,7 @@ Window Geometry: Height: 846 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000185000002bafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000036000002ba000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000036000002ba0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024700fffffffb0000000800540069006d0065010000000000000450000000000000000000000210000002ba00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -176,5 +204,5 @@ Window Geometry: Views: collapsed: false Width: 1200 - X: 312 - Y: 0 + X: 60 + Y: 60 diff --git a/bhand_description/xacro/bhand.urdf.xacro b/bhand_description/xacro/bhand.urdf.xacro index 018e4c1..c5543a5 100644 --- a/bhand_description/xacro/bhand.urdf.xacro +++ b/bhand_description/xacro/bhand.urdf.xacro @@ -26,8 +26,8 @@ --> - - + + @@ -47,7 +47,7 @@ - + @@ -60,7 +60,7 @@ - + bhand_spread bhand_spread_mimic -1.0 @@ -69,7 +69,7 @@ 0.0 - + @@ -81,7 +81,8 @@ - + + @@ -108,17 +109,68 @@ - - - - - - - - - + - 0.001 + + + gazebo_ros2_control/GazeboSystem + + + + + 0.0 + ${140 * M_PI /180} + + + + + + + + + + + 0,9 + ${140 * M_PI /180} + + + + + + + + + + + 0.0 + ${140 * M_PI /180} + + + + + + + + + + + 0.0 + ${M_PI} + + + + + + + + + + + + + robot_description + robot_state_publisher + $(find bhand_description)/config/controller_manager.yaml diff --git a/bhand_description/xacro/bhand_link2.urdf.xacro b/bhand_description/xacro/bhand_link2.urdf.xacro index 0a90738..f0dea95 100644 --- a/bhand_description/xacro/bhand_link2.urdf.xacro +++ b/bhand_description/xacro/bhand_link2.urdf.xacro @@ -12,7 +12,8 @@ --> - + + diff --git a/bhand_description/xacro/bhand_link3.urdf.xacro b/bhand_description/xacro/bhand_link3.urdf.xacro index 2e6c3bb..41177e3 100644 --- a/bhand_description/xacro/bhand_link3.urdf.xacro +++ b/bhand_description/xacro/bhand_link3.urdf.xacro @@ -67,7 +67,7 @@ - + bhand_${mimic_joint} bhand_${joint} ${48 / 140} @@ -77,7 +77,6 @@ - diff --git a/ufrgs_wam/CMakeLists.txt b/ufrgs_wam/CMakeLists.txt index cabb467..2bba62e 100644 --- a/ufrgs_wam/CMakeLists.txt +++ b/ufrgs_wam/CMakeLists.txt @@ -1,4 +1,5 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.8) project(ufrgs_wam) -find_package(catkin REQUIRED) -catkin_metapackage() + +find_package(ament_cmake REQUIRED) +ament_package() diff --git a/ufrgs_wam/package.xml b/ufrgs_wam/package.xml index 1361426..b9aad50 100644 --- a/ufrgs_wam/package.xml +++ b/ufrgs_wam/package.xml @@ -1,55 +1,13 @@ - + + ufrgs_wam - 3.1.0 - The ufrgs_wam package - - - - + 4.0.0 + Metapackage for the Barrett WAM robot at UFRGS Walter Fetter Lages - - - - - GPLv3 - - - - - - - - - - - - Walter Fetter Lages - - - - - - - - - - - - - - - - - - - - - - - catkin + ament_cmake_ros bhand_bringup bhand_description @@ -59,10 +17,8 @@ wam_node_test wam_teleoplib - - - - + ament_cmake + diff --git a/wam_bringup/CMakeLists.txt b/wam_bringup/CMakeLists.txt index 67ba7c6..607ac0a 100644 --- a/wam_bringup/CMakeLists.txt +++ b/wam_bringup/CMakeLists.txt @@ -1,202 +1,37 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(wam_bringup) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## 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) +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( 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 exec_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 exec_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 exec_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 your 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 wam_bringup -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib +install(DIRECTORY config launch + DESTINATION share/${PROJECT_NAME} ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include -# ${catkin_INCLUDE_DIRS} +install(PROGRAMS + scripts/set_home.sh + scripts/step.sh + scripts/step_home.sh + scripts/step_zero.sh + DESTINATION lib/${PROJECT_NAME} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/wam_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/wam_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 -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${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_wam_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) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/wam_bringup/config/computed_torque_controller.yaml b/wam_bringup/config/computed_torque_controller.yaml index 8854c16..20c19f2 100644 --- a/wam_bringup/config/computed_torque_controller.yaml +++ b/wam_bringup/config/computed_torque_controller.yaml @@ -1,31 +1,27 @@ -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 100 - -computed_torque_controller: - type: effort_controllers/ComputedTorqueController - joints: - - wam_joint_1 - - wam_joint_2 - - wam_joint_3 - - wam_joint_4 - - wam_joint_5 - - wam_joint_6 - - wam_joint_7 - Kp: [25.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 25.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 25.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 25.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 25.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 25.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 25.0] - Kd: [10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0] - gravity: {x: 0.0, y: 0.0, z: -9.8} - chain: {root: "wam_origin", tip: "wam_tool_plate"} - priority: 99 +/computed_torque_controller: + ros_parameters: + joints: + - wam_joint_1 + - wam_joint_2 + - wam_joint_3 + - wam_joint_4 + - wam_joint_5 + - wam_joint_6 + - wam_joint_7 + Kp: [25.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 25.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 25.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 25.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 25.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 25.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 25.0] + Kd: [10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0] + gravity: {x: 0.0, y: 0.0, z: -9.8} + chain: {root: "wam_origin", tip: "wam_tool_plate"} + priority: 99 diff --git a/wam_bringup/config/pid_independent_joint_controller.yaml b/wam_bringup/config/pid_independent_joint_controller.yaml index 645fd1a..a188c75 100644 --- a/wam_bringup/config/pid_independent_joint_controller.yaml +++ b/wam_bringup/config/pid_independent_joint_controller.yaml @@ -1,23 +1,18 @@ -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 250 - -pid_independent_joint_controller: - type: effort_controllers/JointGroupPositionController - joints: - - wam_joint_1 - - wam_joint_2 - - wam_joint_3 - - wam_joint_4 - - wam_joint_5 - - wam_joint_6 - - wam_joint_7 -# PID parameters from /etc/barrett/wam7w.conf - wam_joint_1/pid: {p: 900.0, i: 2.5, d: 10.0, i_clamp: 25.0} - wam_joint_2/pid: {p: 2500.0, i: 5.0, d: 20.0, i_clamp: 20.0} - wam_joint_3/pid: {p: 600.0, i: 2.0, d: 5.0, i_clamp: 15.0} - wam_joint_4/pid: {p: 500.0, i: 0.5, d: 2.0, i_clamp: 15.0} - wam_joint_5/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0} - wam_joint_6/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0} - wam_joint_7/pid: {p: 8.0, i: 0.1, d: 0.05, i_clamp: 5.0} - \ No newline at end of file +/pid_independent_joint_controller: + ros__parameters: + joints: + - wam_joint_1 + - wam_joint_2 + - wam_joint_3 + - wam_joint_4 + - wam_joint_5 + - wam_joint_6 + - wam_joint_7 + # PID parameters from /etc/barrett/wam7w.conf + wam_joint_1/pid: {p: 900.0, i: 2.5, d: 10.0, i_clamp_min: -25.0, i_clamp_max: 25.0} + wam_joint_2/pid: {p: 2500.0, i: 5.0, d: 20.0, i_clamp_min: -20.0, i_clamp_max: 20.0} + wam_joint_3/pid: {p: 600.0, i: 2.0, d: 5.0, i_clamp_min: -15.0, i_clamp_max: 15.0} + wam_joint_4/pid: {p: 500.0, i: 0.5, d: 2.0, i_clamp_min: -15.0, i_clamp_max: 15.0} + wam_joint_5/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp_min: -5.0, i_clamp_max: 5.0} + wam_joint_6/pid: {p: 50.0, i: 0.5, d: 0.5, i_clamp_min: -5.0, i_clamp_max: 5.0} + wam_joint_7/pid: {p: 8.0, i: 0.1, d: 0.05, i_clamp_min: -5.0, i_clamp_max: 5.0} diff --git a/wam_bringup/config/pid_plus_gravity_controller.yaml b/wam_bringup/config/pid_plus_gravity_controller.yaml index 5dd9e7c..a10c775 100644 --- a/wam_bringup/config/pid_plus_gravity_controller.yaml +++ b/wam_bringup/config/pid_plus_gravity_controller.yaml @@ -1,26 +1,21 @@ -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 250 - -pid_plus_gravity_controller: - type: effort_controllers/PidPlusGravityController - joints: - - wam_joint_1 - - wam_joint_2 - - wam_joint_3 - - wam_joint_4 - - wam_joint_5 - - wam_joint_6 - - wam_joint_7 -# PID parameters from /etc/barrett/wam7w.conf - wam_joint_1: {p: 900.0, i: 2.5, d: 10.0, i_clamp: 25.0} - wam_joint_2: {p: 2500.0, i: 5.0, d: 20.0, i_clamp: 20.0} - wam_joint_3: {p: 600.0, i: 2.0, d: 5.0, i_clamp: 15.0} - wam_joint_4: {p: 500.0, i: 0.5, d: 2.0, i_clamp: 15.0} - wam_joint_5: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0} - wam_joint_6: {p: 50.0, i: 0.5, d: 0.5, i_clamp: 5.0} - wam_joint_7: {p: 8.0, i: 0.1, d: 0.05, i_clamp: 5.0} - gravity: {x: 0.0, y: 0.0, z: -9.8} - chain: {root: "wam_origin", tip: "wam_tool_plate"} - priority: 99 - \ No newline at end of file +/pid_plus_gravity_controller: + ros__parameters: + joints: + - wam_joint_1 + - wam_joint_2 + - wam_joint_3 + - wam_joint_4 + - wam_joint_5 + - wam_joint_6 + - wam_joint_7 + # PID parameters from /etc/barrett/wam7w.conf + wam_joint_1: {p: 900.0, i: 2.5, d: 10.0, i_clamp_min: -25.0, i_clamp_max: 25.0} + wam_joint_2: {p: 2500.0, i: 5.0, d: 20.0, i_clamp_min: -20.0, i_clamp_max: 20.0} + wam_joint_3: {p: 600.0, i: 2.0, d: 5.0, i_clamp_min: -15.0, i_clamp_max: 15.0} + wam_joint_4: {p: 500.0, i: 0.5, d: 2.0, i_clamp_min: -15.0, i_clamp_max: 15.0} + wam_joint_5: {p: 50.0, i: 0.5, d: 0.5, i_clamp_min: -5.0, i_clamp_max: 5.0} + wam_joint_6: {p: 50.0, i: 0.5, d: 0.5, i_clamp_min: -5.0, i_clamp_max: 5.0} + wam_joint_7: {p: 8.0, i: 0.1, d: 0.05, i_clamp_min: -5.0, i_clamp_max: 5.0} + gravity: {x: 0.0, y: 0.0, z: -9.8} + chain: {root: "wam_origin", tip: "wam_tool_plate"} + priority: 99 diff --git a/wam_bringup/launch/computed_torque_controller.launch.xml b/wam_bringup/launch/computed_torque_controller.launch.xml new file mode 100644 index 0000000..67dca00 --- /dev/null +++ b/wam_bringup/launch/computed_torque_controller.launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + diff --git a/wam_bringup/launch/display.launch b/wam_bringup/launch/display.launch deleted file mode 100644 index 5d56fa1..0000000 --- a/wam_bringup/launch/display.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/wam_bringup/launch/gazebo.launch b/wam_bringup/launch/gazebo.launch deleted file mode 100644 index 09b03fa..0000000 --- a/wam_bringup/launch/gazebo.launch +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/wam_bringup/launch/gazebo.launch.xml b/wam_bringup/launch/gazebo.launch.xml new file mode 100644 index 0000000..6bbedeb --- /dev/null +++ b/wam_bringup/launch/gazebo.launch.xml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/wam_bringup/launch/pid_independent_joint_controller.launch.xml b/wam_bringup/launch/pid_independent_joint_controller.launch.xml new file mode 100644 index 0000000..836b651 --- /dev/null +++ b/wam_bringup/launch/pid_independent_joint_controller.launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + diff --git a/wam_bringup/launch/pid_plus_gravity_controller.launch.xml b/wam_bringup/launch/pid_plus_gravity_controller.launch.xml new file mode 100644 index 0000000..fbcb552 --- /dev/null +++ b/wam_bringup/launch/pid_plus_gravity_controller.launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + diff --git a/wam_bringup/launch/wam_node.launch b/wam_bringup/launch/wam_node.launch deleted file mode 100644 index aa93bd9..0000000 --- a/wam_bringup/launch/wam_node.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - ["/wam/joint_states","/bhand/joint_states"] - - - - - - - diff --git a/wam_bringup/launch/wam_node.launch.xml b/wam_bringup/launch/wam_node.launch.xml new file mode 100644 index 0000000..8498003 --- /dev/null +++ b/wam_bringup/launch/wam_node.launch.xml @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + diff --git a/wam_bringup/launch/wam_node_sim.launch b/wam_bringup/launch/wam_node_sim.launch deleted file mode 100644 index 76f9c7b..0000000 --- a/wam_bringup/launch/wam_node_sim.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/wam_bringup/launch/wam_node_sim.launch.xml b/wam_bringup/launch/wam_node_sim.launch.xml new file mode 100644 index 0000000..4dc593b --- /dev/null +++ b/wam_bringup/launch/wam_node_sim.launch.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/wam_bringup/package.xml b/wam_bringup/package.xml index 1ed22d3..297b0e6 100644 --- a/wam_bringup/package.xml +++ b/wam_bringup/package.xml @@ -1,55 +1,13 @@ - + + wam_bringup - 1.1.0 - The wam_bringup package - - - - + 2.0.0 + Bring-up Barrett WAM Walter Fetter Lages - - - - - GPLv3 - - - - - - - - - - - - Walter Fetter Lages - - - - - - - - - - - - - - - - - - - - - - - catkin + ament_cmake computed_torque_controller control_msgs @@ -59,10 +17,10 @@ urdf wam_description + ament_lint_auto + ament_lint_common - - - + ament_cmake diff --git a/wam_bringup/rviz/display.rviz b/wam_bringup/rviz/display.rviz deleted file mode 100644 index 09ce650..0000000 --- a/wam_bringup/rviz/display.rviz +++ /dev/null @@ -1,278 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 558 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - 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 - bhand_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_finger1_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_finger1_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_finger1_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_finger2_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_finger2_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_finger2_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_finger3_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_finger3_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_finger3_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bhand_origin: - Alpha: 1 - Show Axes: false - Show Trail: false - leg1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - leg2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - leg3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - leg4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - table_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wam_link_0: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wam_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wam_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wam_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wam_link_3_virtual: - Alpha: 1 - Show Axes: false - Show Trail: false - wam_link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wam_link_4_virtual: - Alpha: 1 - Show Axes: false - Show Trail: false - wam_link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wam_link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wam_link_7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wam_link_base: - Alpha: 1 - Show Axes: false - Show Trail: false - wam_link_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - wam_origin: - Alpha: 1 - Show Axes: false - Show Trail: false - wam_tool_plate: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - 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 - Default Light: true - Fixed Frame: world - 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: 6.422440528869629 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 1.4341685771942139 - Y: -0.9101573824882507 - Z: 0.9468344449996948 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.34479641914367676 - Target Frame: - Value: Orbit (rviz) - Yaw: 2.490401029586792 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024200fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 56 - Y: 37 diff --git a/wam_bringup/scripts/set_home.sh b/wam_bringup/scripts/set_home.sh index b8d2b0f..710d3ef 100755 --- a/wam_bringup/scripts/set_home.sh +++ b/wam_bringup/scripts/set_home.sh @@ -1,13 +1,13 @@ #!/bin/bash -rosservice call /gazebo/set_model_configuration wam joint \ +ros2 service call /gazebo/set_model_configuration wam joint \ "['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4','wam_joint_5','wam_joint_6','wam_joint_7']" \ "[0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0]" -rostopic pub /controller/command \ -trajectory_msgs/JointTrajectoryPoint \ -"[0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0, 0]" "-1" +ros2 topic pub /command \ +trajectory_msgs/msg/JointTrajectoryPoint \ +"{positions: [0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0], \ +velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +time_from_start: {sec: 0, nanosec: 0}}" "-1" diff --git a/wam_bringup/scripts/step.sh b/wam_bringup/scripts/step.sh index 207a1da..2690bee 100755 --- a/wam_bringup/scripts/step.sh +++ b/wam_bringup/scripts/step.sh @@ -4,10 +4,10 @@ if [ "$#" -ne 7 ]; then echo "Error: There should be 7 parameters." exit -1; fi; -rostopic pub /controller/command \ -trajectory_msgs/JointTrajectoryPoint \ -"[$1, $2, $3, $4, $5, $6, $7]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0, 0]" "-1" +ros2 topic pub /command \ +trajectory_msgs/msg/JointTrajectoryPoint \ +"{positions: [$1, $2, $3, $4, $5, $6, $7], \ +velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +time_from_start: {sec: 0, nanosec: 0}}" "-1" diff --git a/wam_bringup/scripts/step_home.sh b/wam_bringup/scripts/step_home.sh index 92f3e6c..c999a38 100755 --- a/wam_bringup/scripts/step_home.sh +++ b/wam_bringup/scripts/step_home.sh @@ -1,9 +1,9 @@ #!/bin/bash -rostopic pub /controller/command \ -trajectory_msgs/JointTrajectoryPoint \ -"[0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0, 0]" "-1" +ros2 topic pub /command \ +trajectory_msgs/msg/JointTrajectoryPoint \ +"{positions: [0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0], \ +velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +time_from_start: {sec: 0, nanosec: 0}}" "-1" diff --git a/wam_bringup/scripts/step_zero.sh b/wam_bringup/scripts/step_zero.sh index cca469c..f8d3648 100755 --- a/wam_bringup/scripts/step_zero.sh +++ b/wam_bringup/scripts/step_zero.sh @@ -1,9 +1,9 @@ #!/bin/bash -rostopic pub /controller/command \ -trajectory_msgs/JointTrajectoryPoint \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \ -"[0, 0]" -1 +ros2 topic pub /command \ +trajectory_msgs/msg/JointTrajectoryPoint \ +"{positions: [0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0], \ +velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \ +time_from_start: {sec: 0, nanosec: 0}}" "-1" diff --git a/wam_description/CMakeLists.txt b/wam_description/CMakeLists.txt index 4d67c4a..7b1ab4c 100644 --- a/wam_description/CMakeLists.txt +++ b/wam_description/CMakeLists.txt @@ -1,212 +1,33 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(wam_description) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## 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) +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( 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 exec_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 exec_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 exec_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 your 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 wam_description -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib +install(DIRECTORY config launch meshes rviz xacro + DESTINATION share/${PROJECT_NAME} ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include -# ${catkin_INCLUDE_DIRS} +install(PROGRAMS scripts/set_home.sh scripts/set_zero.sh + DESTINATION lib/${PROJECT_NAME} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/wam_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/wam_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 -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -install(DIRECTORY meshes - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -install(DIRECTORY xacro - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - - -## 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_wam_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) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/wam_description/config/controller_manager.yaml b/wam_description/config/controller_manager.yaml new file mode 100644 index 0000000..64241d6 --- /dev/null +++ b/wam_description/config/controller_manager.yaml @@ -0,0 +1,4 @@ +controller_manager: + ros__parameters: + update_rate: 250 + use_sim_time: true diff --git a/wam_description/config/gazebo.yaml b/wam_description/config/gazebo.yaml new file mode 100644 index 0000000..1dca709 --- /dev/null +++ b/wam_description/config/gazebo.yaml @@ -0,0 +1,4 @@ +gazebo: + ros__parameters: + # This is the /clock update rate + publish_rate: 500.0 diff --git a/wam_description/launch/display.launch b/wam_description/launch/display.launch deleted file mode 100644 index 1b2acda..0000000 --- a/wam_description/launch/display.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - ["/wam/joint_states","/bhand/joint_states"] - - - - - - - - diff --git a/wam_description/launch/display.launch.xml b/wam_description/launch/display.launch.xml new file mode 100644 index 0000000..29640f3 --- /dev/null +++ b/wam_description/launch/display.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/wam_description/launch/gazebo.launch b/wam_description/launch/gazebo.launch deleted file mode 100644 index de023ac..0000000 --- a/wam_description/launch/gazebo.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/wam_description/launch/gazebo.launch.xml b/wam_description/launch/gazebo.launch.xml new file mode 100644 index 0000000..261ca30 --- /dev/null +++ b/wam_description/launch/gazebo.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/wam_description/launch/wam.launch b/wam_description/launch/wam.launch deleted file mode 100644 index c383509..0000000 --- a/wam_description/launch/wam.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/wam_description/launch/wam.launch.xml b/wam_description/launch/wam.launch.xml new file mode 100644 index 0000000..7524fa6 --- /dev/null +++ b/wam_description/launch/wam.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/wam_description/package.xml b/wam_description/package.xml index 144a687..20063a1 100644 --- a/wam_description/package.xml +++ b/wam_description/package.xml @@ -1,73 +1,31 @@ - + + wam_description - 2.2.0 + 3.0.0

The wam_description package

-

This package contains xacro files for the Barrett WAM robot arm. - It is based on the iri_wam_description package developed by the IRI - Robotics Lab. However, coordinate frames were modified to follow - the Denavit-Hartenberg convention, as libBarrett is based on it, - and inertial parameters were included. Inertial parameters were - obtained from Barrett Technology, Inc, WAM Arm Inertial - Specifications, 2008, Document: D1005, Version: AC.02. -

+

This package contains xacro files for the Barrett WAM robot arm. + It is based on the iri_wam_description package developed by the IRI + Robotics Lab (http://ros.org/wiki/iri_wam_description). However, + coordinate frames were modified to follow the Denavit-Hartenberg + convention, as libBarrett is based on it, and inertial parameters + were included. Inertial parameters were obtained from Barrett + Technology, Inc, WAM Arm Inertial Specifications, 2008, Document: + D1005, Version: AC.02.

- - - - - Walter Fetter Lages - - - - - LGPL - - - - - - - http://www.ece.ufrgs.br/~fetter/ufrgs_wam - http://ros.org/wiki/iri_wam_description - - - - - - + Walter Fetter Lages IRI Robotics Lab, Sergi Foix (sfoix@iri.upc.edu) + ament_cmake - - - - - - - - - - - - - - - - - - - - - catkin + ament_lint_auto + ament_lint_common - - - - + ament_cmake + diff --git a/wam_description/rviz/display.rviz b/wam_description/rviz/display.rviz index 738b415..ae97a38 100644 --- a/wam_description/rviz/display.rviz +++ b/wam_description/rviz/display.rviz @@ -1,40 +1,35 @@ Panels: - - Class: rviz/Displays + - Class: rviz_common/Displays Help Height: 78 Name: Displays Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 + Expanded: ~ Splitter Ratio: 0.5 - Tree Height: 558 - - Class: rviz/Selection + Tree Height: 549 + - Class: rviz_common/Selection Name: Selection - - Class: rviz/Tool Properties + - Class: rviz_common/Tool Properties Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 + - /2D Goal Pose1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views + - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time + - Class: rviz_common/Time Experimental: false Name: Time SyncMode: 0 SyncSource: "" -Preferences: - PromptSaveOnExit: true Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 - Class: rviz/Grid + Class: rviz_default_plugins/Grid Color: 160; 160; 164 Enabled: true Line Style: @@ -51,8 +46,16 @@ Visualization Manager: Reference Frame: Value: true - Alpha: 1 - Class: rviz/RobotModel + Class: rviz_default_plugins/RobotModel Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description Enabled: true Links: All Links Enabled: true @@ -208,7 +211,6 @@ Visualization Manager: Show Axes: false Show Trail: false Name: RobotModel - Robot Description: robot_description TF Prefix: "" Update Interval: 0 Value: true @@ -216,47 +218,68 @@ Visualization Manager: Enabled: true Global Options: Background Color: 48; 48; 48 - Default Light: true Fixed Frame: world Frame Rate: 30 Name: root Tools: - - Class: rviz/Interact + - Class: rviz_default_plugins/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 + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint Single click: true - Topic: /clicked_point + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: - Class: rviz/Orbit - Distance: 4.747800827026367 + Class: rviz_default_plugins/Orbit + Distance: 5.427221298217773 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.3066835403442383 - Y: 0.3576655685901642 - Z: 1.0682051181793213 + X: 0 + Y: 0 + Z: 0 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.3953981399536133 + Pitch: 0.785398006439209 Target Frame: Value: Orbit (rviz) - Yaw: 3.848580837249756 + Yaw: 0.785398006439209 Saved: ~ Window Geometry: Displays: @@ -264,7 +287,7 @@ Window Geometry: Height: 846 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002b6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000002b6000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024200fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -274,5 +297,5 @@ Window Geometry: Views: collapsed: false Width: 1200 - X: 1996 - Y: 62 + X: 60 + Y: 60 diff --git a/wam_description/scripts/set_home.sh b/wam_description/scripts/set_home.sh index fdf13c1..d14b55d 100755 --- a/wam_description/scripts/set_home.sh +++ b/wam_description/scripts/set_home.sh @@ -1,6 +1,6 @@ #!/bin/bash -rosservice call /gazebo/set_model_configuration wam joint \ +ros2 service call /gazebo/set_model_configuration wam joint \ "['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4',' \ wam_joint_5','wam_joint_6','wam_joint_7']" \ "[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]" diff --git a/wam_description/scripts/set_zero.sh b/wam_description/scripts/set_zero.sh index 13a4b53..7c9cb59 100755 --- a/wam_description/scripts/set_zero.sh +++ b/wam_description/scripts/set_zero.sh @@ -1,6 +1,6 @@ #!/bin/bash -rosservice call /gazebo/set_model_configuration wam joint \ +ros2 service call /gazebo/set_model_configuration wam joint \ "['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4', \ 'wam_joint_5','wam_joint_6','wam_joint_7']" \ "[0.0,0.0,0.0,0.0,0.0,0.0,0.0]" diff --git a/wam_description/xacro/wam.urdf.xacro b/wam_description/xacro/wam.urdf.xacro index c27dbea..6730364 100644 --- a/wam_description/xacro/wam.urdf.xacro +++ b/wam_description/xacro/wam.urdf.xacro @@ -29,20 +29,90 @@ - - - - - - - - - - - 0.001 - - - + + + gazebo_ros2_control/GazeboSystem + + + + + ${-1.8*42.00} + ${1.8*42.00} + + + + + + + + + ${-1.8*28.25} + ${1.8*28.25} + + + + + + + + + ${-1.8*28.25} + ${1.8*28.25} + + + + + + + + + ${-1.6*18.00} + ${1.6*18.00} + + + + + + + + + ${-0.6*9.48} + ${0.6*9.48} + + + + + + + + + ${-0.6*9.48} + ${0.6*9.48} + + + + + + + + + ${-0.613*14.93} + ${0.613*14.93} + + + + + + + + + + robot_description + robot_state_publisher + $(find wam_description)/config/controller_manager.yaml + + + diff --git a/wam_node_test/scripts/cart_move.sh b/wam_node_test/scripts/cart_move.sh index 559bb40..92c4405 100755 --- a/wam_node_test/scripts/cart_move.sh +++ b/wam_node_test/scripts/cart_move.sh @@ -4,4 +4,4 @@ if [ "$#" -ne 3 ]; then echo "Error: There should be 3 parameters." exit -1; fi; -rosservice call /wam/cart_move "[$1, $2, $3]" +ros2 service call /wam/cart_move "[$1, $2, $3]" diff --git a/wam_node_test/scripts/close_grasp.sh b/wam_node_test/scripts/close_grasp.sh index 2271890..be22cd3 100755 --- a/wam_node_test/scripts/close_grasp.sh +++ b/wam_node_test/scripts/close_grasp.sh @@ -1,3 +1,3 @@ #!/bin/bash -rosservice call /bhand/close_grasp "{}" +ros2 service call /bhand/close_grasp "{}" diff --git a/wam_node_test/scripts/close_spread.sh b/wam_node_test/scripts/close_spread.sh index 35cad79..692b8ff 100755 --- a/wam_node_test/scripts/close_spread.sh +++ b/wam_node_test/scripts/close_spread.sh @@ -1,3 +1,3 @@ #!/bin/bash -rosservice call /bhand/close_spread "{}" +ros2 service call /bhand/close_spread "{}" diff --git a/wam_node_test/scripts/finger_pos.sh b/wam_node_test/scripts/finger_pos.sh index 268854f..f31d60c 100755 --- a/wam_node_test/scripts/finger_pos.sh +++ b/wam_node_test/scripts/finger_pos.sh @@ -4,4 +4,4 @@ if [ "$#" -ne 3 ]; then echo "Error: There should be 3 parameters." exit -1; fi; -rosservice call /bhand/finger_pos "[$1, $2, $3]" +ros2 service call /bhand/finger_pos "[$1, $2, $3]" diff --git a/wam_node_test/scripts/go_home.sh b/wam_node_test/scripts/go_home.sh index c188249..3a4a7fb 100755 --- a/wam_node_test/scripts/go_home.sh +++ b/wam_node_test/scripts/go_home.sh @@ -1,3 +1,3 @@ #!/bin/bash -rosservice call /wam/go_home +ros2 service call /wam/go_home diff --git a/wam_node_test/scripts/grasp_pos.sh b/wam_node_test/scripts/grasp_pos.sh index c7cd193..2893323 100755 --- a/wam_node_test/scripts/grasp_pos.sh +++ b/wam_node_test/scripts/grasp_pos.sh @@ -4,4 +4,4 @@ if [ "$#" -ne 1 ]; then echo "Error: There should be 1 parameter." exit -1; fi; -rosservice call /bhand/grasp_pos "$1" +ros2 service call /bhand/grasp_pos "$1" diff --git a/wam_node_test/scripts/joint_move.sh b/wam_node_test/scripts/joint_move.sh index bde929e..6109ff3 100755 --- a/wam_node_test/scripts/joint_move.sh +++ b/wam_node_test/scripts/joint_move.sh @@ -4,4 +4,4 @@ if [ "$#" -ne 7 ]; then echo "Error: There should be 7 parameters." exit -1; fi; -rosservice call /wam/joint_move "[$1, $2, $3, $4, $5, $6, $7]" +ros2 service call /wam/joint_move "[$1, $2, $3, $4, $5, $6, $7]" diff --git a/wam_node_test/scripts/open_grasp.sh b/wam_node_test/scripts/open_grasp.sh index 3883b60..c9418c2 100755 --- a/wam_node_test/scripts/open_grasp.sh +++ b/wam_node_test/scripts/open_grasp.sh @@ -1,3 +1,3 @@ #!/bin/bash -rosservice call /bhand/open_grasp "{}" +ros2 service call /bhand/open_grasp "{}" diff --git a/wam_node_test/scripts/open_spread.sh b/wam_node_test/scripts/open_spread.sh index 618e361..246ccfd 100755 --- a/wam_node_test/scripts/open_spread.sh +++ b/wam_node_test/scripts/open_spread.sh @@ -1,3 +1,3 @@ #!/bin/bash -rosservice call /bhand/open_spread "{}" +ros2 service call /bhand/open_spread "{}" diff --git a/wam_node_test/scripts/ortn_move.sh b/wam_node_test/scripts/ortn_move.sh index 5b027c4..e046f62 100755 --- a/wam_node_test/scripts/ortn_move.sh +++ b/wam_node_test/scripts/ortn_move.sh @@ -4,4 +4,4 @@ if [ "$#" -ne 4 ]; then echo "Error: There should be 4 parameters." exit -1; fi; -rosservice call /wam/ortn_move "[$1, $2, $3, $4]" +ros2 service call /wam/ortn_move "[$1, $2, $3, $4]" diff --git a/wam_node_test/scripts/pose_move.sh b/wam_node_test/scripts/pose_move.sh index 6f7f99c..bc51869 100755 --- a/wam_node_test/scripts/pose_move.sh +++ b/wam_node_test/scripts/pose_move.sh @@ -4,4 +4,4 @@ if [ "$#" -ne 7 ]; then echo "Error: There should be 7 parameters." exit -1; fi; -rosservice call /wam/pose_move "{pose: {position: [$1, $2, $3], orientation: [$4, $5, $6, $7] } }" +ros2 service call /wam/pose_move "{pose: {position: [$1, $2, $3], orientation: [$4, $5, $6, $7] } }" diff --git a/wam_node_test/scripts/spread_pos.sh b/wam_node_test/scripts/spread_pos.sh index 259e776..77b665a 100755 --- a/wam_node_test/scripts/spread_pos.sh +++ b/wam_node_test/scripts/spread_pos.sh @@ -4,4 +4,4 @@ if [ "$#" -ne 1 ]; then echo "Error: There should be 1 parameter." exit -1; fi; -rosservice call /bhand/spread_pos "$1" +ros2 service call /bhand/spread_pos "$1"