From d6a33c54092183bc21ebbbd4de9f1025822df4ee Mon Sep 17 00:00:00 2001 From: Walter Fetter Lages Date: Mon, 14 Jan 2019 02:11:25 -0200 Subject: [PATCH] Fix end of lines to LF-only. --- miitzhand_bringup/CMakeLists.txt | 410 ++-- miitzhand_bringup/config/miitzhand_joints.yaml | 160 +- miitzhand_bringup/package.xml | 92 +- miitzhand_description/CMakeLists.txt | 410 ++-- miitzhand_description/launch/display.launch | 16 +- miitzhand_description/package.xml | 92 +- miitzhand_description/urdf/miitzhand.urdf | 2382 ++++++++++++------------ 7 files changed, 1781 insertions(+), 1781 deletions(-) diff --git a/miitzhand_bringup/CMakeLists.txt b/miitzhand_bringup/CMakeLists.txt index 657fe89..881c244 100644 --- a/miitzhand_bringup/CMakeLists.txt +++ b/miitzhand_bringup/CMakeLists.txt @@ -1,205 +1,205 @@ -cmake_minimum_required(VERSION 2.8.3) -project(miitzhand_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 - roscpp - rospy -) -find_package(catkin REQUIRED COMPONENTS - controller_interface - effort_controllers - urdf -) -find_package(cmake_modules 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 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 -# 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 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( - LIBRARIES ${PROJECT_NAME} - CATKIN_DEPENDS controller_interface control_msgs urdf -# INCLUDE_DIRS include -# LIBRARIES gabrielquanser_controllers -# CATKIN_DEPENDS roscpp rospy -# 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/${PROJECT_NAME}/gabrielquanser_controllers.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/gabrielquanser_controllers_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_gabrielquanser_controllers.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) +cmake_minimum_required(VERSION 2.8.3) +project(miitzhand_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 + roscpp + rospy +) +find_package(catkin REQUIRED COMPONENTS + controller_interface + effort_controllers + urdf +) +find_package(cmake_modules 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 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 +# 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 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( + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS controller_interface control_msgs urdf +# INCLUDE_DIRS include +# LIBRARIES gabrielquanser_controllers +# CATKIN_DEPENDS roscpp rospy +# 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/${PROJECT_NAME}/gabrielquanser_controllers.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/gabrielquanser_controllers_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_gabrielquanser_controllers.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/miitzhand_bringup/config/miitzhand_joints.yaml b/miitzhand_bringup/config/miitzhand_joints.yaml index 6da2cb2..4fcce1c 100644 --- a/miitzhand_bringup/config/miitzhand_joints.yaml +++ b/miitzhand_bringup/config/miitzhand_joints.yaml @@ -1,80 +1,80 @@ -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} +miitzhand: + + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 100 + + Pol1_position_controller: + type: effort_controllers/JointPositionController + joint: Pol_J1 + pid: {p: 200, i: 50, d: 10} + + Pol2_position_controller: + type: effort_controllers/JointPositionController + joint: Pol_J2 + pid: {p: 0.7, i: 1, d: 0.01} + + Pol3_position_controller: + type: effort_controllers/JointPositionController + joint: Pol_J3 + pid: {p: 0.1, i: 0.001, d: 0.0008} + + Ind1_position_controller: + type: effort_controllers/JointPositionController + joint: Ind_J1 + pid: {p: 2, i: 0, d: 0} + + Ind2_position_controller: + type: effort_controllers/JointPositionController + joint: Ind_J2 + pid: {p: 2, i: 0, d: 0} + + Ind3_position_controller: + type: effort_controllers/JointPositionController + joint: Ind_J3 + pid: {p: 1, i: 0, d: 0} + + Med1_position_controller: + type: effort_controllers/JointPositionController + joint: Med_J1 + pid: {p: 2, i: 1, d: 0} + + Med2_position_controller: + type: effort_controllers/JointPositionController + joint: Med_J2 + pid: {p: 1, i: 1, d: 0} + + Med3_position_controller: + type: effort_controllers/JointPositionController + joint: Med_J3 + pid: {p: 1, i: 1, d: 0} + + Ane1_position_controller: + type: effort_controllers/JointPositionController + joint: Ane_J1 + pid: {p: 2, i: 1, d: 0} + + Ane2_position_controller: + type: effort_controllers/JointPositionController + joint: Ane_J2 + pid: {p: 1, i: 1, d: 0} + + Ane3_position_controller: + type: effort_controllers/JointPositionController + joint: Ane_J3 + pid: {p: 1, i: 1, d: 0} + + Min1_position_controller: + type: effort_controllers/JointPositionController + joint: Min_J1 + pid: {p: 2, i: 1, d: 0} + + Min2_position_controller: + type: effort_controllers/JointPositionController + joint: Min_J2 + pid: {p: 1, i: 1, d: 0} + + Min3_position_controller: + type: effort_controllers/JointPositionController + joint: Min_J3 + pid: {p: 1, i: 1, d: 0} diff --git a/miitzhand_bringup/package.xml b/miitzhand_bringup/package.xml index 9793a8f..d428bce 100644 --- a/miitzhand_bringup/package.xml +++ b/miitzhand_bringup/package.xml @@ -1,46 +1,46 @@ - - - miitzhand_bringup - 0.0.0 - The package - - - - - gabriel - - - - - - MIT - - - catkin - - controller_interface - effort_controllers - roscpp - rospy - control_msgs - urdf - cmake_modules - - cmake_modules - roscpp - rospy - urdf - control_msgs - controller_interface - controller_manager - effort_controllers - joint_state_controller - joint_position_controller - - - - - - - - + + + miitzhand_bringup + 0.0.0 + The package + + + + + gabriel + + + + + + MIT + + + catkin + + controller_interface + effort_controllers + roscpp + rospy + control_msgs + urdf + cmake_modules + + cmake_modules + roscpp + rospy + urdf + control_msgs + controller_interface + controller_manager + effort_controllers + joint_state_controller + joint_position_controller + + + + + + + + diff --git a/miitzhand_description/CMakeLists.txt b/miitzhand_description/CMakeLists.txt index 4151842..80ee2ff 100644 --- a/miitzhand_description/CMakeLists.txt +++ b/miitzhand_description/CMakeLists.txt @@ -1,205 +1,205 @@ -cmake_minimum_required(VERSION 2.8.3) -project(miitzhand_description) - -## 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 - roscpp - rospy -) -find_package(catkin REQUIRED COMPONENTS - controller_interface - effort_controllers - urdf -) -find_package(cmake_modules 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 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 -# 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 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( - LIBRARIES ${PROJECT_NAME} - CATKIN_DEPENDS controller_interface control_msgs urdf -# INCLUDE_DIRS include -# LIBRARIES gabrielquanser_controllers -# CATKIN_DEPENDS roscpp rospy -# 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/${PROJECT_NAME}/gabrielquanser_controllers.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/gabrielquanser_controllers_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_gabrielquanser_controllers.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) +cmake_minimum_required(VERSION 2.8.3) +project(miitzhand_description) + +## 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 + roscpp + rospy +) +find_package(catkin REQUIRED COMPONENTS + controller_interface + effort_controllers + urdf +) +find_package(cmake_modules 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 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 +# 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 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( + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS controller_interface control_msgs urdf +# INCLUDE_DIRS include +# LIBRARIES gabrielquanser_controllers +# CATKIN_DEPENDS roscpp rospy +# 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/${PROJECT_NAME}/gabrielquanser_controllers.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/gabrielquanser_controllers_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_gabrielquanser_controllers.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/miitzhand_description/launch/display.launch b/miitzhand_description/launch/display.launch index 3854053..9649664 100644 --- a/miitzhand_description/launch/display.launch +++ b/miitzhand_description/launch/display.launch @@ -1,8 +1,8 @@ - - - - - - - - + + + + + + + + diff --git a/miitzhand_description/package.xml b/miitzhand_description/package.xml index 29ba574..3c3d886 100644 --- a/miitzhand_description/package.xml +++ b/miitzhand_description/package.xml @@ -1,46 +1,46 @@ - - - miitzhand_description - 0.0.0 - The package - - - - - gabriel - - - - - - MIT - - - catkin - - controller_interface - effort_controllers - roscpp - rospy - control_msgs - urdf - cmake_modules - - cmake_modules - roscpp - rospy - urdf - control_msgs - controller_interface - controller_manager - effort_controllers - joint_state_controller - joint_position_controller - - - - - - - - + + + miitzhand_description + 0.0.0 + The package + + + + + gabriel + + + + + + MIT + + + catkin + + controller_interface + effort_controllers + roscpp + rospy + control_msgs + urdf + cmake_modules + + cmake_modules + roscpp + rospy + urdf + control_msgs + controller_interface + controller_manager + effort_controllers + joint_state_controller + joint_position_controller + + + + + + + + diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf index 7e2af28..948fb0b 100644 --- a/miitzhand_description/urdf/miitzhand.urdf +++ b/miitzhand_description/urdf/miitzhand.urdf @@ -1,1191 +1,1191 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - - - Pol_J3 - Pol_J2 - 1.0 - 0.0 - 30.0 - 0.0 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - - Ind_J2 - Ind_J1 - 1.0 - 0.0 - 30.0 - 0.0 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - - Ind_J3 - Ind_J1 - 1.0 - 0.0 - 30.0 - 0.0 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - - Med_J2 - Med_J1 - 1.0 - 0.0 - 30.0 - 0.0 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - - Med_J3 - Med_J1 - 1.0 - 0.0 - 30.0 - 0.0 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - - Ane_J2 - Ane_J1 - 1.0 - 0.0 - 30.0 - 0.0 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - - Ane_J3 - Ane_J1 - 1.0 - 0.0 - 30.0 - 0.0 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - - Min_J2 - Min_J1 - 1.0 - 0.0 - 30.0 - 0.0 - - - - - transmission_interface/SimpleTransmission - - EffortJointInterface - - - 1 - - - - - - Min_J3 - Min_J1 - 1.0 - 0.0 - 30.0 - 0.0 - - - - - - /miitzhand - 0.001 - gazebo_ros_control/DefaultRobotHWSim - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + + Pol_J3 + Pol_J2 + 1.0 + 0.0 + 30.0 + 0.0 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + Ind_J2 + Ind_J1 + 1.0 + 0.0 + 30.0 + 0.0 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + Ind_J3 + Ind_J1 + 1.0 + 0.0 + 30.0 + 0.0 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + Med_J2 + Med_J1 + 1.0 + 0.0 + 30.0 + 0.0 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + Med_J3 + Med_J1 + 1.0 + 0.0 + 30.0 + 0.0 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + Ane_J2 + Ane_J1 + 1.0 + 0.0 + 30.0 + 0.0 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + Ane_J3 + Ane_J1 + 1.0 + 0.0 + 30.0 + 0.0 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + Min_J2 + Min_J1 + 1.0 + 0.0 + 30.0 + 0.0 + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + 1 + + + + + + Min_J3 + Min_J1 + 1.0 + 0.0 + 30.0 + 0.0 + + + + + + /miitzhand + 0.001 + gazebo_ros_control/DefaultRobotHWSim + + + -- 2.12.0