From: Walter Fetter Lages Date: Thu, 6 Dec 2018 18:56:45 +0000 (-0200) Subject: Add bhand controller. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=f2749ab5c9ddae2b07fcf3fc5287d8ca3918b3e0;p=ufrgs_wam.git Add bhand controller. Fix bhand description to handle mimic joints in Gazebo. Create bhand_bringup. Change gazebo.launch in wam_node_sim to use bhand as default. --- diff --git a/bhand_bringup/CMakeLists.txt b/bhand_bringup/CMakeLists.txt new file mode 100644 index 0000000..65b7e88 --- /dev/null +++ b/bhand_bringup/CMakeLists.txt @@ -0,0 +1,201 @@ +cmake_minimum_required(VERSION 2.8.3) +project(bhand_bringup) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + bhand_description + control_msgs + controller_manager + position_controllers + urdf +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# control_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES bhand_bringup +# CATKIN_DEPENDS bhand_description control_msgs controller_manager position_controllers urdf +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/bhand_bringup.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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 +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_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) diff --git a/bhand_bringup/config/bhand_controller.yaml b/bhand_bringup/config/bhand_controller.yaml new file mode 100644 index 0000000..aef878b --- /dev/null +++ b/bhand_bringup/config/bhand_controller.yaml @@ -0,0 +1,11 @@ +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 diff --git a/bhand_bringup/launch/gazebo.launch b/bhand_bringup/launch/gazebo.launch new file mode 100644 index 0000000..2923fa4 --- /dev/null +++ b/bhand_bringup/launch/gazebo.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + diff --git a/bhand_bringup/package.xml b/bhand_bringup/package.xml new file mode 100644 index 0000000..2cfb651 --- /dev/null +++ b/bhand_bringup/package.xml @@ -0,0 +1,61 @@ + + + bhand_bringup + 0.0.0 + The bhand_bringup package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + catkin + bhand_description + control_msgs + controller_manager + position_controllers + urdf + bhand_description + control_msgs + controller_manager + position_controllers + urdf + + + + + + + + diff --git a/bhand_description/launch/gazebo.launch b/bhand_description/launch/gazebo.launch index 9216831..2ede0d2 100644 --- a/bhand_description/launch/gazebo.launch +++ b/bhand_description/launch/gazebo.launch @@ -15,5 +15,5 @@ - + diff --git a/bhand_description/xacro/bhand.urdf.xacro b/bhand_description/xacro/bhand.urdf.xacro index adfe0dd..82e16f5 100644 --- a/bhand_description/xacro/bhand.urdf.xacro +++ b/bhand_description/xacro/bhand.urdf.xacro @@ -17,15 +17,15 @@ - + + - + @@ -34,28 +34,59 @@ - + + + - + + - - + + - + + + + + + + bhand_spread + bhand_spread_finger2 + -1.0 + 0.0 + 30.0 + 0.1 + + + - - - + + + + + + + + + + + + + + diff --git a/bhand_description/xacro/bhand0.urdf.xacro b/bhand_description/xacro/bhand0.urdf.xacro index 4fbb1df..c414dfd 100644 --- a/bhand_description/xacro/bhand0.urdf.xacro +++ b/bhand_description/xacro/bhand0.urdf.xacro @@ -5,10 +5,24 @@ - + + + + + + + + + + + + + 0.001 + + diff --git a/bhand_description/xacro/bhand_base.urdf.xacro b/bhand_description/xacro/bhand_base.urdf.xacro index 46d44f7..fd31c23 100644 --- a/bhand_description/xacro/bhand_base.urdf.xacro +++ b/bhand_description/xacro/bhand_base.urdf.xacro @@ -10,7 +10,6 @@ diff --git a/bhand_description/xacro/bhand_link1.urdf.xacro b/bhand_description/xacro/bhand_link1.urdf.xacro index 9354a1b..293b44b 100644 --- a/bhand_description/xacro/bhand_link1.urdf.xacro +++ b/bhand_description/xacro/bhand_link1.urdf.xacro @@ -5,18 +5,7 @@ - - - - - - - @@ -52,8 +41,7 @@ - - + diff --git a/bhand_description/xacro/bhand_link2.urdf.xacro b/bhand_description/xacro/bhand_link2.urdf.xacro index 7b61510..8b7ae93 100644 --- a/bhand_description/xacro/bhand_link2.urdf.xacro +++ b/bhand_description/xacro/bhand_link2.urdf.xacro @@ -8,7 +8,6 @@ @@ -48,8 +47,7 @@ - - + diff --git a/bhand_description/xacro/bhand_link3.urdf.xacro b/bhand_description/xacro/bhand_link3.urdf.xacro index 14f2942..745bb6b 100644 --- a/bhand_description/xacro/bhand_link3.urdf.xacro +++ b/bhand_description/xacro/bhand_link3.urdf.xacro @@ -8,7 +8,6 @@ @@ -43,25 +42,20 @@ - + - + - - + - + - - - - - + transmission_interface/SimpleTransmission @@ -73,6 +67,18 @@ + + + bhand_${mimic_joint} + bhand_${joint} + ${48 / 140} + 0.0 + 30.0 + 0.0 + + + + diff --git a/wam_bringup/launch/gazebo.launch b/wam_bringup/launch/gazebo.launch index 5f4cb81..239e32d 100644 --- a/wam_bringup/launch/gazebo.launch +++ b/wam_bringup/launch/gazebo.launch @@ -23,5 +23,16 @@ + args="$(arg controller)" /> + + + + + + + diff --git a/wam_bringup/scripts/set_home.sh b/wam_bringup/scripts/set_home.sh index 4c4e80d..73d9b77 100755 --- a/wam_bringup/scripts/set_home.sh +++ b/wam_bringup/scripts/set_home.sh @@ -2,11 +2,11 @@ rosservice 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]" +"[0.0, -2.0, 0.0, 3.1, 0.0, 0.0, 0.0]" rostopic pub /wam/controller/command \ trajectory_msgs/JointTrajectoryPoint \ -"[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]" \ +"[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]" \ diff --git a/wam_bringup/scripts/step_home.sh b/wam_bringup/scripts/step_home.sh index 0796e9c..6b2f2b2 100755 --- a/wam_bringup/scripts/step_home.sh +++ b/wam_bringup/scripts/step_home.sh @@ -2,7 +2,7 @@ rostopic pub /controller/command \ trajectory_msgs/JointTrajectoryPoint \ -"[0.0,-2.0,0.0,3.1,0.0,0.0,0.0]" \ +"[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]" \ diff --git a/wam_node_sim/launch/gazebo.launch b/wam_node_sim/launch/gazebo.launch index b732414..bb011b7 100644 --- a/wam_node_sim/launch/gazebo.launch +++ b/wam_node_sim/launch/gazebo.launch @@ -3,7 +3,7 @@ - +