diff --git a/documents/design/README.md b/documents/design/README.md deleted file mode 100644 index 33b0a7b8..00000000 --- a/documents/design/README.md +++ /dev/null @@ -1,19 +0,0 @@ -# Major Design Presentations - -Every major design decision is required to have an accompanying presentation for the PR. The presentation should include: -* Background on the task/purpose -* Major technologies/packages/libraries used -* Research/reference resources -* A clear explanation of why that design was chosen -* Any future development to be done on the task - -[RJ General Slides Theme](https://docs.google.com/presentation/d/14omGRc-cdEDDEFdOUnVKgbbW5EMFX9UyO-QmpGfILho/edit?usp=sharing) - - -## Design Presentation Example -* ### [Teleoperations Stack](https://docs.google.com/presentation/d/14omGRc-cdEDDEFdOUnVKgbbW5EMFX9UyO-QmpGfILho/edit?usp=sharing) - -## Design Presentations History - -### Summer 2023 - diff --git a/documents/design/new_member_project.md b/documents/design/new_member_project.md deleted file mode 100644 index 676fdd57..00000000 --- a/documents/design/new_member_project.md +++ /dev/null @@ -1,77 +0,0 @@ -# Project Title - -*Issue #Number* -(What GitHub issue is associated with this project) - -**Author:** -- Insert Name(s) here - -## The Problem - -What is the problem you are trying to solve? Why is it important to solve this problem? -What is the end goal of this project? This section should similar to the body of the GitHub -issue but include more details about it. This will be a qualitative description of the -project. Use as many details you can to describe the requirements of the project. -*(This is similar to the Motivation section of the other design documents.)* - -## Proposed Solution - -- How are you going to solve this problem? -- What are the steps you need to take to complete the project? -- Break down the problem above into smaller, individual components with specific metrics of success -- You can think of this section as a quantitative description of the project -- Each bullet should represent a single action - - Use sub-bullets to provide more details and justifications for each step -- *(Replace these bullet points with your own)* - -_It's OK if your approach changes later in the project as you learn more. Treat this like -a road map that you can come back to to figure out what to work on next. If you aren't sure about the -technical details, make sure your ideas are clear. It's also OK to come up with a couple solutions -and decide which to pursue later. There should be some justification with your solution (i.e. how -does each step address part of the problem above)._ - -## Questions & Research - -Are there things you are unsure about or don't know? What do you need to research to be able to -complete this project? If you need information from the mechanical or electrical subteams, -be sure to describe that here. If your solution requires more research to implement, descibe -what kind of topics you need look at. Link any research papers/articles that you find here. - -**Of course, if you have _any_ questions or concerns, feel free to bring them up at any time. -If you ever feel lost or don't know what to do or work on, Vivek, Aidan, or any other boomer software member -can help you out. You are not expected to know every technical detail about the project. Expressing -what you don't know will make it easier to do research and ask for help.** - -## Overall Scope - -### Affected Packages - -- What parts of the software will you have to change (if any)? -- Which packages are relevant to the success of the project? -- Your first step of the project should be reviewing the relevant packages and code - -### Responsibilities - -- If you have more than one person working on this project, what will each person do? -- My Name: one of actions described in the solution -- *(Remove this section if you are doing this alone.)* - -### Schedule - -Subtask 1 (Date): How long will each step of the solution take? - -Subtask 2 (Date): Refer back to the bullets you made in the solution section - -Subtask 3 (Date): This will be used as a rough guide for keeping track of your progress, -but it's ok if you fall behind schedule. - -Subtask 4 (Date): Remember, with 2 meetings per week, you can expect to have 5 to 6 hours to work -on your project during meetings. If you want to work outside of meetings, you're free to, but -keep that in mind when planning out your goals. - -*(Your project may have more or less subtasks than this)* - -Code Review (Date): Include an estimate for when your code/result will be ready to review - -*(School work will change over the semester and software often takes longer than you expect to write, -so don't worry if you fall behind. Just be sure to update this document with your progress.)* diff --git a/helper_scripts/requirements.bash b/helper_scripts/requirements.bash deleted file mode 100644 index 1be724bc..00000000 --- a/helper_scripts/requirements.bash +++ /dev/null @@ -1,10 +0,0 @@ -# Navigation Packages -sudo apt-get install ros-humble-navigation2 -sudo apt-get install ros-humble-nav2-bringup -sudo apt-get install ros-humble-turtlebot3-gazebo - - -# Control Packages -sudo apt-get install ros-humble-ros2-control -sudo apt-get install ros-humble-ros2-controllers -sudo apt-get install ros-humble-gazebo-ros2-control \ No newline at end of file diff --git a/urc_bringup/launch/bringup.launch.py b/urc_bringup/launch/bringup.launch.py index 43200aef..7a3625d1 100644 --- a/urc_bringup/launch/bringup.launch.py +++ b/urc_bringup/launch/bringup.launch.py @@ -27,7 +27,6 @@ def generate_launch_description(): pkg_nmea_navsat_driver = FindPackageShare("nmea_navsat_driver").find( "nmea_navsat_driver" ) - pkg_imu_driver = FindPackageShare("imu_driver").find("imu_driver") controller_config_file_dir = os.path.join( pkg_urc_bringup, "config", "controller_config.yaml" @@ -119,11 +118,6 @@ def generate_launch_description(): output='screen', parameters=[gps_config]) - launch_imu = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_imu_driver, "launch", "imu_serial_driver.launch.py") - ) - ) rosbridge_server_node = Node( package="rosbridge_server", @@ -158,7 +152,6 @@ def generate_launch_description(): # load_gripper_controller_right, teleop_launch, launch_gps, - launch_imu, rosbridge_server_node, odom_frame_node ] diff --git a/urc_gazebo/CMakeLists.txt b/urc_gazebo/CMakeLists.txt deleted file mode 100644 index 9503958b..00000000 --- a/urc_gazebo/CMakeLists.txt +++ /dev/null @@ -1,121 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(urc_gazebo) - -include(../cmake/default_settings.cmake) - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_components REQUIRED) -find_package(urc_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(tf2_geometry_msgs REQUIRED) -find_package(laser_geometry REQUIRED) -find_package(velodyne_simulator REQUIRED) -find_package(hardware_interface REQUIRED) -find_package(pluginlib REQUIRED) -find_package(rclcpp_lifecycle REQUIRED) -find_package(xacro REQUIRED) - -include_directories( - include -) - -# Library creation -add_library(${PROJECT_NAME} SHARED - src/scan_to_pointcloud.cpp - src/control.cpp - src/ground_truth.cpp -) - -set(dependencies - rclcpp - rclcpp_components - urc_msgs - std_msgs - nav_msgs - sensor_msgs - tf2 - tf2_ros - tf2_geometry_msgs - laser_geometry - velodyne_simulator - xacro -) - -ament_target_dependencies(${PROJECT_NAME} - ${dependencies} -) - -target_include_directories(${PROJECT_NAME} - PUBLIC - $ - $ -) - -# Node registration -rclcpp_components_register_node( - ${PROJECT_NAME} - PLUGIN "scan_to_pointcloud::ScanToPointCloud" - EXECUTABLE ${PROJECT_NAME}_ScanToPointCloud -) - -rclcpp_components_register_node( - ${PROJECT_NAME} - PLUGIN "control::Control" - EXECUTABLE ${PROJECT_NAME}_Control -) - -rclcpp_components_register_node( - ${PROJECT_NAME} - PLUGIN "ground_truth::GroundTruth" - EXECUTABLE ${PROJECT_NAME}_GroundTruth -) - -# Install robot spawn file. -install( - PROGRAMS - launch/spawn_walli.py - DESTINATION lib/${PROJECT_NAME} -) - -# Install relevant directories -install( - DIRECTORY - launch - urdf - config - src - DESTINATION share/${PROJECT_NAME}/ -) - -# Install library -install(TARGETS - ${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION lib/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - #Calls the CMake for the unit tests - add_subdirectory(test) - # the following line skips the copyright linker - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - set(ament_cmake_cpplint_FOUND TRUE) - - ament_lint_auto_find_test_dependencies() -endif() - -ament_export_include_directories(include) - -ament_export_libraries(${PROJECT_NAME}) -ament_export_dependencies(${dependencies}) - -ament_package() diff --git a/urc_gazebo/config/control_params.yaml b/urc_gazebo/config/control_params.yaml deleted file mode 100644 index d1c0c7a3..00000000 --- a/urc_gazebo/config/control_params.yaml +++ /dev/null @@ -1,11 +0,0 @@ -control: - ros__parameters: - speed_P_left: 5.0 - speed_P_right: 5.0 - speed_D_left: 1.0 - speed_D_right: 1.0 - speed_I_left: 0.0 - speed_I_right: 0.0 - wheel_radius: 0.3 - max_effort: 4.0 - rate_var: 60.0 \ No newline at end of file diff --git a/urc_gazebo/config/ground_truth_params.yaml b/urc_gazebo/config/ground_truth_params.yaml deleted file mode 100644 index 6aaaf407..00000000 --- a/urc_gazebo/config/ground_truth_params.yaml +++ /dev/null @@ -1,10 +0,0 @@ -ground_truth: - ros__parameters: - longitude: -84.405001 - latitude: 33.774497 - x_noise_std_dev: 0.0 - y_noise_std_dev: 0.0 - z_noise_std_dev: 0.0 - roll_noise_std_dev: 0.0 - pitch_noise_std_dev: 0.0 - yaw_noise_std_dev: 0.0 \ No newline at end of file diff --git a/urc_gazebo/config/magnetometer_params.yaml b/urc_gazebo/config/magnetometer_params.yaml deleted file mode 100644 index 6828a326..00000000 --- a/urc_gazebo/config/magnetometer_params.yaml +++ /dev/null @@ -1,2 +0,0 @@ -magnetometer: - ros__parameters: \ No newline at end of file diff --git a/urc_gazebo/config/monkey_params.yaml b/urc_gazebo/config/monkey_params.yaml deleted file mode 100644 index a5207635..00000000 --- a/urc_gazebo/config/monkey_params.yaml +++ /dev/null @@ -1,2 +0,0 @@ -monkey: - ros_parameters: diff --git a/urc_gazebo/config/rviz_config.rviz b/urc_gazebo/config/rviz_config.rviz deleted file mode 100644 index 98b2e6ff..00000000 --- a/urc_gazebo/config/rviz_config.rviz +++ /dev/null @@ -1,64 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1/Links1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 557 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Name: Grid - - Alpha: 0.6 - Class: rviz_default_plugins/RobotModel - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Name: RobotModel - Visual Enabled: true - - Class: rviz_default_plugins/TF - Enabled: true - Name: TF - Marker Scale: 0.3 - Show Arrows: true - Show Axes: true - Show Names: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - 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 - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Name: Current View - Target Frame: - Value: Orbit (rviz) - Saved: ~ \ No newline at end of file diff --git a/urc_gazebo/config/scan_to_pointcloud_params.yaml b/urc_gazebo/config/scan_to_pointcloud_params.yaml deleted file mode 100644 index c6f3afae..00000000 --- a/urc_gazebo/config/scan_to_pointcloud_params.yaml +++ /dev/null @@ -1,4 +0,0 @@ -scan_to_pointcloud: - ros__parameters: - min_dist: 0.1 - neighbor_dist: 0.2 \ No newline at end of file diff --git a/urc_gazebo/config/sim_color_detector_params.yaml b/urc_gazebo/config/sim_color_detector_params.yaml deleted file mode 100644 index 8398c8c9..00000000 --- a/urc_gazebo/config/sim_color_detector_params.yaml +++ /dev/null @@ -1,2 +0,0 @@ -sim_color_detector: - ros__parameters: \ No newline at end of file diff --git a/urc_gazebo/config/urc_gazebo_params.yaml b/urc_gazebo/config/urc_gazebo_params.yaml deleted file mode 100644 index 215e9a65..00000000 --- a/urc_gazebo/config/urc_gazebo_params.yaml +++ /dev/null @@ -1,33 +0,0 @@ -#todo: figure out what the parameters should be - -scan_to_pointcloud: - ros_parameters: - min_dist: 0.1 - neighbor_dist: 0.2 - -control: - ros_parameters: - speed_P_left: 5.0 - speed_P_right: 5.0 - speed_D_left: 1.0 - speed_D_right: 1.0 - speed_I_left: 0.0 - speed_I_right: 0.0 - wheel_radius: 0.3 - max_effort: 4.0 - rate_var: 60.0 - -magnetometer: - ros_parameters: - -ground_truth: - ros_parameters: - x_noise_std_dev: 0.0 - y_noise_std_dev: 0.0 - z_noise_std_dev: 0.0 - roll_noise_std_dev: 0.0 - pitch_noise_std_dev: 0.0 - yaw_noise_std_dev: 0.0 -sim_color_detector: - ros_parameters: - diff --git a/urc_gazebo/env-hooks/urc_simulation.dsv.in b/urc_gazebo/env-hooks/urc_simulation.dsv.in deleted file mode 100644 index dec87b78..00000000 --- a/urc_gazebo/env-hooks/urc_simulation.dsv.in +++ /dev/null @@ -1,3 +0,0 @@ -prepend-non-duplicate;GAZEBO_MODEL_PATH;share/urc_simulation/urdf/models -prepend-non-duplicate;GAZEBO_RESOURCE_PATH;share/urc_simulation/urdf/worlds -prepend-non-duplicate;GAZEBO_RESOURCE_PATH;share/urc_simulation/udrf/media \ No newline at end of file diff --git a/urc_gazebo/include/control.hpp b/urc_gazebo/include/control.hpp deleted file mode 100644 index cb16afee..00000000 --- a/urc_gazebo/include/control.hpp +++ /dev/null @@ -1,60 +0,0 @@ -#ifndef CONTROL_H_ -#define CONTROL_H_ - -#include -#include -#include -#include -#include -#include -#include -#include - -namespace control -{ -class Control : public rclcpp::Node -{ -public: - explicit Control(const rclcpp::NodeOptions & options); - -private: - rclcpp::Publisher::SharedPtr _enc_pub; - - rclcpp::Publisher::SharedPtr left_wheel_effort_publisher; - rclcpp::Publisher::SharedPtr right_wheel_effort_publisher; - - rclcpp::Publisher::SharedPtr right_wheel_shock_publisher; - rclcpp::Publisher::SharedPtr left_wheel_shock_publisher; - - rclcpp::Publisher::SharedPtr wheel_speed_publisher; - - rclcpp::Publisher::SharedPtr enabled_pub; - - rclcpp::Subscription::SharedPtr speed_sub; - rclcpp::Subscription::SharedPtr state_sub; - - double speed_P_left, speed_P_right, speed_I_left, speed_I_right, speed_D_left, speed_D_right; - double wheel_radius; - double max_effort; - double rate_var; - - double speed_last_error_left, speed_last_error_right, speed_left_error_accum, - speed_right_error_accum = 0.0; - double effort_right, effort_left = 0.0; - - double speed_set_point_left = 0.0; - double speed_set_point_right = 0.0; - double speed_measured_left = 0.0; - double speed_measured_right = 0.0; - - rclcpp::Time prev_time, current_time; - - void speedCallback(const urc_msgs::msg::VelocityPair & msg); - void jointStateCallback(const sensor_msgs::msg::JointState & msg); - void indicateEnabled(); - void setShockPoint(); - void runPID(); -}; -} - -#endif diff --git a/urc_gazebo/include/ground_truth.hpp b/urc_gazebo/include/ground_truth.hpp deleted file mode 100644 index 62213252..00000000 --- a/urc_gazebo/include/ground_truth.hpp +++ /dev/null @@ -1,76 +0,0 @@ -#ifndef GROUND_TRUTH_H -#define GROUND_TRUTH_H - - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace ground_truth -{ -class GroundTruth : public rclcpp::Node -{ -public: - explicit GroundTruth(const rclcpp::NodeOptions & options); - -private: - nav_msgs::msg::Odometry og_pose; - rclcpp::Time last_estimate; - - rclcpp::Subscription::SharedPtr _ground_truth_sub; - rclcpp::Subscription::SharedPtr _estimate_sub; - rclcpp::Publisher::SharedPtr _ground_truth_pub; - - double longitude; - double latitude; - - double utm_x, utm_y; - - tf2::Transform utm_to_odom; - - tf2_ros::Buffer tfBuffer_; - tf2_ros::TransformListener tfListener_; - std::unique_ptr broadcaster; - - double x_noise_std_dev; - double y_noise_std_dev; - double z_noise_std_dev; - - double roll_noise_std_dev; - double pitch_noise_std_dev; - double yaw_noise_std_dev; - - std::default_random_engine engine; - std::normal_distribution x_distribution; - std::normal_distribution y_distribution; - std::normal_distribution z_distribution; - - std::normal_distribution roll_distribution; - std::normal_distribution pitch_distribution; - std::normal_distribution yaw_distribution; - - bool utm_enabled = true; - - tf2::Quaternion createQuaternionMsgFromYaw(double yaw); - void groundTruthCallback(const nav_msgs::msg::Odometry & msg); - void odomCallback(const nav_msgs::msg::Odometry & msg); - void utmCallback(const tf2::Transform & odom_to_utm); -}; -} // namespace ground_truth - -#endif diff --git a/urc_gazebo/include/scan_to_pointcloud.hpp b/urc_gazebo/include/scan_to_pointcloud.hpp deleted file mode 100644 index 3d44adc9..00000000 --- a/urc_gazebo/include/scan_to_pointcloud.hpp +++ /dev/null @@ -1,37 +0,0 @@ -#ifndef SCAN_TO_POINTCLOUD_H_ -#define SCAN_TO_POINTCLOUD_H_ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace scan_to_pointcloud -{ -class ScanToPointCloud : public rclcpp::Node -{ -public: - explicit ScanToPointCloud(const rclcpp::NodeOptions & options); - -private: - rclcpp::Publisher::SharedPtr _pointcloud_pub; - rclcpp::Subscription::SharedPtr _pointcloud_sub; - - laser_geometry::LaserProjection projection; - double min_dist; - double neighbor_dist; - - tf2_ros::Buffer tfBuffer_; - tf2_ros::TransformListener tfListener_; - - void scanCallback(const sensor_msgs::msg::LaserScan & scanData); -}; -} // namespace scan_to_pointcloud - -#endif diff --git a/urc_gazebo/launch/simulation.launch.py b/urc_gazebo/launch/simulation.launch.py deleted file mode 100644 index 5811d0f6..00000000 --- a/urc_gazebo/launch/simulation.launch.py +++ /dev/null @@ -1,123 +0,0 @@ -import os -from xacro import process_file -import yaml -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.actions import SetEnvironmentVariable -from launch.substitutions import LaunchConfiguration -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory - - -def load_yaml(package_name, file_path): - package_path = get_package_share_directory(package_name) - absolute_file_path = os.path.join(package_path, file_path) - - try: - with open(absolute_file_path, "r") as file: - return yaml.safe_load(file) - except EnvironmentError: # parent of IOError, OSError *and* WindowsError - return None - - -def generate_launch_description(): - pkg_gazebo_ros = get_package_share_directory("gazebo_ros") - pkg_urc_gazebo = get_package_share_directory("urc_gazebo") - pkg_urc_bringup = get_package_share_directory("urc_bringup") - - controller_config_file_dir = os.path.join( - pkg_urc_bringup, "config", "ros2_control_walli.yaml" - ) - world_path = os.path.join(pkg_urc_gazebo, "urdf/worlds/urc_world.world") - use_sim_time = LaunchConfiguration("use_sim_time", default="true") - - xacro_file = os.path.join( - get_package_share_directory("urc_hw_description"), "urdf/walli.xacro" - ) - assert os.path.exists(xacro_file), "urdf path doesnt exist in " + str(xacro_file) - robot_description_config = process_file(xacro_file) - robot_desc = robot_description_config.toxml() - - gazebo = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_gazebo_ros, "launch", "gazebo.launch.py"), - ), - launch_arguments={"use_sim_time": "true", "world": world_path}.items(), - ) - - enable_color = SetEnvironmentVariable(name="RCUTILS_COLORIZED_OUTPUT", value="1") - - spawn_robot = Node( - package="gazebo_ros", - executable="spawn_entity.py", - arguments=[ - "-entity", - "walli", - "-x", - "0", - "-y", - "0", - "-z", - "10", - "-R", - "0", - "-P", - "0", - "-Y", - "0", - "-topic", - "robot_description", - ], - ) - - load_robot_state_publisher = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - parameters=[ - {"use_sim_time": use_sim_time, "robot_description": robot_desc}, - ], - output="screen", - ) - - load_joint_state_broadcaster = Node( - package="controller_manager", - executable="spawner", - arguments=["-p", controller_config_file_dir, "joint_state_broadcaster"], - ) - - # load_arm_controller = Node( - # package="controller_manager", - # executable="spawner", - # arguments=["-p", controller_config_file_dir, "arm_controller"], - # ) - - # load_gripper_controller_left = Node( - # package="controller_manager", - # executable="spawner", - # arguments=["-p", controller_config_file_dir, "gripper_controller_left"], - # ) - - # load_gripper_controller_right = Node( - # package="controller_manager", - # executable="spawner", - # arguments=["-p", controller_config_file_dir, "gripper_controller_right"], - # ) - - load_drivetrain_controller = Node( - package="controller_manager", - executable="spawner", - arguments=["-p", controller_config_file_dir, "rover_drivetrain_controller"], - ) - - return LaunchDescription( - [ - enable_color, - gazebo, - load_robot_state_publisher, - load_joint_state_broadcaster, - spawn_robot, - load_drivetrain_controller, - ] - ) diff --git a/urc_gazebo/launch/spawn_walli.py b/urc_gazebo/launch/spawn_walli.py deleted file mode 100644 index ee06f02e..00000000 --- a/urc_gazebo/launch/spawn_walli.py +++ /dev/null @@ -1,152 +0,0 @@ -from launch import LaunchDescription -from launch_ros.actions import Node -from launch.actions import ExecuteProcess, RegisterEventHandler, DeclareLaunchArgument -from launch.event_handlers import OnProcessExit -from ament_index_python.packages import get_package_share_directory -import os -from xacro import process_file -import launch -import launch_ros -from launch.substitutions import LaunchConfiguration - - -def generate_launch_description(): - urdf_path = "urdf/walli.xacro" - xacro_file = os.path.join( - get_package_share_directory("urc_hw_description"), urdf_path - ) - assert os.path.exists(xacro_file), "urdf path doesnt exist in " + str(xacro_file) - use_sim_time = LaunchConfiguration("use_sim_time", default="true") - - pkg_share = launch_ros.substitutions.FindPackageShare(package="urc_gazebo").find( - "urc_gazebo" - ) - default_model_path = os.path.join(pkg_share, "urdf/walli.xacro") - default_rviz_config_path = os.path.join(pkg_share, "config/rviz_config.rviz") - - robot_description_config = process_file(xacro_file) - robot_desc = robot_description_config.toxml() - - spawn_robot = Node( - package="gazebo_ros", - executable="spawn_entity.py", - arguments=[ - "-entity", - "walli", - "-x", - "0", - "-y", - "0", - "-z", - "15", - "-topic", - "/robot_description", - ], - ) - robot_state_publisher_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - parameters=[{"robot_description": robot_desc}, {"use_sim_time": use_sim_time}], - output="screen", - ) - joint_state_publisher_node = Node( - package="joint_state_publisher", - executable="joint_state_publisher", - name="joint_state_publisher", - condition=launch.conditions.UnlessCondition(LaunchConfiguration("gui")), - parameters=[{"use_sim_time": use_sim_time}], - ) - robot_localization_node = launch_ros.actions.Node( - package="robot_localization", - executable="ekf_node", - name="ekf_filter_node", - output="screen", - parameters=[ - os.path.join(pkg_share, "config/ekf.yaml"), - {"use_sim_time": LaunchConfiguration("use_sim_time")}, - ], - ) - - load_joint_state_controller = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", - "joint_state_broadcaster", - ], - output="screen", - ) - - load_joint_trajectory_controller = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", - "arm_controller", - ], - output="screen", - ) - - gorilla_grip = ExecuteProcess( - cmd=[ - "ros2", - "control", - "load_controller", - "--set-state", - "active", - "gripper_controller", - ], - output="screen", - ) - - return LaunchDescription( - [ - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=spawn_robot, - on_exit=[load_joint_state_controller], - ) - ), - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=load_joint_state_controller, - on_exit=[load_joint_trajectory_controller], - ) - ), - RegisterEventHandler( - event_handler=OnProcessExit( - target_action=load_joint_state_controller, - on_exit=[gorilla_grip], - ) - ), - DeclareLaunchArgument( - name="gui", - default_value="True", - description="Flag to enable joint_state_publisher_gui", - ), - DeclareLaunchArgument( - name="model", - default_value=default_model_path, - description="Absolute path to robot urdf file", - ), - DeclareLaunchArgument( - name="rvizconfig", - default_value=default_rviz_config_path, - description="Absolute path to rviz config file", - ), - DeclareLaunchArgument( - name="use_sim_time", - default_value="True", - description="Flag to enable use_sim_time", - ), - robot_state_publisher_node, - joint_state_publisher_node, - robot_localization_node, - spawn_robot, - ] - ) diff --git a/urc_gazebo/package.xml b/urc_gazebo/package.xml deleted file mode 100644 index 606f4c5f..00000000 --- a/urc_gazebo/package.xml +++ /dev/null @@ -1,45 +0,0 @@ - - - - urc_gazebo - 0.0.0 - Package for launching and configuring gazebo simulation. - a-stickan - MIT - - ament_cmake - - ament_lint_auto - ament_lint_common - ament_cmake_gtest - - rclcpp - rclcpp_components - urc_msgs - std_msgs - nav_msgs - sensor_msgs - tf2 - tf2_ros - tf2_geometry_msgs - laser_geometry - gazebo_ros - controller_manager - hardware_interface - pluginlib - robot_state_publisher - robot_localization - joint_state_publisher - joint_state_publisher_gui - gazebo_ros_pkgs - ros2launch - velodyne_simulator - xacro - rviz - - - ament_cmake - - - - diff --git a/urc_gazebo/src/control.cpp b/urc_gazebo/src/control.cpp deleted file mode 100644 index 3ddde85b..00000000 --- a/urc_gazebo/src/control.cpp +++ /dev/null @@ -1,158 +0,0 @@ -#include "control.hpp" - -namespace control -{ -Control::Control(const rclcpp::NodeOptions & options) -: rclcpp::Node("control", options) -{ - speed_P_left = declare_parameter("speed_P_left"); - speed_P_right = declare_parameter("speed_P_right"); - speed_D_left = declare_parameter("speed_D_left"); - speed_D_right = declare_parameter("speed_D_right"); - speed_I_left = declare_parameter("speed_I_left"); - speed_I_right = declare_parameter("speed_I_right"); - wheel_radius = declare_parameter("wheel_radius"); - max_effort = declare_parameter("max_effort"); - rate_var = declare_parameter("rate_var"); - - //Initialize shocks - right_wheel_shock_publisher = create_publisher( - "~/right_wheel_shock_controller/command", - rclcpp::SystemDefaultsQoS()); - left_wheel_shock_publisher = create_publisher( - "~/left_wheel_shock_controller/command", - rclcpp::SystemDefaultsQoS()); - setShockPoint(); - - //Indicates the robot is running - enabled_pub = create_publisher( - "~/robot_enabled", - rclcpp::SystemDefaultsQoS()); - indicateEnabled(); - - - //wheel effort pubs - left_wheel_effort_publisher = create_publisher( - "~/left_wheel_effort_controller/command", - rclcpp::SystemDefaultsQoS()); - right_wheel_effort_publisher = create_publisher( - "~/right_wheel_effort_controller/command", - rclcpp::SystemDefaultsQoS()); - - //wheel speed pub - wheel_speed_publisher = create_publisher( - "~/encoders", - rclcpp::SystemDefaultsQoS()); - - //speed and state subs - speed_sub = create_subscription( - "~/motors", rclcpp::SystemDefaultsQoS(), - [this](const urc_msgs::msg::VelocityPair msg) - {speedCallback(msg);}); - state_sub = create_subscription( - "~/joint_states", rclcpp::SystemDefaultsQoS(), - [this](const sensor_msgs::msg::JointState msg) - {jointStateCallback(msg);}); - - runPID(); -} - -void Control::speedCallback(const urc_msgs::msg::VelocityPair & msg) -{ - speed_set_point_left = msg.left_velocity; - speed_set_point_right = msg.right_velocity; -} - -void Control::jointStateCallback(const sensor_msgs::msg::JointState & msg) -{ - auto iterator = std::find(msg.name.begin(), msg.name.end(), "left_axle"); - if (iterator != msg.name.end()) { - auto index = std::distance(msg.name.begin(), iterator); - speed_measured_left = (msg.velocity[index]) * wheel_radius; - } - - iterator = std::find(msg.name.begin(), msg.name.end(), "right_axle"); - if (iterator != msg.name.end()) { - auto index = std::distance(msg.name.begin(), iterator); - speed_measured_right = (msg.velocity[index]) * wheel_radius; - } -} - -void Control::setShockPoint() -{ - std_msgs::msg::Float64 shock_set_point; - shock_set_point.data = 0.0; - right_wheel_shock_publisher->publish(shock_set_point); - left_wheel_shock_publisher->publish(shock_set_point); -} - -void Control::indicateEnabled() -{ - std_msgs::msg::Bool enabled_msg; - enabled_msg.data = true; - enabled_pub->publish(enabled_msg); -} - -void Control::runPID() -{ - prev_time = this->get_clock()->now(); - rclcpp::Rate rate(rate_var); - - while (rclcpp::ok()) { - //calculate downtime - current_time = this->get_clock()->now(); - double downtime = current_time.seconds() - prev_time.seconds(); - prev_time = current_time; - - //calculate left wheel effort - double error_left = speed_set_point_left - speed_measured_left; - double dError_left = (error_left - speed_last_error_left) / downtime; - speed_left_error_accum += error_left; - speed_last_error_left = error_left; - - effort_left += - speed_P_left * error_left + speed_D_left * dError_left + speed_I_left * - speed_left_error_accum; - - //calculator right wheel effort - double error_right = speed_set_point_right - speed_measured_right; - double dError_right = (error_right - speed_last_error_right) / downtime; - speed_right_error_accum += error_right; - speed_last_error_right = error_right; - - effort_right += - speed_P_right * error_right + speed_D_right * dError_right + speed_I_right * - speed_right_error_accum; - - - //reasonable bounds for effort - effort_right = std::min(max_effort, std::max(-max_effort, effort_right)); - effort_left = std::min(max_effort, std::max(-max_effort, effort_left)); - - //publication of effort messages - std_msgs::msg::Float64 left_wheel_message; - std_msgs::msg::Float64 right_wheel_message; - - left_wheel_message.data = effort_left; - right_wheel_message.data = effort_right; - - left_wheel_effort_publisher->publish(left_wheel_message); - right_wheel_effort_publisher->publish(right_wheel_message); - - urc_msgs::msg::VelocityPair speed_measured; - speed_measured.left_velocity = speed_measured_left; - speed_measured.right_velocity = speed_measured_right; - current_time = this->get_clock()->now(); - rclcpp::Duration duration = current_time - prev_time; - speed_measured.duration = duration.seconds(); - speed_measured.header.stamp = this->get_clock()->now(); - wheel_speed_publisher->publish(speed_measured); - - rate.sleep(); - prev_time = current_time; - } -} - -} - -RCLCPP_COMPONENTS_REGISTER_NODE(control::Control) diff --git a/urc_gazebo/src/ground_truth.cpp b/urc_gazebo/src/ground_truth.cpp deleted file mode 100644 index 24d43125..00000000 --- a/urc_gazebo/src/ground_truth.cpp +++ /dev/null @@ -1,186 +0,0 @@ -#include "ground_truth.hpp" - -namespace ground_truth -{ - -GroundTruth::GroundTruth(const rclcpp::NodeOptions & options) -: rclcpp::Node("ground_truth", options), - tfBuffer_(this->get_clock()), - tfListener_(tfBuffer_) -{ - broadcaster = std::make_unique(*this); - - longitude = declare_parameter("longitude", -84.405001); - latitude = declare_parameter("latitude", 33.774497); - - //noise variables - x_noise_std_dev = declare_parameter("x_noise_std_dev", 0.0); - y_noise_std_dev = declare_parameter("y_noise_std_dev", 0.0); - z_noise_std_dev = declare_parameter("z_noise_std_dev", 0.0); - - roll_noise_std_dev = declare_parameter("roll_noise_std_dev", 0.0); - pitch_noise_std_dev = declare_parameter("pitch_noise_std_dev", 0.0); - yaw_noise_std_dev = declare_parameter("yaw_noise_std_dev", 0.0); - - std::default_random_engine engine(std::random_device{}()); - x_distribution = std::normal_distribution(0, x_noise_std_dev); - y_distribution = std::normal_distribution(0, y_noise_std_dev); - z_distribution = std::normal_distribution(0, z_noise_std_dev); - - roll_distribution = std::normal_distribution(0, roll_noise_std_dev); - pitch_distribution = std::normal_distribution(0, pitch_noise_std_dev); - yaw_distribution = std::normal_distribution(0, yaw_noise_std_dev); - - - _ground_truth_sub = create_subscription( - "~/ground_truth/state_raw", rclcpp::SensorDataQoS(), [this](const nav_msgs::msg::Odometry msg) { - groundTruthCallback(msg); - }); - - _estimate_sub = create_subscription( - "~/odometry/filtered", rclcpp::SystemDefaultsQoS(), [this](const nav_msgs::msg::Odometry msg) { - odomCallback(msg); - }); - - _ground_truth_pub = create_publisher( - "~/ground_truth", - rclcpp::SystemDefaultsQoS()); - - - utm_to_odom.setOrigin( - tf2::Vector3(utm_x - og_pose.pose.pose.position.x, utm_y - og_pose.pose.pose.position.y, 0.0)); - utm_to_odom.setRotation(createQuaternionMsgFromYaw(M_PI)); - - auto utm_timer = this->create_wall_timer( - std::chrono::milliseconds(10), - [this]() -> void { - utmCallback(utm_to_odom.inverse()); - }); -} - -tf2::Quaternion GroundTruth::createQuaternionMsgFromYaw(double yaw) -{ - tf2::Quaternion q; - q.setRPY(0, 0, yaw); - return q; -} - -void GroundTruth::groundTruthCallback(const nav_msgs::msg::Odometry & msg) -{ - // get the starting location as the origin - if (og_pose.header.stamp.sec == 0) { - og_pose.pose = msg.pose; - og_pose.header = msg.header; - og_pose.pose.pose.position.x = msg.pose.pose.position.x + x_distribution(engine); - og_pose.pose.pose.position.y = msg.pose.pose.position.y + y_distribution(engine); - og_pose.pose.pose.position.z = msg.pose.pose.position.z + z_distribution(engine); - RCLCPP_INFO( - this->get_logger(), "setting og_pose to %f,%f,%f", og_pose.pose.pose.position.x, og_pose.pose.pose.position.y, - og_pose.pose.pose.position.z - ); - - } else { - nav_msgs::msg::Odometry result; - result.pose = msg.pose; - - // use the initial location as an offset (makes the starting location 0, 0) - result.pose.pose.position.x = msg.pose.pose.position.x - og_pose.pose.pose.position.x + - x_distribution(engine); - result.pose.pose.position.y = msg.pose.pose.position.y - og_pose.pose.pose.position.y + - y_distribution(engine); - result.pose.pose.position.z = msg.pose.pose.position.z - og_pose.pose.pose.position.z + - z_distribution(engine); - result.twist = msg.twist; - - // set up the correct header - result.header = msg.header; - result.child_frame_id = "base_footprint"; - result.header.frame_id = "odom"; - - // get roll, pitch, and yaw from msg - tf2::Quaternion quat(msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, - msg.pose.pose.orientation.z, - msg.pose.pose.orientation.w); - tf2::Matrix3x3 temp_matrix(quat); - double roll, pitch, yaw; - temp_matrix.getRPY(roll, pitch, yaw); - - // set up orientation - tf2::Quaternion tempQuat; - tempQuat.setRPY( - roll + roll_distribution(engine), pitch + pitch_distribution( - engine), yaw + yaw_distribution(engine)); - result.pose.pose.orientation = tf2::toMsg(tempQuat); - - // publish odom message - _ground_truth_pub->publish(result); - - - // publish transform for tf if there has not been a update from the localization node in the last second - // since it also publishes the same transform - if (std::fabs(msg.header.stamp.sec - last_estimate.seconds()) > 1.0) { - quat.setRPY(roll, pitch, yaw); - tf2::fromMsg(msg.pose.pose.orientation, quat); - - geometry_msgs::msg::Vector3 pos; - pos.x = result.pose.pose.position.x; - pos.y = result.pose.pose.position.y; - pos.z = result.pose.pose.position.z; - - geometry_msgs::msg::TransformStamped transformMsg; - transformMsg.header.frame_id = "odom"; - transformMsg.child_frame_id = "base_footprint"; - transformMsg.header.stamp = this->get_clock()->now(); - transformMsg.transform.translation = pos; - transformMsg.transform.rotation = toMsg(quat); - - broadcaster->sendTransform(transformMsg); - } - } -} - -void GroundTruth::odomCallback(const nav_msgs::msg::Odometry & msg) -{ - last_estimate = msg.header.stamp; -} - - -void GroundTruth::utmCallback(const tf2::Transform & odom_to_utm) -{ - if (!utm_enabled) { - return; - } - - geometry_msgs::msg::TransformStamped transform_msg; - transform_msg.header.frame_id = "odom"; - transform_msg.child_frame_id = "utm"; - transform_msg.header.stamp = this->get_clock()->now(); - transform_msg.transform = toMsg(odom_to_utm); - - // check if transformation from odom -> utm can be found - try { - tfBuffer_.lookupTransform("odom", "utm", rclcpp::Time(0)); - } catch (const tf2::TransformException & ex) { - RCLCPP_ERROR(this->get_logger(), "Could not find transform from \"odom\" to \"utm\"!"); - return; - } - - // check for any other odom -> utm broadcasts, stop this method from executing if any others exist - if (transform_msg.transform.rotation != toMsg(odom_to_utm.getRotation()) && - transform_msg.transform.translation.x != odom_to_utm.getOrigin().getX() && - transform_msg.transform.translation.y != odom_to_utm.getOrigin().getY() && - transform_msg.transform.translation.z != odom_to_utm.getOrigin().getZ()) - { - RCLCPP_WARN( - this->get_logger(), - "Another odom -> utm tf broadcast detected. Disabling ground_truth odom -> utm tf broadcast." - ); - utm_enabled = false; - return; - } - broadcaster->sendTransform(transform_msg); -} - -} // namespace ground_truth - -RCLCPP_COMPONENTS_REGISTER_NODE(ground_truth::GroundTruth) diff --git a/urc_gazebo/src/scan_to_pointcloud.cpp b/urc_gazebo/src/scan_to_pointcloud.cpp deleted file mode 100644 index 68bfe0a9..00000000 --- a/urc_gazebo/src/scan_to_pointcloud.cpp +++ /dev/null @@ -1,72 +0,0 @@ -#include "scan_to_pointcloud.hpp" - -namespace scan_to_pointcloud -{ -ScanToPointCloud::ScanToPointCloud(const rclcpp::NodeOptions & options) -: rclcpp::Node("scan_to_pointcloud", options), - tfBuffer_(this->get_clock()), - tfListener_(tfBuffer_) -{ - min_dist = declare_parameter("min_dist"); - neighbor_dist = declare_parameter("neighbor_dist"); - - _pointcloud_pub = create_publisher( - "~/pc2", - rclcpp::SystemDefaultsQoS()); - - _pointcloud_sub = create_subscription( - "~/scan", rclcpp::SystemDefaultsQoS(), [this](const sensor_msgs::msg::LaserScan msg) { - scanCallback(msg); - }); -} - -void ScanToPointCloud::scanCallback(const sensor_msgs::msg::LaserScan & scanData) -{ - sensor_msgs::msg::LaserScan filteredScan(scanData); - - auto rangeIsValid = [&scanData](float range) { - return !std::isnan(range) && range > scanData.range_min && range < scanData.range_max; - }; - - for (size_t i = 0; i < scanData.ranges.size(); ++i) { - double range = scanData.ranges[i]; - if (range > scanData.range_max || range < scanData.range_min) { - continue; - } - // Too close - if (range < min_dist) { - range = scanData.range_max + 1; - } - // No valid neighbors - else if ((i == 0 || !rangeIsValid(scanData.ranges[i - 1])) && - (i == (scanData.ranges.size() - 1) || !rangeIsValid(scanData.ranges[i + 1]))) - { - range = scanData.range_max + 1; - } - // No close neighbors - else if ((i == 0 || abs(scanData.ranges[i - 1] - range) > neighbor_dist) && - (i == (scanData.ranges.size() - 1) || abs(scanData.ranges[i + 1] - range) > neighbor_dist)) - { - range = scanData.range_max + 1; - } - } - - sensor_msgs::msg::PointCloud2 initial_cloud; - projection.projectLaser(filteredScan, initial_cloud); - initial_cloud.header.frame_id = "/lidar"; - sensor_msgs::msg::PointCloud2 transformed_cloud; - - geometry_msgs::msg::TransformStamped transform_stamped; - try { - transform_stamped = tfBuffer_.lookupTransform("scan", "lidar", rclcpp::Time(0)); - tf2::doTransform(initial_cloud, transformed_cloud, transform_stamped); - } catch (tf2::TransformException & ex) { - RCLCPP_ERROR(this->get_logger(), "Transformation Error:\n%s", ex.what()); - return; - } - - _pointcloud_pub->publish(transformed_cloud); -} -} // namespace scan_to_pointcloud - -RCLCPP_COMPONENTS_REGISTER_NODE(scan_to_pointcloud::ScanToPointCloud) diff --git a/urc_gazebo/test/CMakeLists.txt b/urc_gazebo/test/CMakeLists.txt deleted file mode 100644 index 7ca78c6b..00000000 --- a/urc_gazebo/test/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -add_subdirectory(launch_tests) diff --git a/urc_gazebo/test/launch_tests/CMakeLists.txt b/urc_gazebo/test/launch_tests/CMakeLists.txt deleted file mode 100644 index 4f5ab003..00000000 --- a/urc_gazebo/test/launch_tests/CMakeLists.txt +++ /dev/null @@ -1,6 +0,0 @@ -find_package(launch_testing_ament_cmake REQUIRED) - -add_launch_test(scan_to_pointcloud_test.py - APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR}/test - TIMEOUT 10 -) \ No newline at end of file diff --git a/urc_gazebo/test/launch_tests/scan_to_pointcloud_test.py b/urc_gazebo/test/launch_tests/scan_to_pointcloud_test.py deleted file mode 100644 index 6784e6af..00000000 --- a/urc_gazebo/test/launch_tests/scan_to_pointcloud_test.py +++ /dev/null @@ -1,98 +0,0 @@ -import time -import unittest -import rclpy -import launch -import launch_ros.actions -from launch.substitutions import PathJoinSubstitution -from launch_ros.substitutions import FindPackageShare -import launch_testing -import launch_testing_ros -import pytest -import sensor_msgs.msg - - -@pytest.mark.rostest -def generate_test_description(): - - scan_to_pointcloud = launch_ros.actions.Node( - package="urc_gazebo", - executable="urc_gazebo_ScanToPointCloud", - output="screen", - parameters=[ - PathJoinSubstitution( - [ - FindPackageShare("urc_gazebo"), - "config", - "scan_to_pointcloud_params.yaml", - ] - ) - ], - ) - - return ( - launch.LaunchDescription( - [scan_to_pointcloud, launch_testing.actions.ReadyToTest()] - ), - locals(), - ) - - -class TestScanToPointCloudNode(unittest.TestCase): - def setUp(self): - self.context = rclpy.Context() - rclpy.init(context=self.context) - self.node = rclpy.create_node( - "test_scan_to_pointcloud_node", - context=self.context, - allow_undeclared_parameters=True, - automatically_declare_parameters_from_overrides=True, - ) - self.message_pump = launch_testing_ros.MessagePump( - self.node, context=self.context - ) - - self.pub = self.node.create_publisher(sensor_msgs.msg.PointCloud2, "/pc2", 1) - - self.sub = self.node.create_subscription( - sensor_msgs.msg.PointCloud2, "/pc2", self.callback, 1 - ) - self.received_msg = None - - self.message_pump.start() - - def tearDown(self): - self.message_pump.stop() - self.node.destroy_node() - rclpy.shutdown(context=self.context) - - def test_0_invalidTransform(self): - pointcloud_msg = sensor_msgs.msg.PointCloud2() - pointcloud_msg.data = [12, 12, 12] - - while self.received_msg is None: - self.pub.publish(pointcloud_msg) - time.sleep(0.1) - - self.assertIsNotNone(pointcloud_msg) - - self.assertNotAlmostEqual(self.received_msg.data[0], -1) - self.assertNotAlmostEqual(self.received_msg.data[1], -1) - self.assertNotAlmostEqual(self.received_msg.data[2], -1) - - def test_1_validTransform(self): - pointcloud_msg = sensor_msgs.msg.PointCloud2() - pointcloud_msg.data = [1, 1, 1] - - while self.received_msg is None: - self.pub.publish(pointcloud_msg) - time.sleep(0.1) - - self.assertIsNotNone(pointcloud_msg) - - self.assertAlmostEqual(self.received_msg.data[0], 1) - self.assertAlmostEqual(self.received_msg.data[1], 1) - self.assertAlmostEqual(self.received_msg.data[2], 1) - - def callback(self, msg): - self.received_msg = sensor_msgs.msg.PointCloud2() - self.received_msg = msg diff --git a/urc_gazebo/urdf/config/Panda_params.yaml b/urc_gazebo/urdf/config/Panda_params.yaml deleted file mode 100644 index 6f0d48b1..00000000 --- a/urc_gazebo/urdf/config/Panda_params.yaml +++ /dev/null @@ -1,28 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - joint_trajectory_controller: - type: joint_trajectory_controller/JointTrajectoryController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - -joint_trajectory_controller: - ros__parameters: - joints: - - panda_joint1 - - panda_joint2 - - panda_joint3 - - panda_joint4 - - panda_joint5 - - panda_joint6 - - panda_joint7 - - panda_finger_joint1 - - panda_finger_joint2 - interface_name: position - command_interfaces: - - position - state_interfaces: - - position - - velocity diff --git a/urc_gazebo/urdf/config/RoboticArm_params.yaml b/urc_gazebo/urdf/config/RoboticArm_params.yaml deleted file mode 100644 index b0cc73a4..00000000 --- a/urc_gazebo/urdf/config/RoboticArm_params.yaml +++ /dev/null @@ -1,67 +0,0 @@ -controller_manager: - ros__parameters: - update_rate: 1000 # Hz - - rover_controller: - type: robot_mechanism_controllers/JointVelocityController - - arm_controller: - type: joint_trajectory_controller/JointTrajectoryController - - gripper_controller: - type: forward_command_controller/ForwardCommandController - - joint_state_broadcaster: - type: joint_state_broadcaster/JointStateBroadcaster - -rover_controller: - ros__parameters: - joints: - - left_bogie_front_axle - - left_bogie_rear_axle - - left_rocker_rear_axle - - right_bogie_front_axle - - right_bogie_rear_axle - - right_rocker_rear_axle - - command_interfaces: - - velocity - - state_interfaces: - - velocity - -arm_controller: - ros__parameters: - joints: - - shoulderjoint - - bicepjoint - - elbowjoint - - forearmjoint - - wristjoint - - clawjoint - - command_interfaces: - - position - - state_interfaces: - - position - - velocity - - state_publish_rate: 50.0 - action_monitor_rate: 20.0 - - allow_partial_joints_goal: false - open_loop_control: true - constraints: - stopped_velocity_tolerance: 0.01 - goal_time: 0.0 - joint1: - trajectory: 0.05 - goal: 0.03 - -gripper_controller: - ros__parameters: - joints: - - leftgripperjoint - - rightgripperjoint - interface_name: position diff --git a/urc_gazebo/urdf/gazebo.material b/urc_gazebo/urdf/gazebo.material deleted file mode 100644 index 29a2bfc1..00000000 --- a/urc_gazebo/urdf/gazebo.material +++ /dev/null @@ -1,97 +0,0 @@ -import * from "grid.material" - -material Gazebo/igvc_field -{ - technique - { - pass - { - ambient 0.1 0.1 0.1 1.0 - diffuse 0.8 0.8 0.8 1.0 - specular 0.01 0.01 0.01 1.0 2.0 - - texture_unit - { - texture ground_grass_texture.jpg - filtering trilinear - scale 1 1 - } - } - } -} - - -material Gazebo/Texture_qualification -{ - technique - { - pass - { - texture_unit - { - colour_op_ex source1 src_manual src_current .9 0 .8 - } - texture_unit - { - mipmap_bias -4 - texture textures/qualification_course.png - colour_op alpha_blend - } - texture_unit - { - texture textures/ground_grass_texture.jpg - colour_op_ex blend_current_alpha src_texture src_current - alpha_op_ex source1 src_manual src_current 1.0 - scale .01 .01 - } - } - } -} - -material Gazebo/Texture_autonav -{ - technique - { - pass - { - texture_unit - { - colour_op_ex source1 src_manual src_current .9 0 .8 - } - texture_unit - { - mipmap_bias -4 - texture textures/autonav_course.png - colour_op alpha_blend - } - texture_unit - { - texture textures/ground_grass_texture.jpg - colour_op_ex blend_current_alpha src_texture src_current - alpha_op_ex source1 src_manual src_current 1.0 - scale .01 .01 - } - } - } -} - -material Gazebo/Texture_ramp_lane -{ - technique - { - pass - { - texture_unit - { - colour_op_ex source1 src_manual src_current .9 0 .8 - } - texture_unit - { - texture textures/ground_grass_texture.jpg - colour_op_ex blend_current_alpha src_texture src_current - alpha_op_ex source1 src_manual src_current 1.0 - scale .1 .4 - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/scripts/aruco_visual_marker_0_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/scripts/aruco_visual_marker_0_marker.material deleted file mode 100644 index 8c66f369..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/scripts/aruco_visual_marker_0_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker0/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_0.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/4x4_1000-0.svg b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/4x4_1000-0.svg deleted file mode 100644 index de443643..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/4x4_1000-0.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0(old).png deleted file mode 100644 index 3e012ce6..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.png b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.png deleted file mode 100644 index 4dbac8c2..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.svg b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.svg deleted file mode 100644 index 628cf1e8..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.svg +++ /dev/null @@ -1,78 +0,0 @@ - - - - - - - - - - - - image/svg+xml - - - - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_0/model.config deleted file mode 100644 index 9e4789c2..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_0 - 1.0 - model.sdf - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_0/model.sdf deleted file mode 100644 index e8fee898..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.2 0.2 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - 0 0 -1e-5 0 -0 0 - - - - 0.2 0.2 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 -0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_marker.material deleted file mode 100644 index 8c66f369..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker0/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_0.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_num.material deleted file mode 100644 index c26a0821..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_num.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker0/Num -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_0_num.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/4x4_1000-0.svg b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/4x4_1000-0.svg deleted file mode 100644 index de443643..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/4x4_1000-0.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0(old).png deleted file mode 100644 index 3e012ce6..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.png b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.png deleted file mode 100644 index 4dbac8c2..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.svg b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.svg deleted file mode 100644 index 628cf1e8..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.svg +++ /dev/null @@ -1,78 +0,0 @@ - - - - - - - - - - - - image/svg+xml - - - - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0_num.png b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0_num.png deleted file mode 100644 index 968e4620..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0_num.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0_num.svg b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0_num.svg deleted file mode 100644 index 467bc209..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0_num.svg +++ /dev/null @@ -1,73 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - # 0 - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.config deleted file mode 100644 index f0b51eb9..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_0_pad - 1.0 - model.sdf - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.sdf deleted file mode 100644 index be7cf8ec..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.sdf +++ /dev/null @@ -1,204 +0,0 @@ - - - - - - model://aruco_visual_marker_0 - - - - - -0.035 0 -1e-5 0 0 0 - - - - 0.297 0.210 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.297 0.210 1e-5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - - - -0.14 0.0 1e-5 0 -0 0 - - - - 0.05 0.05 1e-05 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.05 0.05 1e-05 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - - aruco_visual_marker_0::marker - marker_pad_large - - 0 0 1 - - 0 - 0 - - - - - - marker_pad_large - marker_num - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/scripts/aruco_visual_marker_1_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/scripts/aruco_visual_marker_1_marker.material deleted file mode 100644 index 58450852..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/scripts/aruco_visual_marker_1_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker1/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_1.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1(old).png deleted file mode 100644 index 86e28ac7..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1.png b/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1.png deleted file mode 100644 index 327c7416..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_1/model.config deleted file mode 100644 index 0fb6c6f8..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_1/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_1 - 1.0 - model.sdf - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_1/model.sdf deleted file mode 100644 index 421c40b5..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_1/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.2 0.2 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - 0 0 -1e-5 0 -0 0 - - - - 0.2 0.2 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 -0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_marker.material deleted file mode 100644 index 58450852..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker1/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_1.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_num.material deleted file mode 100644 index 7bafedef..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_num.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker1/Num -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_1_num.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1(old).png deleted file mode 100644 index 86e28ac7..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1.png b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1.png deleted file mode 100644 index 327c7416..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.png b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.png deleted file mode 100644 index d113d57a..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.svg b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.svg deleted file mode 100644 index caca18aa..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.svg +++ /dev/null @@ -1,73 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - # 1 - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.config deleted file mode 100644 index 992a4fa1..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_1_pad - 1.0 - model.sdf - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.sdf deleted file mode 100644 index e34f4a87..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.sdf +++ /dev/null @@ -1,204 +0,0 @@ - - - - - - model://aruco_visual_marker_1 - - - - - -0.035 0 -1e-5 0 0 0 - - - - 0.297 0.210 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.297 0.210 1e-5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - - - -0.14 0.0 1e-5 0 -0 0 - - - - 0.05 0.05 1e-05 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.05 0.05 1e-05 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - - aruco_visual_marker_1::marker - marker_pad_large - - 0 0 1 - - 0 - 0 - - - - - - marker_pad_large - marker_num - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/scripts/aruco_visual_marker_2_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/scripts/aruco_visual_marker_2_marker.material deleted file mode 100644 index 09de9d6a..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/scripts/aruco_visual_marker_2_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker2/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_2.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2(old).png deleted file mode 100644 index 309d30fd..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2.png b/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2.png deleted file mode 100644 index 7087618b..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_2/model.config deleted file mode 100644 index a6bdaae7..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_2/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_2 - 1.0 - model.sdf - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_2/model.sdf deleted file mode 100644 index b306e925..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_2/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.2 0.2 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - 0 0 -1e-5 0 -0 0 - - - - 0.2 0.2 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 -0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_marker.material deleted file mode 100644 index 09de9d6a..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker2/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_2.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_num.material deleted file mode 100644 index 965431f9..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_num.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker2/Num -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_2_num.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2(old).png deleted file mode 100644 index 309d30fd..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2.png b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2.png deleted file mode 100644 index 7087618b..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.png b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.png deleted file mode 100644 index 00dd255c..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.svg b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.svg deleted file mode 100644 index 390d543e..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.svg +++ /dev/null @@ -1,73 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - # 2 - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.config deleted file mode 100644 index 299a2006..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_2_pad - 1.0 - model.sdf - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.sdf deleted file mode 100644 index 1c94583b..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.sdf +++ /dev/null @@ -1,204 +0,0 @@ - - - - - - model://aruco_visual_marker_2 - - - - - -0.035 0 -1e-5 0 0 0 - - - - 0.297 0.210 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.297 0.210 1e-5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - - - -0.14 0.0 1e-5 0 -0 0 - - - - 0.05 0.05 1e-05 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.05 0.05 1e-05 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - - aruco_visual_marker_2::marker - marker_pad_large - - 0 0 1 - - 0 - 0 - - - - - - marker_pad_large - marker_num - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/scripts/aruco_visual_marker_3_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/scripts/aruco_visual_marker_3_marker.material deleted file mode 100644 index 24dd3d36..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/scripts/aruco_visual_marker_3_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker3/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_3.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3(old).png deleted file mode 100644 index 703fb1d5..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3.png b/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3.png deleted file mode 100644 index 35c4849f..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_3/model.config deleted file mode 100644 index e0b11875..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_3/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_3 - 1.0 - model.sdf - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_3/model.sdf deleted file mode 100644 index 2efd4b63..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_3/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.2 0.2 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - 0 0 -1e-5 0 -0 0 - - - - 0.2 0.2 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 -0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_marker.material deleted file mode 100644 index 24dd3d36..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker3/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_3.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_num.material deleted file mode 100644 index c2cfa02a..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_num.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker3/Num -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_3_num.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3(old).png deleted file mode 100644 index 703fb1d5..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3.png b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3.png deleted file mode 100644 index 35c4849f..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3_num.png b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3_num.png deleted file mode 100644 index f0dacd4a..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3_num.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3_num.svg b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3_num.svg deleted file mode 100644 index 5e79f6ba..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3_num.svg +++ /dev/null @@ -1,73 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - # 3 - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.config deleted file mode 100644 index f85a47a4..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_3_pad - 1.0 - model.sdf - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.sdf deleted file mode 100644 index dcff33d4..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.sdf +++ /dev/null @@ -1,204 +0,0 @@ - - - - - - model://aruco_visual_marker_3 - - - - - -0.035 0 -1e-5 0 0 0 - - - - 0.297 0.210 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.297 0.210 1e-5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - - - -0.14 0.0 1e-5 0 -0 0 - - - - 0.05 0.05 1e-05 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.05 0.05 1e-05 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - - aruco_visual_marker_3::marker - marker_pad_large - - 0 0 1 - - 0 - 0 - - - - - - marker_pad_large - marker_num - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/scripts/aruco_visual_marker_4_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/scripts/aruco_visual_marker_4_marker.material deleted file mode 100644 index b085e1e7..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/scripts/aruco_visual_marker_4_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker4/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_4.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4(old).png deleted file mode 100644 index 193561a4..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4.png b/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4.png deleted file mode 100644 index c8fbaa64..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_4/model.config deleted file mode 100644 index 2c46c189..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_4/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_4 - 1.0 - model.sdf - - - - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_4/model.sdf deleted file mode 100644 index 03e86652..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_4/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.2 0.2 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - 0 0 -1e-5 0 -0 0 - - - - 0.2 0.2 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 -0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_marker.material deleted file mode 100644 index b085e1e7..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker4/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_4.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_num.material deleted file mode 100644 index 04ede828..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_num.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker4/Num -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_4_num.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4(old).png deleted file mode 100644 index 193561a4..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4(old).png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4.png b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4.png deleted file mode 100644 index c8fbaa64..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.png b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.png deleted file mode 100644 index 431d29a1..00000000 Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.svg b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.svg deleted file mode 100644 index 10e17908..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.svg +++ /dev/null @@ -1,73 +0,0 @@ - - - - - - - - - - image/svg+xml - - - - - - - # 4 - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/model.config deleted file mode 100644 index 822cf948..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - aruco_visual_marker_4_pad - 1.0 - model.sdf - - - - - - diff --git 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- 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - - aruco_visual_marker_4::marker - marker_pad_large - - 0 0 1 - - 0 - 0 - - - - - - marker_pad_large - marker_num - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/scripts/aruco_visual_marker_5_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/scripts/aruco_visual_marker_5_marker.material deleted file mode 100644 index fe01f31d..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/scripts/aruco_visual_marker_5_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker5/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_5.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/textures/aruco_mark_5(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/textures/aruco_mark_5(old).png deleted file mode 100644 index aaac95fb..00000000 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a/urc_gazebo/urdf/models/aruco_visual_marker_5/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.2 0.2 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 -0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - 0 0 -1e-5 0 -0 0 - - - - 0.2 0.2 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 -0 0 - - - 0.2 0.2 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 -0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_marker.material deleted file mode 100644 index fe01f31d..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_marker.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker5/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_5.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_num.material deleted file mode 100644 index 7bacfba3..00000000 --- a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_num.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker5/Num -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_5_num.png - } - } - } -} diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/textures/aruco_mark_5(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/textures/aruco_mark_5(old).png deleted file mode 100644 index aaac95fb..00000000 Binary files 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485 3032 464 485 3033 461 483 3034 458 481 3035 458 481 3036 455 479 3037 464 485 3038 455 479 3039 452 477 3040 464 485 3041 452 477 3042 449 475 3043 446 473 3044 446 473 3045 443 471 3046 440 469 3047 440 469 3048 437 467 3049 434 465 3050 434 465 3051 431 463 3052 428 461 3053 512 513 3054 506 509 3055 428 461 3056 506 509 3057 500 396 3058 428 461 3059 500 396 3060 494 505 3061 476 493 3062 494 505 3063 488 501 3064 476 493 3065 476 493 3066 470 489 3067 452 477 3068 470 489 3069 464 485 3070 452 477 3071 452 477 3072 446 473 3073 440 469 3074 440 469 3075 434 465 3076 452 477 3077 434 465 3078 428 461 3079 452 477 3080 428 461 3081 500 396 3082 476 493 3083

- - - - - - - - 0 0.6372222 0 0 -0.6372222 0 0 0 0 0 0.637 0 0 0 0 1 - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/urc_gazebo/urdf/models/barrel/model.config b/urc_gazebo/urdf/models/barrel/model.config deleted file mode 100644 index 989f99ca..00000000 --- a/urc_gazebo/urdf/models/barrel/model.config +++ /dev/null @@ -1,17 +0,0 @@ - - - - Barrel - 1.0 - model.sdf - - - Oswin So - oswinso@gmail.com - - - - A model of a traffic barrel - - - diff --git a/urc_gazebo/urdf/models/barrel/model.sdf b/urc_gazebo/urdf/models/barrel/model.sdf deleted file mode 100644 index fb3f9b66..00000000 --- a/urc_gazebo/urdf/models/barrel/model.sdf +++ /dev/null @@ -1,50 +0,0 @@ - - - - - 1 - - 500 - - 51.2096 - 51.2096 - 25 - 0 - 0 - 0 - - - - - - model://barrel/meshes/barrel.dae - 1 1 1 - - - 10 - - - - - - - - - - - - - - - - - model://barrel/meshes/barrel.dae - 1 1 1 - - - - 0 - 0 - - - diff --git a/urc_gazebo/urdf/models/desert_surface/materials/scripts/desert.material b/urc_gazebo/urdf/models/desert_surface/materials/scripts/desert.material deleted file mode 100644 index 35844d4f..00000000 --- a/urc_gazebo/urdf/models/desert_surface/materials/scripts/desert.material +++ /dev/null @@ -1,18 +0,0 @@ -material Gazebo/Desert -{ - technique - { - pass - { - ambient 0.8 0.8 0.8 1.0 - diffuse 0.8 0.8 0.8 1.0 - specular 0.01 0.01 0.01 1.0 2.0 - texture_unit - { - texture mars_texture.jpg - filtering trilinear - scale 0.02 0.02 - } - } - } -} \ No newline at end of file diff --git a/urc_gazebo/urdf/models/desert_surface/materials/textures/mars_texture.jpg b/urc_gazebo/urdf/models/desert_surface/materials/textures/mars_texture.jpg deleted file mode 100644 index 2a151eec..00000000 Binary files a/urc_gazebo/urdf/models/desert_surface/materials/textures/mars_texture.jpg and /dev/null differ diff --git a/urc_gazebo/urdf/models/desert_surface/model.config b/urc_gazebo/urdf/models/desert_surface/model.config deleted file mode 100644 index 71386645..00000000 --- a/urc_gazebo/urdf/models/desert_surface/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - Desert Plane - 1.0 - model.sdf - - - Matthew Hannay - mhannay3@gatech.edu - - - - A desert surface - - diff --git a/urc_gazebo/urdf/models/desert_surface/model.sdf b/urc_gazebo/urdf/models/desert_surface/model.sdf deleted file mode 100644 index 2f81ec8e..00000000 --- a/urc_gazebo/urdf/models/desert_surface/model.sdf +++ /dev/null @@ -1,40 +0,0 @@ - - - - true - - - - - 0 0 1 - 100 100 - - - - - - 100 - 50 - - - - - - false - - - 0 0 1 - 100 100 - - - - - - - - - diff --git a/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif b/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif deleted file mode 100644 index b2ae7f16..00000000 Binary files a/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif and /dev/null differ diff --git a/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_texture.png b/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_texture.png deleted file mode 100644 index ae011a28..00000000 Binary files a/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_texture.png and /dev/null differ diff --git a/urc_gazebo/urdf/models/marsyard2022_terrain/model.config b/urc_gazebo/urdf/models/marsyard2022_terrain/model.config deleted file mode 100644 index c06eec1b..00000000 --- a/urc_gazebo/urdf/models/marsyard2022_terrain/model.config +++ /dev/null @@ -1,12 +0,0 @@ - - - - Marsyard 2022 terrain - 1.0 - model.sdf - - - marsyard terrain model - - - \ No newline at end of file diff --git a/urc_gazebo/urdf/models/marsyard2022_terrain/model.sdf b/urc_gazebo/urdf/models/marsyard2022_terrain/model.sdf deleted file mode 100644 index daa3c212..00000000 --- a/urc_gazebo/urdf/models/marsyard2022_terrain/model.sdf +++ /dev/null @@ -1,39 +0,0 @@ - - - - - 0 0 0 0 0 0 - true - - - - - - - model://marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif - 0 0 0 - 50 50 4.820803273566 - - - - - - - - false - model://marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif - 0 0 0 - 50 50 4.820803273566 - - model://marsyard2022_terrain/dem/marsyard2022_terrain_texture.png - file://media/materials/textures/flat_normal.png - 50 - - - - - - - - - \ No newline at end of file diff --git a/urc_gazebo/urdf/models/sun/model.config b/urc_gazebo/urdf/models/sun/model.config deleted file mode 100644 index d71e0325..00000000 --- a/urc_gazebo/urdf/models/sun/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - Sun - 1.0 - model.sdf - - - Nate Koenig - nate@osrfoundation.org - - - - A directional light for the sun. - - \ No newline at end of file diff --git a/urc_gazebo/urdf/models/sun/model.sdf b/urc_gazebo/urdf/models/sun/model.sdf deleted file mode 100644 index fe27d377..00000000 --- a/urc_gazebo/urdf/models/sun/model.sdf +++ /dev/null @@ -1,16 +0,0 @@ - - - - true - 0 0 10 0 0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - \ No newline at end of file diff --git a/urc_gazebo/urdf/worlds/nav2_world.sdf b/urc_gazebo/urdf/worlds/nav2_world.sdf deleted file mode 100644 index 1914cb58..00000000 --- a/urc_gazebo/urdf/worlds/nav2_world.sdf +++ /dev/null @@ -1,243 +0,0 @@ - - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - 0 - 0 - 0 - - - - 1 - - - - - 0 0 1 - 100 100 - - - - - - 100 - 50 - - - - - - - - - - - 10 - - - 0 - - - 0 0 1 - 100 100 - - - - - - - 0 - 0 - 0 - - - 0 0 -9.8 - 6e-06 2.3e-05 -4.2e-05 - - - 0.001 - 1 - 1000 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - - EARTH_WGS84 - 0 - 0 - 0 - 0 - - - 1.51271 -0.181418 0.5 0 -0 0 - - - 1 - - 0.166667 - 0 - 0 - 0.166667 - 0 - 0.166667 - - 0 0 0 0 -0 0 - - - - - 1 1 1 - - - 10 - - - - - - - - - - - - - - - - - 1 1 1 - - - - - - - 0 - 0 - 0 - - - - -1.89496 2.36764 0.5 0 -0 0 - - - 1 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - 0 0 0 0 -0 0 - - - - - 0.5 - - - 10 - - - - - - - - - - - - - - - - - 0.5 - - - - - - - 0 - 0 - 0 - - - - 0 0 - 0 0 - 1626668720 808592627 - 0 - - 0 0 0 0 -0 0 - 1 1 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 - - - - 1.51272 -0.181418 0.499995 0 1e-05 0 - 1 1 1 - - 1.51272 -0.181418 0.499995 0 1e-05 0 - 0 0 0 0 -0 0 - 0.010615 -0.006191 -9.78231 0.012424 0.021225 1.8e-05 - 0.010615 -0.006191 -9.78231 0 -0 0 - - - - -0.725833 1.36206 0.5 0 -0 0 - 1 1 1 - - -0.944955 1.09802 0.5 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0 0 10 0 -0 0 - - - - - 3.17226 -5.10401 6.58845 0 0.739643 2.19219 - orbit - perspective - - - - \ No newline at end of file diff --git a/urc_gazebo/urdf/worlds/urc_world.world b/urc_gazebo/urdf/worlds/urc_world.world deleted file mode 100644 index e9048ebe..00000000 --- a/urc_gazebo/urdf/worlds/urc_world.world +++ /dev/null @@ -1,60 +0,0 @@ - - - - - 0 0 100 0 0 0.01 - 1 1 1 1 - 0.1 0.1 0.1 1 - 1 - -0.2 -1.0 -1.0 - - - - model://marsyard2022_terrain - - - - 0 0 - 0 0 - 1626668720 808592627 - 0 - - 0 0 10 0 -0 0 - - - - - - 3.17226 -5.10401 6.58845 0 0.739643 2.19219 - orbit - perspective - - - - 0 0 -9.8 - - 6e-06 2.3e-05 -4.2e-05 - - - - - 0.001 - 1 - 1000 - - - - 0.6 0.6 0.6 1.0 - true - false - - - - EARTH_WGS84 - 0 - 0 - 0 - 0 - - - \ No newline at end of file diff --git a/urc_hw_description/urdf/arm.xacro b/urc_hw_description/urdf/arm.xacro index 56778045..0dcec6e0 100644 --- a/urc_hw_description/urdf/arm.xacro +++ b/urc_hw_description/urdf/arm.xacro @@ -13,14 +13,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/spine_collision.STL" /> @@ -40,14 +40,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/shoulder_collision.STL" /> @@ -69,14 +69,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/bicep_collision.STL" /> @@ -98,14 +98,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/elbow_collision.STL" /> @@ -127,14 +127,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/wrist_collision.STL" /> @@ -156,14 +156,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/claw_collision.STL" /> @@ -185,14 +185,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/rightgripper_collision.STL" /> @@ -214,14 +214,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/leftgripper_collision.STL" /> diff --git a/urc_hw_description/urdf/drivebase.xacro b/urc_hw_description/urdf/drivebase.xacro index 34d0ede5..24776679 100644 --- a/urc_hw_description/urdf/drivebase.xacro +++ b/urc_hw_description/urdf/drivebase.xacro @@ -13,14 +13,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/base_link_collision.STL" /> @@ -38,14 +38,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/rightrocker_collision.STL" /> @@ -70,14 +70,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/leftrocker_collision.STL" /> @@ -102,14 +102,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/rightbogie_collision.STL" /> @@ -132,14 +132,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/leftbogie_collision.STL" /> diff --git a/urc_gazebo/urdf/meshes/collision/base_link_collision.STL b/urc_hw_description/urdf/meshes/collision/base_link_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/base_link_collision.STL rename to urc_hw_description/urdf/meshes/collision/base_link_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/bicep_collision.STL b/urc_hw_description/urdf/meshes/collision/bicep_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/bicep_collision.STL rename to urc_hw_description/urdf/meshes/collision/bicep_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/claw_collision.STL b/urc_hw_description/urdf/meshes/collision/claw_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/claw_collision.STL rename to urc_hw_description/urdf/meshes/collision/claw_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/elbow_collision.STL b/urc_hw_description/urdf/meshes/collision/elbow_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/elbow_collision.STL rename to urc_hw_description/urdf/meshes/collision/elbow_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/finger.obj b/urc_hw_description/urdf/meshes/collision/finger.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/finger.obj rename to urc_hw_description/urdf/meshes/collision/finger.obj diff --git a/urc_gazebo/urdf/meshes/collision/hand.obj b/urc_hw_description/urdf/meshes/collision/hand.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/hand.obj rename to urc_hw_description/urdf/meshes/collision/hand.obj diff --git a/urc_gazebo/urdf/meshes/collision/left_center_wheel_collision.STL b/urc_hw_description/urdf/meshes/collision/left_center_wheel_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/left_center_wheel_collision.STL rename to urc_hw_description/urdf/meshes/collision/left_center_wheel_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/left_front_wheel_collision.STL b/urc_hw_description/urdf/meshes/collision/left_front_wheel_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/left_front_wheel_collision.STL rename to urc_hw_description/urdf/meshes/collision/left_front_wheel_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/left_rear_wheel_collision.STL b/urc_hw_description/urdf/meshes/collision/left_rear_wheel_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/left_rear_wheel_collision.STL rename to urc_hw_description/urdf/meshes/collision/left_rear_wheel_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/leftbogie_collision.STL b/urc_hw_description/urdf/meshes/collision/leftbogie_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/leftbogie_collision.STL rename to urc_hw_description/urdf/meshes/collision/leftbogie_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/leftgripper_collision.STL b/urc_hw_description/urdf/meshes/collision/leftgripper_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/leftgripper_collision.STL rename to urc_hw_description/urdf/meshes/collision/leftgripper_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/leftrocker_collision.STL b/urc_hw_description/urdf/meshes/collision/leftrocker_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/leftrocker_collision.STL rename to urc_hw_description/urdf/meshes/collision/leftrocker_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/link0.obj b/urc_hw_description/urdf/meshes/collision/link0.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/link0.obj rename to urc_hw_description/urdf/meshes/collision/link0.obj diff --git a/urc_gazebo/urdf/meshes/collision/link1.obj b/urc_hw_description/urdf/meshes/collision/link1.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/link1.obj rename to urc_hw_description/urdf/meshes/collision/link1.obj diff --git a/urc_gazebo/urdf/meshes/collision/link2.obj b/urc_hw_description/urdf/meshes/collision/link2.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/link2.obj rename to urc_hw_description/urdf/meshes/collision/link2.obj diff --git a/urc_gazebo/urdf/meshes/collision/link3.obj b/urc_hw_description/urdf/meshes/collision/link3.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/link3.obj rename to urc_hw_description/urdf/meshes/collision/link3.obj diff --git a/urc_gazebo/urdf/meshes/collision/link4.obj b/urc_hw_description/urdf/meshes/collision/link4.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/link4.obj rename to urc_hw_description/urdf/meshes/collision/link4.obj diff --git a/urc_gazebo/urdf/meshes/collision/link5.obj b/urc_hw_description/urdf/meshes/collision/link5.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/link5.obj rename to urc_hw_description/urdf/meshes/collision/link5.obj diff --git a/urc_gazebo/urdf/meshes/collision/link6.mtl b/urc_hw_description/urdf/meshes/collision/link6.mtl similarity index 100% rename from urc_gazebo/urdf/meshes/collision/link6.mtl rename to urc_hw_description/urdf/meshes/collision/link6.mtl diff --git a/urc_gazebo/urdf/meshes/collision/link6.obj b/urc_hw_description/urdf/meshes/collision/link6.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/link6.obj rename to urc_hw_description/urdf/meshes/collision/link6.obj diff --git a/urc_gazebo/urdf/meshes/collision/link7.obj b/urc_hw_description/urdf/meshes/collision/link7.obj similarity index 100% rename from urc_gazebo/urdf/meshes/collision/link7.obj rename to urc_hw_description/urdf/meshes/collision/link7.obj diff --git a/urc_gazebo/urdf/meshes/collision/right_center_wheel_collision.STL b/urc_hw_description/urdf/meshes/collision/right_center_wheel_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/right_center_wheel_collision.STL rename to urc_hw_description/urdf/meshes/collision/right_center_wheel_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/right_front_wheel_collision.STL b/urc_hw_description/urdf/meshes/collision/right_front_wheel_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/right_front_wheel_collision.STL rename to urc_hw_description/urdf/meshes/collision/right_front_wheel_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/right_rear_wheel_collision.STL b/urc_hw_description/urdf/meshes/collision/right_rear_wheel_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/right_rear_wheel_collision.STL rename to urc_hw_description/urdf/meshes/collision/right_rear_wheel_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/rightbogie_collision.STL b/urc_hw_description/urdf/meshes/collision/rightbogie_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/rightbogie_collision.STL rename to urc_hw_description/urdf/meshes/collision/rightbogie_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/rightgripper_collision.STL b/urc_hw_description/urdf/meshes/collision/rightgripper_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/rightgripper_collision.STL rename to urc_hw_description/urdf/meshes/collision/rightgripper_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/rightrocker_collision.STL b/urc_hw_description/urdf/meshes/collision/rightrocker_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/rightrocker_collision.STL rename to urc_hw_description/urdf/meshes/collision/rightrocker_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/shoulder_collision.STL b/urc_hw_description/urdf/meshes/collision/shoulder_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/shoulder_collision.STL rename to urc_hw_description/urdf/meshes/collision/shoulder_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/spine_collision.STL b/urc_hw_description/urdf/meshes/collision/spine_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/spine_collision.STL rename to urc_hw_description/urdf/meshes/collision/spine_collision.STL diff --git a/urc_gazebo/urdf/meshes/collision/wrist_collision.STL b/urc_hw_description/urdf/meshes/collision/wrist_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/collision/wrist_collision.STL rename to urc_hw_description/urdf/meshes/collision/wrist_collision.STL diff --git a/urc_gazebo/urdf/meshes/old/base_link.STL b/urc_hw_description/urdf/meshes/old/base_link.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/base_link.STL rename to urc_hw_description/urdf/meshes/old/base_link.STL diff --git a/urc_gazebo/urdf/meshes/old/base_link_collision.STL b/urc_hw_description/urdf/meshes/old/base_link_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/base_link_collision.STL rename to urc_hw_description/urdf/meshes/old/base_link_collision.STL diff --git a/urc_gazebo/urdf/meshes/old/bicep.STL b/urc_hw_description/urdf/meshes/old/bicep.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/bicep.STL rename to urc_hw_description/urdf/meshes/old/bicep.STL diff --git a/urc_gazebo/urdf/meshes/old/bicep_collision.STL b/urc_hw_description/urdf/meshes/old/bicep_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/bicep_collision.STL rename to urc_hw_description/urdf/meshes/old/bicep_collision.STL diff --git a/urc_gazebo/urdf/meshes/old/claw.STL b/urc_hw_description/urdf/meshes/old/claw.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/claw.STL rename to urc_hw_description/urdf/meshes/old/claw.STL diff --git a/urc_gazebo/urdf/meshes/old/claw_collision.STL b/urc_hw_description/urdf/meshes/old/claw_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/claw_collision.STL rename to urc_hw_description/urdf/meshes/old/claw_collision.STL diff --git a/urc_gazebo/urdf/meshes/old/elbow.STL b/urc_hw_description/urdf/meshes/old/elbow.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/elbow.STL rename to urc_hw_description/urdf/meshes/old/elbow.STL diff --git a/urc_gazebo/urdf/meshes/old/elbow_collision.STL b/urc_hw_description/urdf/meshes/old/elbow_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/elbow_collision.STL rename to urc_hw_description/urdf/meshes/old/elbow_collision.STL diff --git a/urc_gazebo/urdf/meshes/old/forearm.STL b/urc_hw_description/urdf/meshes/old/forearm.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/forearm.STL rename to urc_hw_description/urdf/meshes/old/forearm.STL diff --git a/urc_gazebo/urdf/meshes/old/forearm_collision.STL b/urc_hw_description/urdf/meshes/old/forearm_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/forearm_collision.STL rename to urc_hw_description/urdf/meshes/old/forearm_collision.STL diff --git a/urc_gazebo/urdf/meshes/old/leftgripper.STL b/urc_hw_description/urdf/meshes/old/leftgripper.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/leftgripper.STL rename to urc_hw_description/urdf/meshes/old/leftgripper.STL diff --git a/urc_gazebo/urdf/meshes/old/leftgripper_collision.STL b/urc_hw_description/urdf/meshes/old/leftgripper_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/leftgripper_collision.STL rename to urc_hw_description/urdf/meshes/old/leftgripper_collision.STL diff --git a/urc_gazebo/urdf/meshes/old/rightgripper.STL b/urc_hw_description/urdf/meshes/old/rightgripper.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/rightgripper.STL rename to urc_hw_description/urdf/meshes/old/rightgripper.STL diff --git a/urc_gazebo/urdf/meshes/old/rightgripper_collision.STL b/urc_hw_description/urdf/meshes/old/rightgripper_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/rightgripper_collision.STL rename to urc_hw_description/urdf/meshes/old/rightgripper_collision.STL diff --git a/urc_gazebo/urdf/meshes/old/shoulder.STL b/urc_hw_description/urdf/meshes/old/shoulder.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/shoulder.STL rename to urc_hw_description/urdf/meshes/old/shoulder.STL diff --git a/urc_gazebo/urdf/meshes/old/shoulder_collision.STL b/urc_hw_description/urdf/meshes/old/shoulder_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/shoulder_collision.STL rename to urc_hw_description/urdf/meshes/old/shoulder_collision.STL diff --git a/urc_gazebo/urdf/meshes/old/wrist.STL b/urc_hw_description/urdf/meshes/old/wrist.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/wrist.STL rename to urc_hw_description/urdf/meshes/old/wrist.STL diff --git a/urc_gazebo/urdf/meshes/old/wrist_collision.STL b/urc_hw_description/urdf/meshes/old/wrist_collision.STL similarity index 100% rename from urc_gazebo/urdf/meshes/old/wrist_collision.STL rename to urc_hw_description/urdf/meshes/old/wrist_collision.STL diff --git a/urc_gazebo/urdf/meshes/visual/base_link.STL b/urc_hw_description/urdf/meshes/visual/base_link.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/base_link.STL rename to urc_hw_description/urdf/meshes/visual/base_link.STL diff --git a/urc_gazebo/urdf/meshes/visual/bicep.STL b/urc_hw_description/urdf/meshes/visual/bicep.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/bicep.STL rename to urc_hw_description/urdf/meshes/visual/bicep.STL diff --git a/urc_gazebo/urdf/meshes/visual/claw.STL b/urc_hw_description/urdf/meshes/visual/claw.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/claw.STL rename to urc_hw_description/urdf/meshes/visual/claw.STL diff --git a/urc_gazebo/urdf/meshes/visual/colors.png b/urc_hw_description/urdf/meshes/visual/colors.png similarity index 100% rename from urc_gazebo/urdf/meshes/visual/colors.png rename to urc_hw_description/urdf/meshes/visual/colors.png diff --git a/urc_gazebo/urdf/meshes/visual/elbow.STL b/urc_hw_description/urdf/meshes/visual/elbow.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/elbow.STL rename to urc_hw_description/urdf/meshes/visual/elbow.STL diff --git a/urc_gazebo/urdf/meshes/visual/finger.mtl b/urc_hw_description/urdf/meshes/visual/finger.mtl similarity index 100% rename from urc_gazebo/urdf/meshes/visual/finger.mtl rename to urc_hw_description/urdf/meshes/visual/finger.mtl diff --git a/urc_gazebo/urdf/meshes/visual/finger.obj b/urc_hw_description/urdf/meshes/visual/finger.obj similarity index 100% rename from urc_gazebo/urdf/meshes/visual/finger.obj rename to urc_hw_description/urdf/meshes/visual/finger.obj diff --git a/urc_gazebo/urdf/meshes/visual/hand.mtl b/urc_hw_description/urdf/meshes/visual/hand.mtl similarity index 100% rename from urc_gazebo/urdf/meshes/visual/hand.mtl rename to urc_hw_description/urdf/meshes/visual/hand.mtl diff --git a/urc_gazebo/urdf/meshes/visual/hand.obj b/urc_hw_description/urdf/meshes/visual/hand.obj similarity index 100% rename from urc_gazebo/urdf/meshes/visual/hand.obj rename to urc_hw_description/urdf/meshes/visual/hand.obj diff --git a/urc_gazebo/urdf/meshes/visual/left_center_wheel.STL b/urc_hw_description/urdf/meshes/visual/left_center_wheel.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/left_center_wheel.STL rename to urc_hw_description/urdf/meshes/visual/left_center_wheel.STL diff --git a/urc_gazebo/urdf/meshes/visual/left_front_wheel.STL b/urc_hw_description/urdf/meshes/visual/left_front_wheel.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/left_front_wheel.STL rename to urc_hw_description/urdf/meshes/visual/left_front_wheel.STL diff --git a/urc_gazebo/urdf/meshes/visual/left_rear_wheel.STL b/urc_hw_description/urdf/meshes/visual/left_rear_wheel.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/left_rear_wheel.STL rename to urc_hw_description/urdf/meshes/visual/left_rear_wheel.STL diff --git a/urc_gazebo/urdf/meshes/visual/leftbogie.STL b/urc_hw_description/urdf/meshes/visual/leftbogie.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/leftbogie.STL rename to urc_hw_description/urdf/meshes/visual/leftbogie.STL diff --git a/urc_gazebo/urdf/meshes/visual/leftgripper.STL b/urc_hw_description/urdf/meshes/visual/leftgripper.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/leftgripper.STL rename to urc_hw_description/urdf/meshes/visual/leftgripper.STL diff --git a/urc_gazebo/urdf/meshes/visual/leftrocker.STL b/urc_hw_description/urdf/meshes/visual/leftrocker.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/leftrocker.STL rename to urc_hw_description/urdf/meshes/visual/leftrocker.STL diff --git a/urc_gazebo/urdf/meshes/visual/link1.mtl b/urc_hw_description/urdf/meshes/visual/link1.mtl similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link1.mtl rename to urc_hw_description/urdf/meshes/visual/link1.mtl diff --git a/urc_gazebo/urdf/meshes/visual/link1.obj b/urc_hw_description/urdf/meshes/visual/link1.obj similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link1.obj rename to urc_hw_description/urdf/meshes/visual/link1.obj diff --git a/urc_gazebo/urdf/meshes/visual/link2.mtl b/urc_hw_description/urdf/meshes/visual/link2.mtl similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link2.mtl rename to urc_hw_description/urdf/meshes/visual/link2.mtl diff --git a/urc_gazebo/urdf/meshes/visual/link2.obj b/urc_hw_description/urdf/meshes/visual/link2.obj similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link2.obj rename to urc_hw_description/urdf/meshes/visual/link2.obj diff --git a/urc_gazebo/urdf/meshes/visual/link3.mtl b/urc_hw_description/urdf/meshes/visual/link3.mtl similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link3.mtl rename to urc_hw_description/urdf/meshes/visual/link3.mtl diff --git a/urc_gazebo/urdf/meshes/visual/link3.obj b/urc_hw_description/urdf/meshes/visual/link3.obj similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link3.obj rename to urc_hw_description/urdf/meshes/visual/link3.obj diff --git a/urc_gazebo/urdf/meshes/visual/link4.mtl b/urc_hw_description/urdf/meshes/visual/link4.mtl similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link4.mtl rename to urc_hw_description/urdf/meshes/visual/link4.mtl diff --git a/urc_gazebo/urdf/meshes/visual/link4.obj b/urc_hw_description/urdf/meshes/visual/link4.obj similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link4.obj rename to urc_hw_description/urdf/meshes/visual/link4.obj diff --git a/urc_gazebo/urdf/meshes/visual/link5.mtl b/urc_hw_description/urdf/meshes/visual/link5.mtl similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link5.mtl rename to urc_hw_description/urdf/meshes/visual/link5.mtl diff --git a/urc_gazebo/urdf/meshes/visual/link5.obj b/urc_hw_description/urdf/meshes/visual/link5.obj similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link5.obj rename to urc_hw_description/urdf/meshes/visual/link5.obj diff --git a/urc_gazebo/urdf/meshes/visual/link6.mtl b/urc_hw_description/urdf/meshes/visual/link6.mtl similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link6.mtl rename to urc_hw_description/urdf/meshes/visual/link6.mtl diff --git a/urc_gazebo/urdf/meshes/visual/link6.obj b/urc_hw_description/urdf/meshes/visual/link6.obj similarity index 100% rename from urc_gazebo/urdf/meshes/visual/link6.obj rename to urc_hw_description/urdf/meshes/visual/link6.obj diff --git a/urc_gazebo/urdf/meshes/visual/right_center_wheel.STL b/urc_hw_description/urdf/meshes/visual/right_center_wheel.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/right_center_wheel.STL rename to urc_hw_description/urdf/meshes/visual/right_center_wheel.STL diff --git a/urc_gazebo/urdf/meshes/visual/right_front_wheel.STL b/urc_hw_description/urdf/meshes/visual/right_front_wheel.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/right_front_wheel.STL rename to urc_hw_description/urdf/meshes/visual/right_front_wheel.STL diff --git a/urc_gazebo/urdf/meshes/visual/right_rear_wheel.STL b/urc_hw_description/urdf/meshes/visual/right_rear_wheel.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/right_rear_wheel.STL rename to urc_hw_description/urdf/meshes/visual/right_rear_wheel.STL diff --git a/urc_gazebo/urdf/meshes/visual/rightbogie.STL b/urc_hw_description/urdf/meshes/visual/rightbogie.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/rightbogie.STL rename to urc_hw_description/urdf/meshes/visual/rightbogie.STL diff --git a/urc_gazebo/urdf/meshes/visual/rightgripper.STL b/urc_hw_description/urdf/meshes/visual/rightgripper.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/rightgripper.STL rename to urc_hw_description/urdf/meshes/visual/rightgripper.STL diff --git a/urc_gazebo/urdf/meshes/visual/rightrocker.STL b/urc_hw_description/urdf/meshes/visual/rightrocker.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/rightrocker.STL rename to urc_hw_description/urdf/meshes/visual/rightrocker.STL diff --git a/urc_gazebo/urdf/meshes/visual/shoulder.STL b/urc_hw_description/urdf/meshes/visual/shoulder.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/shoulder.STL rename to urc_hw_description/urdf/meshes/visual/shoulder.STL diff --git a/urc_gazebo/urdf/meshes/visual/spine.STL b/urc_hw_description/urdf/meshes/visual/spine.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/spine.STL rename to urc_hw_description/urdf/meshes/visual/spine.STL diff --git a/urc_gazebo/urdf/meshes/visual/visualShapeBench.json_0.json b/urc_hw_description/urdf/meshes/visual/visualShapeBench.json_0.json similarity index 100% rename from urc_gazebo/urdf/meshes/visual/visualShapeBench.json_0.json rename to urc_hw_description/urdf/meshes/visual/visualShapeBench.json_0.json diff --git a/urc_gazebo/urdf/meshes/visual/wrist.STL b/urc_hw_description/urdf/meshes/visual/wrist.STL similarity index 100% rename from urc_gazebo/urdf/meshes/visual/wrist.STL rename to urc_hw_description/urdf/meshes/visual/wrist.STL diff --git a/urc_hw_description/urdf/panda.urdf b/urc_hw_description/urdf/panda.urdf index f2c8d815..b26a17c9 100644 --- a/urc_hw_description/urdf/panda.urdf +++ b/urc_hw_description/urdf/panda.urdf @@ -13,7 +13,7 @@ - + @@ -21,7 +21,7 @@ - + @@ -39,13 +39,13 @@ - + - + @@ -66,13 +66,13 @@ - + - + @@ -93,7 +93,7 @@ - + @@ -101,7 +101,7 @@ - + @@ -121,13 +121,13 @@ - + - + @@ -148,13 +148,13 @@ - + - + @@ -175,13 +175,13 @@ - + - + @@ -202,13 +202,13 @@ - + - + @@ -247,13 +247,13 @@ - + - + @@ -273,13 +273,13 @@ - + - + @@ -301,14 +301,14 @@ - + - + @@ -422,7 +422,7 @@ - $(find urc_gazebo)/urdf/config/Panda_params.yaml + $(find urc_hw_description)/urdf/config/Panda_params.yaml diff --git a/urc_hw_description/urdf/walli_drivebase.xacro b/urc_hw_description/urdf/walli_drivebase.xacro index 09c5c8c6..f69759cd 100644 --- a/urc_hw_description/urdf/walli_drivebase.xacro +++ b/urc_hw_description/urdf/walli_drivebase.xacro @@ -13,14 +13,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/base_link_collision.STL" /> @@ -34,14 +34,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/rightrocker_collision.STL" /> @@ -65,7 +65,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/visual/right_rear_wheel.STL" /> @@ -76,7 +76,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/collision/right_rear_wheel_collision.STL" /> @@ -106,14 +106,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/rightbogie_collision.STL" /> @@ -135,7 +135,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/visual/right_front_wheel.STL" /> @@ -146,7 +146,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/collision/right_rear_wheel_collision.STL" /> @@ -185,7 +185,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/visual/right_center_wheel.STL" /> @@ -196,7 +196,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/collision/right_center_wheel_collision.STL" /> @@ -226,14 +226,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/leftrocker_collision.STL" /> @@ -255,7 +255,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/visual/left_rear_wheel.STL" /> @@ -266,7 +266,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/collision/left_rear_wheel_collision.STL" /> @@ -296,14 +296,14 @@ - + + filename="file://$(find urc_hw_description)/urdf/meshes/collision/leftbogie_collision.STL" /> @@ -325,7 +325,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/visual/left_front_wheel.STL" /> @@ -336,7 +336,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/collision/left_front_wheel_collision.STL" /> @@ -367,7 +367,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/visual/left_center_wheel.STL" /> @@ -378,7 +378,7 @@ + filename="file://$(find urc_hw_description)/urdf/meshes/collision/left_center_wheel_collision.STL" /> diff --git a/urc_imu/README.md b/urc_imu/README.md deleted file mode 100644 index 9cee6a13..00000000 --- a/urc_imu/README.md +++ /dev/null @@ -1,8 +0,0 @@ -# URC IMU -This node is responsible for transmitting serial IMU messages over the ROS2 network. - -[config/imu_serial_driver.yaml](config/imu_serial_driver.yaml) defines the configuration for the serial driver. -[launch/imu_serial_driver.launch.py](launch/imu_serial_driver.launch.py) is the launch file for the serial driver node. -[src/driver.py](src/driver.py) defines the main serial driver. -[src/parser.py](src/parser.py) helps to driver by parsing serial information. -[src/nodes/imu_serial_driver.py](src/nodes/imu_serial_driver.py) is the source of the rospy serial driver node. \ No newline at end of file diff --git a/urc_imu/config/imu_serial_driver.yaml b/urc_imu/config/imu_serial_driver.yaml deleted file mode 100644 index d6140aff..00000000 --- a/urc_imu/config/imu_serial_driver.yaml +++ /dev/null @@ -1,7 +0,0 @@ -imu_driver: - ros__parameters: - port: "/dev/ttyACM0" - baud: 115200 - frame_id: "gps" - time_ref_source: "gps" - useRMC: False diff --git a/urc_imu/launch/imu_serial_driver.launch.py b/urc_imu/launch/imu_serial_driver.launch.py deleted file mode 100644 index c4dc5b8a..00000000 --- a/urc_imu/launch/imu_serial_driver.launch.py +++ /dev/null @@ -1,47 +0,0 @@ -# Copyright 2018 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -""" A simple launch file for the imu_serial_driver node. """ - -import os -import sys - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription, LaunchService -from launch_ros import actions - - -def generate_launch_description(): - """Generate a launch description for a single serial driver.""" - config_file = os.path.join( - get_package_share_directory("imu_driver"), - "config", "imu_serial_driver.yaml") - driver_node = actions.Node( - package='imu_driver', - executable='imu_serial_driver', - output='screen', - parameters=[config_file]) - - return LaunchDescription([driver_node]) - - -def main(argv): - ld = generate_launch_description() - ls = LaunchService() - ls.include_launch_description(ld) - return ls.run() - - -if __name__ == '__main__': - main(sys.argv) diff --git a/urc_imu/package.xml b/urc_imu/package.xml deleted file mode 100644 index 577d772f..00000000 --- a/urc_imu/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - imu_driver - 2.0.1 - - Package to parse IMU strings and publish a very simple IMU message. - - Ed Venator - BSD - http://ros.org/wiki/nmea_navsat_driver - Eric Perko - Steven Martin - geometry_msgs - std_msgs - nmea_msgs - rclpy - sensor_msgs - python3-numpy - python3-serial - tf_transformations - - python3-pytest - - - ament_python - - diff --git a/urc_imu/resource/imu_driver b/urc_imu/resource/imu_driver deleted file mode 100644 index e69de29b..00000000 diff --git a/urc_imu/setup.cfg b/urc_imu/setup.cfg deleted file mode 100644 index a7104b44..00000000 --- a/urc_imu/setup.cfg +++ /dev/null @@ -1,10 +0,0 @@ -[develop] -script_dir=$base/lib/imu_driver - -[install] -install_scripts=$base/lib/imu_driver - -[pycodestyle] -max-line-length = 120 -statistics = True -show-pep8 = True diff --git a/urc_imu/setup.py b/urc_imu/setup.py deleted file mode 100644 index 49bb6508..00000000 --- a/urc_imu/setup.py +++ /dev/null @@ -1,40 +0,0 @@ -from glob import glob -import os -from setuptools import setup - -PACKAGE_NAME = "imu_driver" -SHARE_DIR = os.path.join("share", PACKAGE_NAME) - -setup( - name=PACKAGE_NAME, - version='2.0.1', - packages=["libimu_driver", "libimu_driver.nodes"], - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + PACKAGE_NAME]), - ('share/' + PACKAGE_NAME, ['package.xml']), - (os.path.join(SHARE_DIR, "launch"), - glob(os.path.join("launch", "*.launch.py"))), - (os.path.join(SHARE_DIR, "config"), - glob(os.path.join("config", "*.yaml")))], - package_dir={'': 'src', }, - py_modules=[], - zip_safe=True, - install_requires=['setuptools', - 'pyserial', - 'numpy', - 'pyyaml'], - author='Eric Perko', - maintainer='Ed Venator', - keywords=['ROS2'], - description='Package to parse IMU strings' + - 'and publish a very simple GPS message.', - license='BSD', - entry_points={ - 'console_scripts': [ - 'imu_serial_driver = libimu_driver.nodes.imu_serial_driver:main', - 'imu_topic_driver = libimu_driver.nodes.imu_topic_driver:main', - 'imu_topic_serial_reader = libimu_driver.nodes.' + - 'imu_topic_serial_reader:main'], - } -) diff --git a/urc_imu/src/libimu_driver/__init__.py b/urc_imu/src/libimu_driver/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/urc_imu/src/libimu_driver/checksum_utils.py b/urc_imu/src/libimu_driver/checksum_utils.py deleted file mode 100644 index eb1b25b4..00000000 --- a/urc_imu/src/libimu_driver/checksum_utils.py +++ /dev/null @@ -1,48 +0,0 @@ -# Software License Agreement (BSD License) -# -# Copyright (c) 2013, Eric Perko -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the names of the authors nor the names of their -# affiliated organizations may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - - -# Check the NMEA sentence checksum. Return True if passes and False if failed -def check_imu_checksum(imu_sentence): - return True # (for now) - split_sentence = imu_sentence.split('*') - if len(split_sentence) != 2: - # No checksum bytes were found... improperly formatted/incomplete NMEA data? - return False - transmitted_checksum = split_sentence[1].strip() - - # Remove the $ at the front - data_to_checksum = split_sentence[0][1:] - checksum = 0 - for c in data_to_checksum: - checksum ^= ord(c) - return ("%02X" % checksum) == transmitted_checksum.upper() diff --git a/urc_imu/src/libimu_driver/driver.py b/urc_imu/src/libimu_driver/driver.py deleted file mode 100644 index d6c3f357..00000000 --- a/urc_imu/src/libimu_driver/driver.py +++ /dev/null @@ -1,51 +0,0 @@ -from rclpy.node import Node -from sensor_msgs.msg import Imu -from std_msgs.msg import Int32 -from libimu_driver.checksum_utils import check_imu_checksum -import re - - -class Ros2IMUDriver(Node): - def __init__(self): - super().__init__('imu_driver') - - self.imu_pub = self.create_publisher(Imu, '/imu', 10) - self.yaw_pub = self.create_publisher(Int32, '/yaw', 10) - - # Returns True if we successfully did something with the passed in - def add_sentence(self, imu_string, frame_id, timestamp=None): - if not check_imu_checksum(imu_string): - self.get_logger().warn("Received a sentence with" - " an invalid checksum. " - "Sentence was: %s" % imu_string) - return False - - # self.get_logger().info("Sentence received: %s" % imu_string) - things = re.findall(r"-?[0-9]?[0-9]?[0-9]\.[0-9][0-9]", str(imu_string)) - current_imu = Imu() - current_yaw = Int32() - current_imu.orientation.x = float(things[0]) - current_imu.orientation.y = float(things[1]) - current_imu.orientation.z = float(things[2]) - current_imu.orientation.w = float(things[3]) - current_yaw.data = int(float(things[4])) - current_imu.linear_acceleration.x = float(things[5]) - current_imu.linear_acceleration.y = float(things[6]) - current_imu.linear_acceleration.z = float(things[7]) - current_imu.angular_velocity.x = float(things[8]) - current_imu.angular_velocity.y = float(things[9]) - current_imu.angular_velocity.z = float(things[10]) - if len(things) > 11: - print("Too many items received in IMU driver message!") - self.imu_pub.publish(current_imu) - self.yaw_pub.publish(current_yaw) - - return True - - """Helper method for getting the frame_id with the correct TF prefix""" - def get_frame_id(self): - frame_id = self.declare_parameter('frame_id', 'gps').value - prefix = self.declare_parameter('tf_prefix', '').value - if len(prefix): - return '%s/%s' % (prefix, frame_id) - return frame_id diff --git a/urc_imu/src/libimu_driver/nodes/__init__.py b/urc_imu/src/libimu_driver/nodes/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/urc_imu/src/libimu_driver/nodes/imu_serial_driver.py b/urc_imu/src/libimu_driver/nodes/imu_serial_driver.py deleted file mode 100755 index cd21203f..00000000 --- a/urc_imu/src/libimu_driver/nodes/imu_serial_driver.py +++ /dev/null @@ -1,75 +0,0 @@ -# Software License Agreement (BSD License) -# -# Copyright (c) 2013, Eric Perko -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the names of the authors nor the names of their -# affiliated organizations may be used to endorse or promote products -# derived from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -import serial - -import rclpy - -from libimu_driver.driver import Ros2IMUDriver - - -def main(args=None): - rclpy.init(args=args) - - driver = Ros2IMUDriver() - frame_id = driver.get_frame_id() - - serial_port = driver.declare_parameter('port', '/dev/ttyACM0').value - serial_baud = driver.declare_parameter('baud', 115200).value - - try: - IMU = serial.Serial(port=serial_port, baudrate=serial_baud, timeout=2) - driver.get_logger().info( - "Successfully connected to {0} at {1}.".format( - serial_port, serial_baud)) - try: - while rclpy.ok(): - data = IMU.readline().strip() - try: - if isinstance(data, bytes): - data = data.decode("utf-8") - driver.add_sentence(data, frame_id) - except ValueError as e: - driver.get_logger().warn( - "Value error, likely due to missing fields in the" - "IMU message. Error was: %s. Please report this " - "issue at github.com/ros-drivers/nmea_navsat_driver," - " including a bag file " - "with the NMEA sentences that caused it." % e) - - except Exception as e: - driver.get_logger().error("Ros error: {0}".format(e)) - IMU.close() # Close GPS serial port - except serial.SerialException as ex: - driver.get_logger().fatal( - "Could not open serial port: I/O " - "error({0}): {1}".format(ex.errno, ex.strerror)) diff --git a/urc_imu/src/libimu_driver/nodes/imu_topic_driver.py b/urc_imu/src/libimu_driver/nodes/imu_topic_driver.py deleted file mode 100755 index 9fc70373..00000000 --- a/urc_imu/src/libimu_driver/nodes/imu_topic_driver.py +++ /dev/null @@ -1,69 +0,0 @@ -# Software License Agreement (BSD License) -# -# Copyright (c) 2013, Eric Perko -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the names of the authors nor the names of their -# affiliated organizations may be used to endorse or promote products -# derived from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - - -from functools import partial - -from nmea_msgs.msg import Sentence -import rclpy - -from libimu_driver.driver import Ros2IMUDriver - - -def imu_sentence_callback(imu_sentence, driver): - try: - driver.add_sentence(imu_sentence.sentence, - frame_id=imu_sentence.header.frame_id, - timestamp=imu_sentence.header.stamp) - except ValueError as e: - rclpy.get_logger().warn( - "Value error, likely due to missing fields in the IMU message. " - "Error was: %s. " - "Please report this issue at " - "github.com/ros-drivers/nmea_navsat_driver, " - "including a bag file with " - "the IMU sentences that caused it." % e) - - -def main(args=None): - rclpy.init(args=args) - - driver = Ros2IMUDriver() - driver.get_frame_id() - - driver.create_subscription( - Sentence, 'imu_sentence', partial( - imu_sentence_callback, driver=driver), 10) - - rclpy.spin(driver) - - rclpy.shutdown() diff --git a/urc_imu/src/libimu_driver/nodes/imu_topic_serial_reader.py b/urc_imu/src/libimu_driver/nodes/imu_topic_serial_reader.py deleted file mode 100755 index 99a70f3f..00000000 --- a/urc_imu/src/libimu_driver/nodes/imu_topic_serial_reader.py +++ /dev/null @@ -1,72 +0,0 @@ -# Software License Agreement (BSD License) -# -# Copyright (c) 2013, Eric Perko -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the names of the authors nor the names of their -# affiliated organizations may be used to endorse or promote products -# derived from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -import serial - -from nmea_msgs.msg import Sentence -import rclpy - -from libimu_driver.driver import Ros2IMUDriver - - -def main(args=None): - rclpy.init(args=args) - - driver = Ros2IMUDriver() - - nmea_pub = driver.create_publisher(Sentence, "nmea_sentence", 10) - - serial_port = driver.declare_parameter('port', '/dev/ttyACM0').value - serial_baud = driver.declare_parameter('baud', 115200).value - - # Get the frame_id - frame_id = driver.get_frame_id() - - try: - IMU = serial.Serial(port=serial_port, baudrate=serial_baud, timeout=2) - try: - while rclpy.ok(): - data = IMU.readline().strip() - - sentence = Sentence() - sentence.header.stamp = driver.get_clock().now().to_msg() - sentence.header.frame_id = frame_id - sentence.sentence = data.decode("ascii") - nmea_pub.publish(sentence) - - except Exception as e: - driver.get_logger().error("Ros error: {0}".format(e)) - IMU.close() # Close GPS serial port - except serial.SerialException as ex: - driver.get_logger().fatal("Could not open serial port" - ": I/O error({0}): {1}".format( - ex.errno, ex.strerror)) diff --git a/urc_manipulation/CMakeLists.txt b/urc_manipulation/CMakeLists.txt deleted file mode 100644 index febc2bf9..00000000 --- a/urc_manipulation/CMakeLists.txt +++ /dev/null @@ -1,99 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(urc_manipulation) - -include(../cmake/default_settings.cmake) - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_components REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(std_srvs REQUIRED) -find_package(moveit_msgs REQUIRED) -find_package(control_msgs REQUIRED) -find_package(moveit_servo REQUIRED) - - -include_directories( - include -) - -# Library creation -add_library(${PROJECT_NAME} SHARED - src/joy_to_servo_pub.cpp - src/arm_rt_server.cpp -) - -set(dependencies - rclcpp - rclcpp_components - sensor_msgs - geometry_msgs - std_srvs - moveit_msgs - control_msgs - moveit_servo -) - -ament_target_dependencies(${PROJECT_NAME} - ${dependencies} -) - -# Node registration -rclcpp_components_register_node( - ${PROJECT_NAME} - PLUGIN "joy_to_servo_pub::JoyToServoPub" - EXECUTABLE ${PROJECT_NAME}_JoyToServoPub -) - -rclcpp_components_register_node( - ${PROJECT_NAME} - PLUGIN "urc_manipulation::ArmRTServer" - EXECUTABLE ${PROJECT_NAME}_ArmRT -) - -add_executable(arm_servo src/servo_node.cpp) -target_include_directories(arm_servo PUBLIC - $ - $) -target_compile_features(arm_servo PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17 -ament_target_dependencies( - arm_servo - ${dependencies} -) -install(TARGETS arm_servo - DESTINATION lib/${PROJECT_NAME}) - -# Install launch files. -install( - DIRECTORY - launch - config - DESTINATION share/${PROJECT_NAME}/ -) - -# Install library -install(TARGETS - ${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION lib/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the copyright linker - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - set(ament_cmake_cpplint_FOUND TRUE) - - ament_lint_auto_find_test_dependencies() -endif() - -ament_export_include_directories(include) - -ament_export_libraries(${PROJECT_NAME}) -ament_export_dependencies(${dependencies}) - -ament_package() diff --git a/urc_manipulation/config/joy_to_servo_pub_params.yaml b/urc_manipulation/config/joy_to_servo_pub_params.yaml deleted file mode 100644 index 1524baed..00000000 --- a/urc_manipulation/config/joy_to_servo_pub_params.yaml +++ /dev/null @@ -1,5 +0,0 @@ -joy_to_servo_pub: - ros__parameters: - joy_topic: "/joy" - twist_topic: "/servo_node/delta_twist_cmds" - base_frame_id: "base_link" # Will need to change to the arm's actual base frame diff --git a/urc_manipulation/include/arm_rt_server.hpp b/urc_manipulation/include/arm_rt_server.hpp deleted file mode 100644 index 67b0e93f..00000000 --- a/urc_manipulation/include/arm_rt_server.hpp +++ /dev/null @@ -1,121 +0,0 @@ -#ifndef INCLUDE_ARM_RT_SERVER_HPP__ -#define INCLUDE_ARM_RT_SERVER_HPP__ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "map" -#include "thread" - -#include "rclcpp/rclcpp.hpp" - -#include "std_srvs/srv/trigger.hpp" -#include "std_srvs/srv/set_bool.hpp" -#include "moveit_servo/servo.h" -#include "moveit/planning_scene_monitor/planning_scene_monitor.h" -#include "geometry_msgs/msg/twist_stamped.hpp" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace urc_manipulation -{ - -enum ControlMode -{ - POSE, - TWIST, - IDLE -}; -class ArmRTServer : public rclcpp::Node -{ -public: - ArmRTServer(const rclcpp::NodeOptions & options); - -private: - ControlMode mode = ControlMode::TWIST; - ControlMode desired_mode_ = ControlMode::TWIST; - std::atomic_bool pose_tracking_pause = false; - std::atomic_bool pose_tracking_stop = false; - std::mutex mode_lock; - geometry_msgs::msg::PoseStamped current_pose_target_; - - rclcpp::Rate::SharedPtr update_freq; - std::array config_parameters; - - std::shared_ptr node_; - std::unique_ptr servo_; - std::unique_ptr pose_tracking_; - std::shared_ptr move_group_node_; - std::shared_ptr move_group_node_executor_; - std::shared_ptr move_group_; - - std::shared_ptr tf_buffer_; - std::shared_ptr planning_scene_monitor_; - rclcpp::Subscription::SharedPtr pose_target_subscriber_; - rclcpp::Publisher::SharedPtr pose_target_publisher_; - rclcpp::Publisher::SharedPtr control_status_publisher_; - rclcpp::Publisher::SharedPtr current_pose_publisher_; - - /** \brief Start the servo loop. Must be called once to begin Servoing. */ - void startServo( - const std::shared_ptr & request, - const std::shared_ptr & response); - rclcpp::Service::SharedPtr start_servo_service_; - - /** \brief Stop the servo loop. This involves more overhead than pauseCB, e.g. it clears the planning scene monitor. - * We recommend using pauseCB/unpauseCB if you will resume the Servo loop soon. - */ - void stopServo( - const std::shared_ptr & request, - const std::shared_ptr & response); - rclcpp::Service::SharedPtr stop_servo_service_; - - /** \brief Pause the servo loop but continue monitoring joint state so we can resume easily. */ - void pauseServo( - const std::shared_ptr & request, - const std::shared_ptr & response); - rclcpp::Service::SharedPtr pause_servo_service_; - - /** \brief Resume the servo loop after pauseCB has been called. */ - void unpauseServo( - const std::shared_ptr & request, - const std::shared_ptr & response); - rclcpp::Service::SharedPtr unpause_servo_service_; - - /** \brief Switch servoing control mode. Only being effective during idle state. - * True for twist, false for pose tracking. - */ - void switchMode( - const std::shared_ptr & request, - const std::shared_ptr & response); - rclcpp::Service::SharedPtr swtich_mode_service; - - void moveToPoseUpdate(); -}; - -} // namespace urc_manipulation - -#endif /* INCLUDE_ARM_RT_SERVER_HPP__ */ diff --git a/urc_manipulation/include/joy_to_servo_pub.hpp b/urc_manipulation/include/joy_to_servo_pub.hpp deleted file mode 100644 index ebcb411e..00000000 --- a/urc_manipulation/include/joy_to_servo_pub.hpp +++ /dev/null @@ -1,92 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace joy_to_servo_pub -{ - -// For XBOX 1 controller -enum Axis -{ - LEFT_STICK_X = 0, - LEFT_STICK_Y = 1, - LEFT_TRIGGER = 2, - RIGHT_STICK_X = 3, - RIGHT_STICK_Y = 4, - RIGHT_TRIGGER = 5, - D_PAD_X = 6, - D_PAD_Y = 7 -}; - -enum Button -{ - A = 0, - B = 1, - X = 2, - Y = 3, - LEFT_BUMPER = 4, - RIGHT_BUMPER = 5, - CHANGE_VIEW = 6, - MENU = 7, - HOME = 8, - LEFT_STICK_CLICK = 9, - RIGHT_STICK_CLICK = 10 -}; - -class JoyToServoPub : public rclcpp::Node -{ -public: - /** \brief // This converts a joystick axes and buttons array to a TwistStamped message - * @param axes The vector of continuous controller joystick axes - * @param buttons The vector of discrete controller button values - * @param twist A TwistStamped message to update in prep for publishing - */ - bool convertJoyToCmd( - const std::vector & axes, const std::vector & buttons, - std::unique_ptr & twist, - std::unique_ptr & joint); - - JoyToServoPub(const rclcpp::NodeOptions & options); - ~JoyToServoPub() override; - void joyCB(const sensor_msgs::msg::Joy::ConstSharedPtr & msg); - - void updateCmdFrame(std::string & frame_name, const std::vector & buttons); - -private: - rclcpp::Subscription::SharedPtr joy_sub_; - rclcpp::Publisher::SharedPtr twist_pub_; - rclcpp::Publisher::SharedPtr joint_pub_; - rclcpp::Publisher::SharedPtr collision_pub_; - rclcpp::Client::SharedPtr servo_start_client_; - - std::string frame_to_publish_; - std::thread collision_pub_thread_; - - std::string joy_topic; - std::string twist_topic; - std::string joint_topic; - std::string base_frame_id; - std::string eef_frame_id; - - - // Some axes have offsets (e.g. the default trigger position is 1.0 not 0) - // This will map the default values for the axes - std::map AXIS_DEFAULTS = {{LEFT_TRIGGER, 1.0}, {RIGHT_TRIGGER, 1.0}}; - std::map BUTTON_DEFAULTS; - -}; // class JoyToServoPub - -} diff --git a/urc_manipulation/launch/arm_controls.launch.py b/urc_manipulation/launch/arm_controls.launch.py deleted file mode 100644 index e5655625..00000000 --- a/urc_manipulation/launch/arm_controls.launch.py +++ /dev/null @@ -1,94 +0,0 @@ -import os - -from launch import LaunchDescription - -from ament_index_python.packages import get_package_share_directory -from launch_ros.actions import Node - -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode - -from moveit_configs_utils import MoveItConfigsBuilder - -# Note: Joint Trajectory controllers are initialized in simulation.launch.py -# The same goes for the Joint State Broadcaster. - - -def generate_launch_description(): - arm_moveit_pkg_path = get_package_share_directory("urc_arm_moveit_config") - - moveit_config = ( - MoveItConfigsBuilder("urc_arm") - .robot_description(file_path="config/walli_arm.urdf.xacro") - .robot_description_semantic(file_path="config/walli_arm.srdf") - .trajectory_execution(file_path="config/moveit_controllers.yaml") - .robot_description_kinematics(file_path="config/kinematics.yaml") - .planning_scene_monitor( - publish_robot_description=True, publish_robot_description_semantic=True - ) - .planning_pipelines(pipelines=["ompl"]) - .to_moveit_configs() - ) - - # Get parameters for the Servo node - servo_yaml = os.path.join( - arm_moveit_pkg_path, "/config/walli_arm_simulated_config.yaml" - ) - servo_params = {"moveit_servo": servo_yaml} - - # Launch as much as possible in components - container = ComposableNodeContainer( - name="urc_manipulation_container", - namespace="/", - package="rclcpp_components", - executable="component_container_mt", - composable_node_descriptions=[ - # Example of launching Servo as a node component - # Assuming ROS2 intraprocess communications works well, this is a more efficient way. - # ComposableNode( - # package="moveit_servo", - # plugin="moveit_servo::ServoServer", - # name="servo_server", - # parameters=[ - # servo_params, - # moveit_config.robot_description, - # moveit_config.robot_description_semantic, - # ], - # ), - ComposableNode( - package="tf2_ros", - plugin="tf2_ros::StaticTransformBroadcasterNode", - name="static_tf2_broadcaster", - # check if child frame id and base link are correct - parameters=[ - {"child_frame_id": "/leftgripper", "frame_id": "/arm_base_link"} - ], - ), - ComposableNode( - package="urc_manipulation", - plugin="joy_to_servo_pub::JoyToServoPub", - name="controller_to_servo_node", - ), - ComposableNode( - package="joy", - plugin="joy::Joy", - name="joy_node", - ), - ], - output="screen", - ) - - # Standalone arm control node. Could be necessary if servo runs on different PC - arm_controls_node = Node( - package="urc_manipulation", - executable="servo_node_main", - output="screen", - parameters=[ - servo_params, - moveit_config.robot_description, - moveit_config.robot_description_semantic, - moveit_config.robot_description_kinematics, - ], - ) - - return LaunchDescription([arm_controls_node, container]) diff --git a/urc_manipulation/package.xml b/urc_manipulation/package.xml deleted file mode 100644 index fc17b29a..00000000 --- a/urc_manipulation/package.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - - urc_manipulation - 0.0.0 - Package for controlling any manipulation devices on the rover. - matthewhannay - MIT - - ament_cmake - moveit_common - - controller_manager - controller_manager_msgs - control_msgs - control_toolbox - rclcpp - rclcpp_components - sensor_msgs - geometry_msgs - std_srvs - moveit_msgs - moveit_core - moveit_ros_planning_interface - pluginlib - std_msgs - tf2_eigen - trajectory_msgs - pinocchio - moveit_servo - - moveit_ros - gripper_controllers - joint_state_broadcaster - joint_trajectory_controller - joy - robot_state_publisher - tf2_ros - moveit_configs_utils - launch_param_builder - - - ament_lint_auto - ament_lint_common - urc_arm_moveit_config - - - ament_cmake - - \ No newline at end of file diff --git a/urc_manipulation/src/arm_rt_server.cpp b/urc_manipulation/src/arm_rt_server.cpp deleted file mode 100644 index 6c66c379..00000000 --- a/urc_manipulation/src/arm_rt_server.cpp +++ /dev/null @@ -1,285 +0,0 @@ -#include "arm_rt_server.hpp" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace urc_manipulation -{ -ArmRTServer::ArmRTServer(const rclcpp::NodeOptions & options) -: rclcpp::Node("arm_rt_server", options), - node_{std::make_shared("servo_node", options)} -// , move_group_node_{ std::make_shared("move_group_node", options) } -{ - RCLCPP_INFO(get_logger(), "Servo node starting..."); - if (!options.use_intra_process_comms()) { - RCLCPP_WARN_STREAM( - get_logger(), - "Intra-process communication is disabled, consider enabling it by adding: " - "\nextra_arguments=[{'use_intra_process_comms' : True}]\nto the Servo composable node " - "in the launch file"); - } - - declare_parameter("arm_planning_group", "arm"); - - // Set up services for interacting with Servo - start_servo_service_ = node_->create_service( - "~/start_servo", [this](const std::shared_ptr & request, - const std::shared_ptr & response) { - return startServo(request, response); - }); - stop_servo_service_ = node_->create_service( - "~/stop_servo", [this](const std::shared_ptr & request, - const std::shared_ptr & response) { - return stopServo(request, response); - }); - pause_servo_service_ = node_->create_service( - "~/pause_servo", [this](const std::shared_ptr & request, - const std::shared_ptr & response) { - return pauseServo(request, response); - }); - unpause_servo_service_ = node_->create_service( - "~/unpause_servo", [this](const std::shared_ptr & request, - const std::shared_ptr & response) { - return unpauseServo(request, response); - }); - swtich_mode_service = node_->create_service( - "~/switch_mode", [this](const std::shared_ptr & request, - const std::shared_ptr & response) { - return switchMode(request, response); - }); - - pose_target_subscriber_ = node_->create_subscription( - "~/pose_target_cmds", rclcpp::SystemDefaultsQoS(), - [this](const geometry_msgs::msg::PoseStamped::SharedPtr msg) {current_pose_target_ = *msg;}); - pose_target_publisher_ = - node_->create_publisher( - "/target_pose", - rclcpp::SystemDefaultsQoS()); - - control_status_publisher_ = - node_->create_publisher("~/control_status", rclcpp::SystemDefaultsQoS()); - current_pose_publisher_ = - node_->create_publisher( - "~/current_pose", - rclcpp::SystemDefaultsQoS()); - - // Can set robot_description name from parameters - std::string robot_description_name = "robot_description"; - node_->get_parameter_or("robot_description_name", robot_description_name, robot_description_name); - - // Get the servo parameters - auto servo_parameters = moveit_servo::ServoParameters::makeServoParameters(node_); - if (servo_parameters == nullptr) { - RCLCPP_ERROR(get_logger(), "Failed to load the servo parameters"); - throw std::runtime_error("Failed to load the servo parameters"); - } - - // Set up planning_scene_monitor - planning_scene_monitor_ = std::make_shared( - node_, robot_description_name, "planning_scene_monitor"); - planning_scene_monitor_->startStateMonitor(servo_parameters->joint_topic); - planning_scene_monitor_->startSceneMonitor(servo_parameters->monitored_planning_scene_topic); - planning_scene_monitor_->setPlanningScenePublishingFrequency(25); - planning_scene_monitor_->getStateMonitor()->enableCopyDynamics(true); - planning_scene_monitor_->startPublishingPlanningScene( - planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE, - std::string(node_->get_fully_qualified_name()) + - "/publish_planning_scene"); - // If the planning scene monitor in servo is the primary one we provide /get_planning_scene service so RViz displays - // or secondary planning scene monitors can fetch the scene, otherwise we request the planning scene from the - // primary planning scene monitor (e.g. move_group) - if (servo_parameters->is_primary_planning_scene_monitor) { - planning_scene_monitor_->providePlanningSceneService(); - } else { - planning_scene_monitor_->requestPlanningSceneState(); - } - std::cout << servo_parameters->ee_frame_name << std::endl; - - double update_freq_value = get_parameter_or("update_freq", 30.0); - update_freq = std::make_shared(update_freq_value); - config_parameters[0] = get_parameter_or("position_err_tolerance_meters", 0.01); - config_parameters[1] = get_parameter_or("velocity_err_tolerance_meters", 0.05); - config_parameters[2] = get_parameter_or("angular_err_tolerance_radians", 0.0349); - - // Create threads - std::thread( - [this]() { - for (;; ) { - auto msg = std_msgs::msg::Int8(); - switch (mode) { - case POSE: - msg.data = 1; - break; - case TWIST: - msg.data = 2; - break; - default: - msg.data = 0; - } - control_status_publisher_->publish(msg); - update_freq->sleep(); - } - }).detach(); - - // Create Servo - servo_ = std::make_unique(node_, servo_parameters, planning_scene_monitor_); - servo_->setPaused(false); - RCLCPP_INFO(get_logger(), "Servo node has started."); - pose_tracking_ = std::make_unique( - node_, servo_parameters, - planning_scene_monitor_); - pose_tracking_->stopMotion(); - pose_tracking_pause = true; - RCLCPP_INFO(get_logger(), "Pose tracking node has started."); -} - -void ArmRTServer::startServo( - const std::shared_ptr & /* unused */, - const std::shared_ptr & response) -{ - std::unique_lock lock(mode_lock); - if (mode != IDLE) { - RCLCPP_WARN(get_logger(), "RT Control has already started!"); - response->success = false; - response->message = "RT Control has already started!"; - return; - } - - pose_tracking_->stopMotion(); - servo_->setPaused(true); - - if (desired_mode_ == ControlMode::POSE) { - mode = ControlMode::POSE; - pose_tracking_->resetTargetPose(); - pose_tracking_pause = false; - pose_tracking_stop = false; - std::thread([this]() {moveToPoseUpdate();}).detach(); - } else if (desired_mode_ == ControlMode::TWIST) { - mode = ControlMode::TWIST; - servo_->setPaused(false); - servo_->start(); - } - mode_lock.unlock(); - response->success = true; -} - -void ArmRTServer::stopServo( - const std::shared_ptr & /* unused */, - const std::shared_ptr & response) -{ - std::unique_lock lock(mode_lock); - mode = IDLE; - - servo_->setPaused(true); - pose_tracking_stop = true; - pose_tracking_->stopMotion(); - response->success = true; -} - -void ArmRTServer::pauseServo( - const std::shared_ptr & /* unused */, - const std::shared_ptr & response) -{ - std::unique_lock lock(mode_lock); - if (desired_mode_ == ControlMode::POSE) { - servo_->setPaused(true); - } else if (desired_mode_ == ControlMode::TWIST) { - pose_tracking_pause = true; - } - - mode = ControlMode::IDLE; - response->success = true; -} - -void ArmRTServer::unpauseServo( - const std::shared_ptr & /* unused */, - const std::shared_ptr & response) -{ - std::unique_lock lock(mode_lock); - if (desired_mode_ == ControlMode::POSE) { - servo_->setPaused(false); - } else if (desired_mode_ == ControlMode::TWIST) { - pose_tracking_pause = false; - } else { - RCLCPP_WARN(get_logger(), "Invalid desired mode!"); - response->success = false; - return; - } - - mode = desired_mode_; - response->success = true; -} - -void ArmRTServer::switchMode( - const std::shared_ptr & request, - const std::shared_ptr & response) -{ - std::unique_lock lock(mode_lock); - if (request->data) { - desired_mode_ = ControlMode::POSE; - } else { - desired_mode_ = ControlMode::TWIST; - } - response->success = true; -} - -void ArmRTServer::moveToPoseUpdate() -{ - for (;; ) { - if (mode != POSE) { - break; - } - - if (pose_tracking_stop) { - RCLCPP_INFO(get_logger(), "Stop flag see. Stopping..."); - pose_tracking_stop = false; - break; - } - - if (!pose_tracking_pause) { - geometry_msgs::msg::TransformStamped current_ee_tf; - pose_tracking_->getCommandFrameTransform(current_ee_tf); - - current_pose_target_.header.frame_id = current_ee_tf.header.frame_id; - current_pose_target_.header.stamp = node_->get_clock()->now(); - - pose_target_publisher_->publish(current_pose_target_); - pose_tracking_->moveToPose( - Eigen::Vector3d(config_parameters[0], config_parameters[0], config_parameters[0]), - config_parameters[2], 1.0); - } - - update_freq->sleep(); - } -} - -} // namespace urc_manipulation - -#include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(urc_manipulation::ArmRTServer); diff --git a/urc_manipulation/src/joy_to_servo_pub.cpp b/urc_manipulation/src/joy_to_servo_pub.cpp deleted file mode 100644 index 87f436cd..00000000 --- a/urc_manipulation/src/joy_to_servo_pub.cpp +++ /dev/null @@ -1,144 +0,0 @@ -#include "joy_to_servo_pub.hpp" -#include -#include - -namespace joy_to_servo_pub -{ - -JoyToServoPub::JoyToServoPub(const rclcpp::NodeOptions & options) -: Node("arm_driver", options) -{ - declare_parameter("joy_topic", "/joy"); - get_parameter("joy_topic", joy_topic); - - declare_parameter("twist_topic", "/servo_node/delta_twist_cmds"); - get_parameter("twist_topic", twist_topic); - - declare_parameter("joint_topic", "/servo_node/delta_joint_cmds"); - get_parameter("joint_topic", joint_topic); - - declare_parameter("base_frame_id", "arm_base_link"); - get_parameter("base_frame_id", base_frame_id); - - declare_parameter("eef_frame_id", "leftgripper"); - get_parameter("eef_frame_id", eef_frame_id); - - // Setup pub/sub - joy_sub_ = create_subscription( - joy_topic, rclcpp::SystemDefaultsQoS(), - [this](const sensor_msgs::msg::Joy::ConstSharedPtr & msg) {return joyCB(msg);}); - - twist_pub_ = create_publisher( - twist_topic, - rclcpp::SystemDefaultsQoS()); - joint_pub_ = this->create_publisher( - joint_topic, - rclcpp::SystemDefaultsQoS()); - collision_pub_ = create_publisher( - "/planning_scene", - rclcpp::SystemDefaultsQoS()); - - // Create a service client to start the ServoNode - servo_start_client_ = create_client("/servo_node/start_servo"); - servo_start_client_->wait_for_service(std::chrono::seconds(1)); - servo_start_client_->async_send_request(std::make_shared()); - - // Load the collision scene asynchronously - collision_pub_thread_ = std::thread( - [this]() { - rclcpp::sleep_for(std::chrono::seconds(3)); - moveit_msgs::msg::PlanningSceneWorld psw; - - auto ps = std::make_unique(); - ps->world = psw; - ps->is_diff = true; - collision_pub_->publish(std::move(ps)); - }); -} - -JoyToServoPub::~JoyToServoPub() -{ - if (collision_pub_thread_.joinable()) { - collision_pub_thread_.join(); - } -} - -bool JoyToServoPub::convertJoyToCmd( - const std::vector & axes, const std::vector & buttons, - std::unique_ptr & twist, - std::unique_ptr & joint) -{ - // Give joint jogging priority because it is only buttons - // If any joint jog command is requested, we are only publishing joint commands - if (buttons[A] || buttons[B] || buttons[X] || buttons[Y] || axes[D_PAD_X] || axes[D_PAD_Y]) { - // Map the D_PAD to the proximal joints - joint->joint_names.push_back("shoulderjoint"); - joint->velocities.push_back(axes[D_PAD_X]); - joint->joint_names.push_back("bicepjoint"); - joint->velocities.push_back(axes[D_PAD_Y]); - - // Map the diamond to the distal joints - joint->joint_names.push_back("leftgripper"); - joint->velocities.push_back(buttons[B] - buttons[X]); - joint->joint_names.push_back("clawjoint"); - joint->velocities.push_back(buttons[Y] - buttons[A]); - return false; - } - - // The bread and butter: map buttons to twist commands - twist->twist.linear.z = axes[RIGHT_STICK_Y]; - twist->twist.linear.y = axes[RIGHT_STICK_X]; - - double lin_x_right = -0.5 * (axes[RIGHT_TRIGGER] - AXIS_DEFAULTS.at(RIGHT_TRIGGER)); - double lin_x_left = 0.5 * (axes[LEFT_TRIGGER] - AXIS_DEFAULTS.at(LEFT_TRIGGER)); - twist->twist.linear.x = lin_x_right + lin_x_left; - - twist->twist.angular.y = axes[LEFT_STICK_Y]; - twist->twist.angular.x = axes[LEFT_STICK_X]; - - double roll_positive = buttons[RIGHT_BUMPER]; - double roll_negative = -1 * (buttons[LEFT_BUMPER]); - twist->twist.angular.z = roll_positive + roll_negative; - - return true; -} - -/** \brief // This should update the frame_to_publish_ as needed for changing command frame via controller - * @param frame_name Set the command frame to this - * @param buttons The vector of discrete controller button values - */ -void JoyToServoPub::updateCmdFrame(std::string & frame_name, const std::vector & buttons) -{ - if (buttons[CHANGE_VIEW] && frame_name == eef_frame_id) { - frame_name = base_frame_id; - } else if (buttons[MENU] && frame_name == base_frame_id) { - frame_name = eef_frame_id; - } -} - -void JoyToServoPub::joyCB(const sensor_msgs::msg::Joy::ConstSharedPtr & msg) -{ - // Create the messages we might publish - auto twist_msg = std::make_unique(); - auto joint_msg = std::make_unique(); - - // This call updates the frame for twist commands - updateCmdFrame(frame_to_publish_, msg->buttons); - - // Convert the joystick message to Twist or JointJog and publish - if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg, joint_msg)) { - // publish the TwistStamped - twist_msg->header.frame_id = frame_to_publish_; - twist_msg->header.stamp = this->now(); - twist_pub_->publish(std::move(twist_msg)); - } else { - // publish the JointJog - joint_msg->header.stamp = this->now(); - joint_msg->header.frame_id = "elbowjoint"; - joint_pub_->publish(std::move(joint_msg)); - } -} - -} // namespace joy_to_servo_pub - -RCLCPP_COMPONENTS_REGISTER_NODE(joy_to_servo_pub::JoyToServoPub) diff --git a/urc_manipulation/src/servo_node.cpp b/urc_manipulation/src/servo_node.cpp deleted file mode 100644 index 2287d544..00000000 --- a/urc_manipulation/src/servo_node.cpp +++ /dev/null @@ -1,18 +0,0 @@ -#include "moveit_servo/servo_node.h" -#include -#include - -int main(int argc, char * argv[]) -{ - rclcpp::init(argc, argv); - - rclcpp::NodeOptions options; - - auto servo_node = std::make_shared(options); - auto logger = std::make_unique(rclcpp::get_logger("Servo")); - RCLCPP_INFO(*logger, "Starting Servo Node!"); - - rclcpp::spin(servo_node->get_node_base_interface()); - - rclcpp::shutdown(); -} diff --git a/urc_platform/config/camera_params.yaml b/urc_platform/config/camera_params.yaml deleted file mode 100644 index 43f9007a..00000000 --- a/urc_platform/config/camera_params.yaml +++ /dev/null @@ -1,11 +0,0 @@ -camera: - ros__parameters: - video_device: "/dev/cam" - image_width: 640 - image_height: 480 - pixel_format: "mjepg" - io_method: "mmap" - camera_frame_id: "camera" - framerate: 30 - camera_info_url: "" - camera_name: "" \ No newline at end of file diff --git a/urc_platform/config/motor_controller_params.yaml b/urc_platform/config/motor_controller_params.yaml deleted file mode 100644 index 60634c72..00000000 --- a/urc_platform/config/motor_controller_params.yaml +++ /dev/null @@ -1,17 +0,0 @@ -motor_controller: - ros__parameters: - ip_addr: "192.168.8.150" - port: 8443 - battery_alpha: 0.9 - min_battery_voltage: 23.5 - p_l: 0.0 - p_r: 0.0 - d_l: 0.0 - d_r: 0.0 - i_r: 0.0 - i_l: 0.0 - kv_l: 32.0 - kv_r: 32.0 - watchdog_delay: 3.0 - frequency: 10.0 - log_period: 5.0 \ No newline at end of file diff --git a/urc_platform/include/motor_controller.hpp b/urc_platform/include/motor_controller.hpp deleted file mode 100644 index b81ee305..00000000 --- a/urc_platform/include/motor_controller.hpp +++ /dev/null @@ -1,74 +0,0 @@ -#ifndef MOTOR_CONTROLLER_ROS_WRAPPER -#define MOTOR_CONTROLLER_ROS_WRAPPER - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace motor_controller -{ - -class MotorControllerWrapper : public rclcpp::Node -{ -public: - explicit MotorControllerWrapper(const rclcpp::NodeOptions & options); - -private: - class MotorControllerDriver - { -private: - int port_; - std::string ip_addr_server_; - boost::asio::io_service io_service_; - std::unique_ptr sock_; - boost::asio::ip::udp::endpoint client_endpoint_; - boost::asio::ip::udp::endpoint server_endpoint_; - -public: - MotorControllerDriver(std::string ip_addr_server, int port); - void start(); - void stop(); - void motorsEnable(); - void motorsDisable(); - void motorsSleep(); - int available() {return sock_->available();} - bool getEncoderTicks(DriveEncodersMessage & message); - bool setSpeed(RequestMessage & message); - int getPortNumber(); - }; - - std::unique_ptr driver; - rclcpp::Publisher::SharedPtr _enc_pub; - rclcpp::Subscription::SharedPtr _motor_sub; - rclcpp::TimerBase::SharedPtr timer_; - double publish_encoder_ticks_frequency_; - - const int ENCODER_CPR = 2048; - const float WHEEL_RADIUS = 0.170; - const float VEL_TO_COUNTS_FACTOR = ENCODER_CPR / (2 * M_PI * WHEEL_RADIUS); - const int QPPR = 15562; - const float MAX_SPEED = QPPR / VEL_TO_COUNTS_FACTOR; - const float MIN_SPEED = -1 * MAX_SPEED; - - void publishEncoderTicks(); - void sendSpeed(const urc_msgs::msg::VelocityPair & vel); - int velocityToCounts(float vel) {return (int)(vel * VEL_TO_COUNTS_FACTOR);} - float countsToVelocity(int counts) {return counts / VEL_TO_COUNTS_FACTOR;} -}; - -} - -#endif diff --git a/urc_platform/launch/camera.launch.py b/urc_platform/launch/camera.launch.py deleted file mode 100644 index 887c8e29..00000000 --- a/urc_platform/launch/camera.launch.py +++ /dev/null @@ -1,24 +0,0 @@ -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - - # this node should produce both a uncompressed and compressed version of the image - # pub topics: - # ~/image_raw - # ~/image_raw/compressed - camera_node = Node( - package="usb_cam", - executable="usb_cam_node_exe", - output="screen", - parameters=[ - PathJoinSubstitution( - [FindPackageShare("urc_platform"), "config", "camera_params.yaml"] - ) - ], - ) - - return LaunchDescription([camera_node]) diff --git a/urc_platform/launch/motor_controller.launch.py b/urc_platform/launch/motor_controller.launch.py deleted file mode 100644 index e04bc462..00000000 --- a/urc_platform/launch/motor_controller.launch.py +++ /dev/null @@ -1,28 +0,0 @@ -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - - motor_controller_node = Node( - package="urc_platform", - executable="urc_platform_MotorController", - output="screen", - parameters=[ - PathJoinSubstitution( - [ - FindPackageShare("urc_platform"), - "config", - "motor_controller_params.yaml", - ] - ) - ], - remappings=[ - ("/motor_controller/encoders", "/encoders"), - ("/motor_controller/motors", "/motors"), - ], - ) - - return LaunchDescription([motor_controller_node]) diff --git a/urc_platform/src/motor_controller.cpp b/urc_platform/src/motor_controller.cpp deleted file mode 100644 index 4cca3c45..00000000 --- a/urc_platform/src/motor_controller.cpp +++ /dev/null @@ -1,126 +0,0 @@ -#include "motor_controller.hpp" - -namespace motor_controller -{ - -namespace ip = boost::asio::ip; - -MotorControllerWrapper::MotorControllerDriver::MotorControllerDriver( - std::string ip_addr_server, - int port) -{ - this->ip_addr_server_ = ip_addr_server; - this->port_ = port; - this->client_endpoint_.address(ip::address_v4::from_string(ip_addr_server)); - this->client_endpoint_.port(port); - this->server_endpoint_.address(ip::address_v4::from_string("192.168.8.167")); - this->server_endpoint_.port(port); - this->sock_ = std::make_unique(io_service_, client_endpoint_); -} - -bool MotorControllerWrapper::MotorControllerDriver::getEncoderTicks(DriveEncodersMessage & message) -{ - size_t bytes_read; - uint8_t buffer[256]; - boost::system::error_code error; - ip::udp::endpoint sender_endpoint; - - bytes_read = sock_->receive_from(boost::asio::buffer(buffer), sender_endpoint); - - message = DriveEncodersMessage_init_zero; - pb_istream_t istream = pb_istream_from_buffer(buffer, bytes_read); - bool status = pb_decode(&istream, DriveEncodersMessage_fields, &message); - - return status; -} - -bool MotorControllerWrapper::MotorControllerDriver::setSpeed(RequestMessage & message) -{ - uint8_t buffer[256]; - size_t response_length; - - pb_ostream_t ostream = pb_ostream_from_buffer(buffer, sizeof(buffer)); - bool status = pb_encode(&ostream, RequestMessage_fields, &message); - response_length = ostream.bytes_written; - - sock_->send_to(boost::asio::buffer(buffer), server_endpoint_); - - return status; -} - -int MotorControllerWrapper::MotorControllerDriver::getPortNumber() -{ - return this->port_; -} - -MotorControllerWrapper::MotorControllerWrapper(const rclcpp::NodeOptions & options) -: rclcpp::Node("motor_controller", options) -{ - std::string ip_addr_server_ = declare_parameter("ip_addr"); - int port_ = declare_parameter("port"); - publish_encoder_ticks_frequency_ = declare_parameter("frequency"); - - driver = std::make_unique(ip_addr_server_, port_); - - _enc_pub = create_publisher( - "~/encoders", - rclcpp::SystemDefaultsQoS()); - - _motor_sub = create_subscription( - "~/motors", - rclcpp::SystemDefaultsQoS(), - [this](const urc_msgs::msg::VelocityPair vel) {sendSpeed(vel);} - ); - - timer_ = this->create_wall_timer( - std::chrono::duration(1.0 / publish_encoder_ticks_frequency_), - [this]() {publishEncoderTicks();} - ); -} - -void MotorControllerWrapper::publishEncoderTicks() -{ - if (driver->available()) { - DriveEncodersMessage ticks; - bool success = driver->getEncoderTicks(ticks); - - if (!success) { - RCLCPP_WARN(this->get_logger(), "Decoding Failed"); - } else { - urc_msgs::msg::VelocityPair encoder_msg; - encoder_msg.left_velocity = ticks.leftSpeed; - encoder_msg.right_velocity = ticks.rightSpeed; - encoder_msg.duration = ticks.timestamp; - encoder_msg.header.stamp = this->get_clock()->now(); - - _enc_pub->publish(encoder_msg); - } - } - -} - -void MotorControllerWrapper::sendSpeed(const urc_msgs::msg::VelocityPair & vel) -{ - - RequestMessage requestMessage; - requestMessage.requestSpeed = true; - requestMessage.requestDiagnostics = false; - requestMessage.leftSpeed = - velocityToCounts( - std::clamp( - static_cast(vel.left_velocity), MIN_SPEED, - MAX_SPEED)); - requestMessage.rightSpeed = - velocityToCounts( - std::clamp( - static_cast(vel.right_velocity), MIN_SPEED, - MAX_SPEED)); - requestMessage.duration = 1500; - requestMessage.timestamp = (int32_t) this->get_clock()->now().seconds(); - - bool success = driver->setSpeed(requestMessage); -} - -} - -RCLCPP_COMPONENTS_REGISTER_NODE(motor_controller::MotorControllerWrapper) diff --git a/urc_scripts/package.xml b/urc_scripts/package.xml deleted file mode 100644 index 90d64c07..00000000 --- a/urc_scripts/package.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - urc_scripts - 0.0.0 - TODO: Package description - keseterg - TODO: License declaration - - ament_copyright - ament_flake8 - ament_pep257 - python3-pytest - - - ament_python - - diff --git a/urc_scripts/resource/urc_scripts b/urc_scripts/resource/urc_scripts deleted file mode 100644 index e69de29b..00000000 diff --git a/urc_scripts/setup.cfg b/urc_scripts/setup.cfg deleted file mode 100644 index 47880801..00000000 --- a/urc_scripts/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/urc_scripts -[install] -install_scripts=$base/lib/urc_scripts diff --git a/urc_scripts/setup.py b/urc_scripts/setup.py deleted file mode 100644 index 2d1a4f97..00000000 --- a/urc_scripts/setup.py +++ /dev/null @@ -1,26 +0,0 @@ -from setuptools import find_packages, setup - -package_name = "urc_scripts" - -setup( - name=package_name, - version="0.0.0", - packages=find_packages(exclude=["test"]), - data_files=[ - ("share/ament_index/resource_index/packages", ["resource/" + package_name]), - ("share/" + package_name, ["package.xml"]), - ], - install_requires=["setuptools"], - zip_safe=True, - maintainer="keseterg", - maintainer_email="zhiwan13579@126.com", - description="TODO: Package description", - license="TODO: License declaration", - tests_require=["pytest"], - entry_points={ - "console_scripts": [ - "test_joint = urc_scripts.test_joint:main", - "joy_drive = urc_scripts.joy_drive:main", - ], - }, -) diff --git a/urc_scripts/test/test_copyright.py b/urc_scripts/test/test_copyright.py deleted file mode 100644 index ceffe896..00000000 --- a/urc_scripts/test/test_copyright.py +++ /dev/null @@ -1,27 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -# Remove the `skip` decorator once the source file(s) have a copyright header -@pytest.mark.skip( - reason="No copyright header has been placed in the generated source file." -) -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=[".", "test"]) - assert rc == 0, "Found errors" diff --git a/urc_scripts/test/test_flake8.py b/urc_scripts/test/test_flake8.py deleted file mode 100644 index ee79f31a..00000000 --- a/urc_scripts/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, "Found %d code style errors / warnings:\n" % len( - errors - ) + "\n".join(errors) diff --git a/urc_scripts/urc_scripts/__init__.py b/urc_scripts/urc_scripts/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/urc_scripts/urc_scripts/joy_drive.py b/urc_scripts/urc_scripts/joy_drive.py deleted file mode 100644 index 05026518..00000000 --- a/urc_scripts/urc_scripts/joy_drive.py +++ /dev/null @@ -1,145 +0,0 @@ -import rclpy -from rclpy.publisher import Publisher -from rclpy.subscription import Subscription -from rclpy.node import Node -from rclpy.parameter import Parameter -from rcl_interfaces.msg import SetParametersResult -from geometry_msgs.msg import TwistStamped -from sensor_msgs.msg import Joy - - -class JoyDrive(Node): - """ - Use joystick to command the drivetrain. - - Args: - Node (_type_): node from ros2. - """ - - def __init__(self): - super().__init__("joy_drive") - - # declare parameters - self.declare_parameter("max_linear_velocity_ms", 0.0) - self.declare_parameter("max_angular_velocity_radians", 0.0) - self.declare_parameter("joy_command_topic", "/joy") - self.declare_parameter("cmd_vel_topic", "/cmd_vel") - self.declare_parameter("target_axes", [1, 3]) - self.declare_parameter("invert_linear_velocity", False) - self.declare_parameter("invert_angular_velocity", False) - - # get parameters - self.max_linear = ( - self.get_parameter("max_linear_velocity_ms") - .get_parameter_value() - .double_value - ) - self.max_angular = ( - self.get_parameter("max_angular_velocity_radians") - .get_parameter_value() - .double_value - ) - self.joy_command_topic = ( - self.get_parameter("joy_command_topic").get_parameter_value().string_value - ) - self.cmd_vel_topic = ( - self.get_parameter("cmd_vel_topic").get_parameter_value().string_value - ) - self.op_axes = ( - self.get_parameter("target_axes").get_parameter_value().integer_array_value - ) - self.inv_linvel = ( - self.get_parameter("invert_linear_velocity") - .get_parameter_value() - .double_value - ) - self.inv_angvel = ( - self.get_parameter("invert_angular_velocity") - .get_parameter_value() - .double_value - ) - - # register dynamic parameter callbacks - self.add_on_set_parameters_callback(self.on_param_update) - - self.curr_twist = TwistStamped() - self.joy_msg_subscriber: Subscription = self.create_subscription( - Joy, self.joy_command_topic, self.update_vel_target, 10 - ) - self.cmd_vel_publisher: Publisher = self.create_publisher( - TwistStamped, self.cmd_vel_topic, 10 - ) - - self.get_logger().info("Joy Drive Started.") - self.get_logger().info( - f"Default Settings: [linear velocity {self.max_linear} m/s]," - + f"[angular velocity {self.max_angular} rad/s]" - ) - - def update_vel_target(self, msg: Joy): - """Update velocity target for the drivetrain. - - Args: - msg (Joy): joy message from the controller. - """ - self.curr_twist.twist.linear.x = ( - msg.axes[self.op_axes[0]] * self.max_linear * (-1 if self.inv_linvel else 1) - ) - self.curr_twist.twist.angular.z = ( - msg.axes[self.op_axes[1]] - * self.max_angular - * (-1 if self.inv_angvel else 1) - ) - self.curr_twist.header.stamp = self.get_clock().now().to_msg() - - self.cmd_vel_publisher.publish(self.curr_twist) - - def on_param_update(self, params: list[Parameter]) -> SetParametersResult: - """When parameter is updated. - - Args: - params (list[Parameter]): list of updated parameters - - Returns: - SetParametersResult: result for setting the parameters. - """ - result = SetParametersResult() - - for param in params: - if param.name == "max_linear_velocity_ms": - self.max_linear = param.get_parameter_value().double_value - self.get_logger().info(f"Max linvel updated to {self.max_linear} m/s.") - if param.name == "max_angular_velocity_radians": - self.max_angular = param.get_parameter_value().double_value - self.get_logger().info( - f"Max angvel updated to {self.max_angular} rad/s." - ) - if param.name == "target_axes": - self.op_axes = param.get_parameter_value().integer_array_value - self.get_logger().info(f"Axies has be configured to {self.op_axes}.") - if param.name == "invert_linear_vel": - self.inv_linvel = param.get_parameter_value().bool_value - self.get_logger().info(f"Linear velocity inversion: {self.inv_linvel}") - if param.name == "invert_angular_vel": - self.inv_angvel = param.get_parameter_value().bool_value - self.get_logger().info(f"Angular velocity inversion: {self.inv_angvel}") - result.successful = True - return result - - -def main(args=None): - """Entry function - - Args: - args (_type_, optional): Arguments. Defaults to None. - """ - rclpy.init(args=args) - node = JoyDrive() - while rclpy.ok(): - rclpy.spin_once(node) - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main() diff --git a/urc_scripts/urc_scripts/test_joint.py b/urc_scripts/urc_scripts/test_joint.py deleted file mode 100644 index 15cff4c2..00000000 --- a/urc_scripts/urc_scripts/test_joint.py +++ /dev/null @@ -1,112 +0,0 @@ -import rclpy -import numpy as np -from rclpy.publisher import Publisher -from rclpy.subscription import Subscription -from rclpy.client import Client -from rclpy.action import ActionClient -from rclpy.node import Node -from geometry_msgs.msg import Twist -from sensor_msgs.msg import Joy -from std_srvs.srv import Trigger -from control_msgs.action import GripperCommand - - -def rpy_to_quaternion(roll, pitch, yaw): - """ - Convert Roll-Pitch-Yaw (RPY) angles to quaternion. - - Parameters: - roll (float): Roll angle in radians. - pitch (float): Pitch angle in radians. - yaw (float): Yaw angle in radians. - - Returns: - numpy.array: Quaternion in the form [w, x, y, z]. - """ - cy = np.cos(yaw * 0.5) - sy = np.sin(yaw * 0.5) - cr = np.cos(roll * 0.5) - sr = np.sin(roll * 0.5) - cp = np.cos(pitch * 0.5) - sp = np.sin(pitch * 0.5) - - qw = cy * cr * cp + sy * sr * sp - qx = cy * sr * cp - sy * cr * sp - qy = cy * cr * sp + sy * sr * cp - qz = sy * cr * cp - cy * sr * sp - - return qw, qx, qy, qz - - -# Example usage - - -class TestJoint(Node): - def __init__(self): - super().__init__("ff") - self.joy_subscriber: Subscription = self.create_subscription( - Joy, "/joy", self.pub, 10 - ) - self.cmd_twist_publisher: Publisher = self.create_publisher( - Twist, "/cmd_twist", 10 - ) - self.start_servo_service_request: Client = self.create_client( - Trigger, "/arm_rt_pinocchio/start_servo" - ) - self.stop_servo_service_request: Client = self.create_client( - Trigger, "/arm_rt_pinocchio/stop_servo" - ) - self.left_gripper_action_client: ActionClient = ActionClient( - self, GripperCommand, "/gripper_controller_left/gripper_cmd" - ) - self.right_gripper_action_client: ActionClient = ActionClient( - self, GripperCommand, "/gripper_controller_right/gripper_cmd" - ) - self.previous_open = False - - def pub(self, msg: Joy): - t = Twist() - t.linear.x = msg.axes[1] * 0.30 - t.linear.y = msg.axes[0] * 0.30 - - if msg.buttons[4] == 1: - t.linear.z = 0.10 - elif msg.buttons[5] == 1: - t.linear.z = -0.10 - else: - t.linear.z = 0.0 - - # t.angular.z = msg.axes[2] * 0.5 - t.angular.y = msg.axes[3] * 0.2 - - self.cmd_twist_publisher.publish(t) - - if msg.buttons[1] == 1: - self.start_servo_service_request.call_async(Trigger.Request()) - if msg.buttons[2] == 1: - self.stop_servo_service_request.call_async(Trigger.Request()) - - if msg.buttons[3] == 1 and not self.previous_open: - target = GripperCommand.Goal() - target.command.position = 1.0 - self.previous_open = True - self.left_gripper_action_client.send_goal_async(target) - self.right_gripper_action_client.send_goal_async(target) - elif msg.buttons[3] == 0 and self.previous_open: - target = GripperCommand.Goal() - target.command.position = -0.40 - self.previous_open = False - self.left_gripper_action_client.send_goal_async(target) - self.right_gripper_action_client.send_goal_async(target) - - -def main(args=None): - rclpy.init(args=args) - node = TestJoint() - rclpy.spin(node) - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - main()