From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Thu, 10 Jan 2019 13:03:50 +0000 (-0200)
Subject: first commit
X-Git-Tag: sbai2019submitted~40
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=e45245b1c11d8c49833eebb91fee55aafe4cc85e;p=users%2Fgschmitz%2Fmiitzhand.git

first commit
---

diff --git a/miitzhand/CMakeLists.txt b/miitzhand_description/CMakeLists.txt
similarity index 96%
rename from miitzhand/CMakeLists.txt
rename to miitzhand_description/CMakeLists.txt
index 4c45245..4151842 100644
--- a/miitzhand/CMakeLists.txt
+++ b/miitzhand_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(miitzhand)
+project(miitzhand_description)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
diff --git a/miitzhand/config/miitzhand_joints.yaml b/miitzhand_description/config/miitzhand_joints.yaml
similarity index 95%
rename from miitzhand/config/miitzhand_joints.yaml
rename to miitzhand_description/config/miitzhand_joints.yaml
index 1ae15c0..6da2cb2 100644
--- a/miitzhand/config/miitzhand_joints.yaml
+++ b/miitzhand_description/config/miitzhand_joints.yaml
@@ -22,7 +22,7 @@ miitzhand:
     Ind1_position_controller:
         type: effort_controllers/JointPositionController
         joint: Ind_J1 
-        pid: {p: 0.8, i: 1, d: 0.013}
+        pid: {p: 2, i: 0, d: 0}
 
     Ind2_position_controller:
         type: effort_controllers/JointPositionController
diff --git a/miitzhand/launch/miitzhand.launch b/miitzhand_description/launch/miitzhand.launch
similarity index 92%
rename from miitzhand/launch/miitzhand.launch
rename to miitzhand_description/launch/miitzhand.launch
index 6778c5e..3d567dd 100644
--- a/miitzhand/launch/miitzhand.launch
+++ b/miitzhand_description/launch/miitzhand.launch
@@ -50,14 +50,14 @@
 	</include>
          
         <!-- Robot model -->
-	<param name="robot_description" textfile="$(find miitzhand)/urdf/miitzhand.urdf" />
+	<param name="robot_description" textfile="$(find miitzhand_description)/urdf/miitzhand.urdf" />
         
         <!-- 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="$(find miitzhand)/config/miitzhand_joints.yaml" />
+        <rosparam command="load" file="$(find miitzhand_description)/config/miitzhand_joints.yaml" />
         
         <!-- Controllers -->
         <node name="controller_spawner" pkg="controller_manager" type="spawner"
diff --git a/miitzhand/meshes/Ane_L1.STL b/miitzhand_description/meshes/Ane_L1.STL
similarity index 100%
rename from miitzhand/meshes/Ane_L1.STL
rename to miitzhand_description/meshes/Ane_L1.STL
diff --git a/miitzhand/meshes/Ane_L2.STL b/miitzhand_description/meshes/Ane_L2.STL
similarity index 100%
rename from miitzhand/meshes/Ane_L2.STL
rename to miitzhand_description/meshes/Ane_L2.STL
diff --git a/miitzhand/meshes/Ane_L3.STL b/miitzhand_description/meshes/Ane_L3.STL
similarity index 100%
rename from miitzhand/meshes/Ane_L3.STL
rename to miitzhand_description/meshes/Ane_L3.STL
diff --git a/miitzhand/meshes/Ind_L1.STL b/miitzhand_description/meshes/Ind_L1.STL
similarity index 100%
rename from miitzhand/meshes/Ind_L1.STL
rename to miitzhand_description/meshes/Ind_L1.STL
diff --git a/miitzhand/meshes/Ind_L2.STL b/miitzhand_description/meshes/Ind_L2.STL
similarity index 100%
rename from miitzhand/meshes/Ind_L2.STL
rename to miitzhand_description/meshes/Ind_L2.STL
diff --git a/miitzhand/meshes/Ind_L3.STL b/miitzhand_description/meshes/Ind_L3.STL
similarity index 100%
rename from miitzhand/meshes/Ind_L3.STL
rename to miitzhand_description/meshes/Ind_L3.STL
diff --git a/miitzhand/meshes/Med_L1.STL b/miitzhand_description/meshes/Med_L1.STL
similarity index 100%
rename from miitzhand/meshes/Med_L1.STL
rename to miitzhand_description/meshes/Med_L1.STL
diff --git a/miitzhand/meshes/Med_L2.STL b/miitzhand_description/meshes/Med_L2.STL
similarity index 100%
rename from miitzhand/meshes/Med_L2.STL
rename to miitzhand_description/meshes/Med_L2.STL
diff --git a/miitzhand/meshes/Med_L3.STL b/miitzhand_description/meshes/Med_L3.STL
similarity index 100%
rename from miitzhand/meshes/Med_L3.STL
rename to miitzhand_description/meshes/Med_L3.STL
diff --git a/miitzhand/meshes/Min_L1.STL b/miitzhand_description/meshes/Min_L1.STL
similarity index 100%
rename from miitzhand/meshes/Min_L1.STL
rename to miitzhand_description/meshes/Min_L1.STL
diff --git a/miitzhand/meshes/Min_L2.STL b/miitzhand_description/meshes/Min_L2.STL
similarity index 100%
rename from miitzhand/meshes/Min_L2.STL
rename to miitzhand_description/meshes/Min_L2.STL
diff --git a/miitzhand/meshes/Min_L3.STL b/miitzhand_description/meshes/Min_L3.STL
similarity index 100%
rename from miitzhand/meshes/Min_L3.STL
rename to miitzhand_description/meshes/Min_L3.STL
diff --git a/miitzhand/meshes/Pol_L1.STL b/miitzhand_description/meshes/Pol_L1.STL
similarity index 100%
rename from miitzhand/meshes/Pol_L1.STL
rename to miitzhand_description/meshes/Pol_L1.STL
diff --git a/miitzhand/meshes/Pol_L2.STL b/miitzhand_description/meshes/Pol_L2.STL
similarity index 100%
rename from miitzhand/meshes/Pol_L2.STL
rename to miitzhand_description/meshes/Pol_L2.STL
diff --git a/miitzhand/meshes/Pol_L3.STL b/miitzhand_description/meshes/Pol_L3.STL
similarity index 100%
rename from miitzhand/meshes/Pol_L3.STL
rename to miitzhand_description/meshes/Pol_L3.STL
diff --git a/miitzhand/meshes/base_link.STL b/miitzhand_description/meshes/base_link.STL
similarity index 100%
rename from miitzhand/meshes/base_link.STL
rename to miitzhand_description/meshes/base_link.STL
diff --git a/miitzhand/package.xml b/miitzhand_description/package.xml
similarity index 94%
rename from miitzhand/package.xml
rename to miitzhand_description/package.xml
index 50fec41..ebb3f7e 100644
--- a/miitzhand/package.xml
+++ b/miitzhand_description/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
-  <name>miitzhand</name>
+  <name>miitzhand_description</name>
   <version>0.0.0</version>
   <description>The  package</description>
 
diff --git a/miitzhand/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
similarity index 84%
rename from miitzhand/urdf/miitzhand.urdf
rename to miitzhand_description/urdf/miitzhand.urdf
index d4977f4..d364975 100644
--- a/miitzhand/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -24,7 +24,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/base_link.STL" />
+          filename="package://miitzhand_description/meshes/base_link.STL" />
       </geometry>
       <material
         name="">
@@ -38,7 +38,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/base_link.STL" />
+          filename="package://miitzhand_description/meshes/base_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -68,7 +68,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Min_L1.STL" />
+          filename="package://miitzhand_description/meshes/Min_L1.STL" />
       </geometry>
       <material
         name="">
@@ -82,7 +82,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Min_L1.STL" />
+          filename="package://miitzhand_description/meshes/Min_L1.STL" />
       </geometry>
     </collision>
   </link>
@@ -126,7 +126,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Min_L2.STL" />
+          filename="package://miitzhand_description/meshes/Min_L2.STL" />
       </geometry>
       <material
         name="">
@@ -140,7 +140,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Min_L2.STL" />
+          filename="package://miitzhand_description/meshes/Min_L2.STL" />
       </geometry>
     </collision>
   </link>
@@ -184,7 +184,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Min_L3.STL" />
+          filename="package://miitzhand_description/meshes/Min_L3.STL" />
       </geometry>
       <material
         name="">
@@ -198,7 +198,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Min_L3.STL" />
+          filename="package://miitzhand_description/meshes/Min_L3.STL" />
       </geometry>
     </collision>
   </link>
@@ -242,7 +242,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ane_L1.STL" />
+          filename="package://miitzhand_description/meshes/Ane_L1.STL" />
       </geometry>
       <material
         name="">
@@ -256,7 +256,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ane_L1.STL" />
+          filename="package://miitzhand_description/meshes/Ane_L1.STL" />
       </geometry>
     </collision>
   </link>
@@ -300,7 +300,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ane_L2.STL" />
+          filename="package://miitzhand_description/meshes/Ane_L2.STL" />
       </geometry>
       <material
         name="">
@@ -314,7 +314,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ane_L2.STL" />
+          filename="package://miitzhand_description/meshes/Ane_L2.STL" />
       </geometry>
     </collision>
   </link>
@@ -358,7 +358,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ane_L3.STL" />
+          filename="package://miitzhand_description/meshes/Ane_L3.STL" />
       </geometry>
       <material
         name="">
@@ -372,7 +372,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ane_L3.STL" />
+          filename="package://miitzhand_description/meshes/Ane_L3.STL" />
       </geometry>
     </collision>
   </link>
@@ -416,7 +416,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Med_L1.STL" />
+          filename="package://miitzhand_description/meshes/Med_L1.STL" />
       </geometry>
       <material
         name="">
@@ -430,7 +430,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Med_L1.STL" />
+          filename="package://miitzhand_description/meshes/Med_L1.STL" />
       </geometry>
     </collision>
   </link>
@@ -474,7 +474,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Med_L2.STL" />
+          filename="package://miitzhand_description/meshes/Med_L2.STL" />
       </geometry>
       <material
         name="">
@@ -488,7 +488,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Med_L2.STL" />
+          filename="package://miitzhand_description/meshes/Med_L2.STL" />
       </geometry>
     </collision>
   </link>
@@ -532,7 +532,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Med_L3.STL" />
+          filename="package://miitzhand_description/meshes/Med_L3.STL" />
       </geometry>
       <material
         name="">
@@ -546,7 +546,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Med_L3.STL" />
+          filename="package://miitzhand_description/meshes/Med_L3.STL" />
       </geometry>
     </collision>
   </link>
@@ -590,7 +590,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ind_L1.STL" />
+          filename="package://miitzhand_description/meshes/Ind_L1.STL" />
       </geometry>
       <material
         name="">
@@ -604,7 +604,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ind_L1.STL" />
+          filename="package://miitzhand_description/meshes/Ind_L1.STL" />
       </geometry>
     </collision>
   </link>
@@ -648,7 +648,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ind_L2.STL" />
+          filename="package://miitzhand_description/meshes/Ind_L2.STL" />
       </geometry>
       <material
         name="">
@@ -662,7 +662,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ind_L2.STL" />
+          filename="package://miitzhand_description/meshes/Ind_L2.STL" />
       </geometry>
     </collision>
   </link>
@@ -706,7 +706,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ind_L3.STL" />
+          filename="package://miitzhand_description/meshes/Ind_L3.STL" />
       </geometry>
       <material
         name="">
@@ -720,7 +720,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Ind_L3.STL" />
+          filename="package://miitzhand_description/meshes/Ind_L3.STL" />
       </geometry>
     </collision>
   </link>
@@ -764,7 +764,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Pol_L1.STL" />
+          filename="package://miitzhand_description/meshes/Pol_L1.STL" />
       </geometry>
       <material
         name="">
@@ -778,7 +778,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Pol_L1.STL" />
+          filename="package://miitzhand_description/meshes/Pol_L1.STL" />
       </geometry>
     </collision>
   </link>
@@ -822,7 +822,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Pol_L2.STL" />
+          filename="package://miitzhand_description/meshes/Pol_L2.STL" />
       </geometry>
       <material
         name="">
@@ -836,7 +836,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Pol_L2.STL" />
+          filename="package://miitzhand_description/meshes/Pol_L2.STL" />
       </geometry>
     </collision>
   </link>
@@ -880,7 +880,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Pol_L3.STL" />
+          filename="package://miitzhand_description/meshes/Pol_L3.STL" />
       </geometry>
       <material
         name="">
@@ -894,7 +894,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://miitzhand/meshes/Pol_L3.STL" />
+          filename="package://miitzhand_description/meshes/Pol_L3.STL" />
       </geometry>
     </collision>
   </link>
@@ -923,7 +923,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Pol1_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -934,7 +933,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Pol2_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -945,7 +943,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Pol3_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -956,7 +953,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Ind1_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -967,7 +963,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Ind2_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -978,7 +973,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Ind3_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -989,7 +983,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Med1_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -1000,7 +993,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Med2_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -1011,7 +1003,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Med3_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -1022,7 +1013,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Ane1_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -1033,7 +1023,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Ane2_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -1044,7 +1033,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Ane3_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -1055,7 +1043,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Min1_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -1066,7 +1053,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Min2_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>
@@ -1077,7 +1063,6 @@
                 <hardwareInterface>EffortJointInterface</hardwareInterface>
         </joint>
         <actuator name="Min3_motor">
-                <hardwareInterface>EffortJointInterface</hardwareInterface>
                 <mechanicalReduction>1</mechanicalReduction>
         </actuator>
   </transmission>