Merge pull request #5 from hariharan20/main

Refactor and Removed Angular Velocity Constraint
LCAS · Dec 17, 2023 · 6f03a43 · 6f03a43
2 parents 9b953d8 + f45cee3
commit 6f03a43
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Showing 13 changed files with 10 additions and 292 deletions.
diff --git a/dogtooth_base/CMakeLists.txt b/dogtooth_base/CMakeLists.txt
@@ -78,7 +78,7 @@ endif()
 # endif()
 
 install(
-  DIRECTORY launch
+  DIRECTORY launch config
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/..._control/config/hardware_controllers.yaml → ...oth_base/config/hardware_controllers.yaml b/..._control/config/hardware_controllers.yaml → ...oth_base/config/hardware_controllers.yaml
diff --git a/dogtooth_base/launch/dogtooth.launch.py b/dogtooth_base/launch/dogtooth.launch.py
@@ -61,7 +61,7 @@ def generate_launch_description():
 
     robot_controllers = PathJoinSubstitution(
         [
-            FindPackageShare("dogtooth_control"),
+            FindPackageShare("dogtooth_base"),
             "config",
             "hardware_controllers.yaml",
         ]

diff --git a/dogtooth_control/CMakeLists.txt b/dogtooth_control/CMakeLists.txt
diff --git a/dogtooth_control/config/view_dogtooth.rviz b/dogtooth_control/config/view_dogtooth.rviz
diff --git a/dogtooth_control/package.xml b/dogtooth_control/package.xml
diff --git a/dogtooth_controller/src/dogtooth_controller.cpp b/dogtooth_controller/src/dogtooth_controller.cpp
@@ -307,10 +307,10 @@ controller_interface::return_type DogtoothController::update(
   // float x = x_value;
   // float z = z_value;
   message["velocity"]["x"] = linear_command ;
-  if ((linear_command >= 0.0 && linear_command < 0.05)  || (linear_command <= 0.0 && linear_command > -0.05)){
-    message["angulary"]["z"] = 0.0; }
-  else {
-    message["angulary"]["z"] = angular_command;}
+  // if ((linear_command >= 0.0 && linear_command < 0.05)  || (linear_command <= 0.0 && linear_command > -0.05)){
+  //   message["angulary"]["z"] = 0.0; }
+  // else {
+    message["angulary"]["z"] = angular_command;//}
     // std::cout<< "============before_update_time" << std::endl;
 
   update_time();

diff --git a/...l/description/dogtooth.ros2_control.xacro → ...n/description/dogtooth.ros2_control.xacro b/...l/description/dogtooth.ros2_control.xacro → ...n/description/dogtooth.ros2_control.xacro
diff --git a/dogtooth_description/description/dogtooth.urdf.xacro b/dogtooth_description/description/dogtooth.urdf.xacro
@@ -6,10 +6,10 @@
     <xacro:include filename="robot_core.xacro"/>
     <xacro:dogbot prefix="$(arg prefix)" />
     <xacro:if value="$(arg use_ros2_control)">
-        <xacro:include filename="$(find dogtooth_control)/description/ros2_control.xacro" />
+        <xacro:include filename="$(find dogtooth_description)/description/ros2_control.xacro" />
     </xacro:if>
     <xacro:unless value="$(arg use_ros2_control)">
-        <xacro:include filename="$(find dogtooth_control)/description/gazebo_control.xacro" />
+        <xacro:include filename="$(find dogtooth_description)/description/gazebo_control.xacro" />
     </xacro:unless>
 
 </robot>
diff --git a/dogtooth_description/description/dogtooth_hardware.urdf.xacro b/dogtooth_description/description/dogtooth_hardware.urdf.xacro
@@ -10,7 +10,7 @@
   <xacro:include filename="$(find ros2_control_demo_description)/diffbot/urdf/diffbot.materials.xacro" /> -->
 
   <!-- Import diffbot ros2_control description -->
-  <xacro:include filename="$(find dogtooth_control)/description/dogtooth.ros2_control.xacro" />
+  <xacro:include filename="$(find dogtooth_description)/description/dogtooth.ros2_control.xacro" />
 
   <xacro:dogbot prefix="$(arg prefix)" />
 

diff --git a/..._control/description/gazebo_control.xacro → ...cription/description/gazebo_control.xacro b/..._control/description/gazebo_control.xacro → ...cription/description/gazebo_control.xacro
diff --git a/...th_control/description/ros2_control.xacro → ...escription/description/ros2_control.xacro b/...th_control/description/ros2_control.xacro → ...escription/description/ros2_control.xacro
@@ -41,7 +41,7 @@
 
     <gazebo>
         <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-            <parameters>$(find dogtooth_control)/config/controllers.yaml</parameters>
+            <parameters>$(find dogtooth_gazebo)/config/controllers.yaml</parameters>
         </plugin>
     </gazebo>
 

diff --git a/dogtooth_control/config/controllers.yaml → dogtooth_gazebo/config/controllers.yaml b/dogtooth_control/config/controllers.yaml → dogtooth_gazebo/config/controllers.yaml