From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Thu, 10 Jan 2019 14:18:40 +0000 (-0200)
Subject: Separação entre a simulação utilizando Gazebo e os testes com RVIZ.
X-Git-Tag: sbai2019submitted~38
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=fbc0dfe6c5b9395e520c9c22c54b9ada9c9b5299;p=users%2Fgschmitz%2Fmiitzhand.git

Separação entre a simulação utilizando Gazebo e os testes com RVIZ.
---

diff --git a/miitzhand_description/config/miitzhand_joints.yaml b/miitzhand_description/config/miitzhand_joints.yaml
deleted file mode 100644
index 6da2cb2..0000000
--- a/miitzhand_description/config/miitzhand_joints.yaml
+++ /dev/null
@@ -1,80 +0,0 @@
-miitzhand: 
-
-    joint_state_controller:
-        type: joint_state_controller/JointStateController
-        publish_rate: 100
-
-    Pol1_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Pol_J1 
-        pid: {p: 200, i: 50, d: 10}
-
-    Pol2_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Pol_J2
-        pid: {p: 0.7, i: 1, d: 0.01}
-
-    Pol3_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Pol_J3
-        pid: {p: 0.1, i: 0.001, d: 0.0008}
-
-    Ind1_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Ind_J1 
-        pid: {p: 2, i: 0, d: 0}
-
-    Ind2_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Ind_J2
-        pid: {p: 2, i: 0, d: 0}
-
-    Ind3_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Ind_J3
-        pid: {p: 1, i: 0, d: 0}
-
-    Med1_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Med_J1 
-        pid: {p: 2, i: 1, d: 0}
-
-    Med2_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Med_J2
-        pid: {p: 1, i: 1, d: 0}
-
-    Med3_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Med_J3
-        pid: {p: 1, i: 1, d: 0}
-
-    Ane1_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Ane_J1 
-        pid: {p: 2, i: 1, d: 0}
-
-    Ane2_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Ane_J2
-        pid: {p: 1, i: 1, d: 0}
-
-    Ane3_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Ane_J3
-        pid: {p: 1, i: 1, d: 0}
-    
-    Min1_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Min_J1 
-        pid: {p: 2, i: 1, d: 0}
-
-    Min2_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Min_J2
-        pid: {p: 1, i: 1, d: 0}
-
-    Min3_position_controller:
-        type: effort_controllers/JointPositionController
-        joint: Min_J3
-        pid: {p: 1, i: 1, d: 0}
diff --git a/miitzhand_description/launch/miitzhand.launch b/miitzhand_description/launch/miitzhand.launch
deleted file mode 100644
index 3d567dd..0000000
--- a/miitzhand_description/launch/miitzhand.launch
+++ /dev/null
@@ -1,109 +0,0 @@
-<launch>
-
-	<arg
-		name="debug"
-		default="false"
-	/>
-	<arg
-		name="gui"
-		default="true"
-	/>
-	<arg
-		name="headless"
-		default="false"
-	/>
-	<arg
-		name="paused"
-		default="true" 
-	/>
-	<arg
-		name="use_sim_time"
-		default="true"
-	/>
-	<include file="$(find gazebo_ros)/launch/empty_world.launch">
-
-		<arg
-			name="debug"
-			value="$(arg debug)"
-		/>
-		<arg
-			name="gui"
-			value="$(arg gui)"
-		/>
-		<arg
-			name="paused"
-			value="$(arg paused)"
-		/>
-		<arg
-			name="use_sim_time"
-			value="$(arg use_sim_time)"
-		/>
-		<arg
-			name="headless"
-			value="$(arg headless)"
-		/>
-		<arg
-			name="world_name"
-			value="worlds/empty.world"
-		/>
-
-	</include>
-         
-        <!-- Robot model -->
-	<param name="robot_description" textfile="$(find miitzhand_description)/urdf/miitzhand.urdf" />
-        
-        <!-- Spawn the robot model -->
-        <node name="miitzhand_spawner" pkg="gazebo_ros" type="spawn_model" output="screen" 
-              args="-urdf -param robot_description -model miitzhand" />
-      
-        <!-- Load controllers -->
-        <rosparam command="load" file="$(find miitzhand_description)/config/miitzhand_joints.yaml" />
-        
-        <!-- Controllers -->
-        <node name="controller_spawner" pkg="controller_manager" type="spawner"
-            respawn="false" output="screen" ns="/miitzhand"
-            args="--namespace=/miitzhand
-            joint_state_controller
-            Pol1_position_controller
-            Pol2_position_controller
-            Pol3_position_controller
-            Ind1_position_controller
-            Ind2_position_controller
-            Ind3_position_controller
-            Med1_position_controller
-            Med2_position_controller
-            Med3_position_controller
-            Ane1_position_controller
-            Ane2_position_controller
-            Ane3_position_controller
-            Min1_position_controller
-            Min2_position_controller
-            Min3_position_controller
-            --timeout 60">
-        </node>
-
-	<!--<node
-		name="robot_state_publisher"
-		pkg="robot_state_publisher"
-		type="robot_state_publisher"
-		respawn="false"
-		output="screen"
-	>
-
-		<param
-			name="publish_frequency"
-			type="double"
-			value="100.0"
-		/>
-		<remap
-			from="/joint_states"
-			to="/dedo/joint_states"
-		/>
-
-	</node>-->
-	
-        <!-- rqt -->
-        <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
-        <node name="rqt_publisher" pkg="rqt_publisher" type="rqt_publisher" />
-        
-</launch>
diff --git a/miitzhand_description/package.xml b/miitzhand_description/package.xml
index ebb3f7e..29ba574 100644
--- a/miitzhand_description/package.xml
+++ b/miitzhand_description/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gabriel@todo.todo">gabriel</maintainer>
+  <maintainer email="gschmitz@ece.ufrgs.br">gabriel</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->