restructure actuators

ipa320 · Apr 17, 2017 · d753027 · d753027
1 parent a934c5c
commit d753027
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Showing 54 changed files with 171 additions and 75 deletions.
diff --git a/cob_bringup/bundles/base_legacy.launch b/cob_bringup/bundles/base_legacy.launch
@@ -8,9 +8,7 @@
 		<include file="$(find cob_bringup)/drivers/base_driver.launch">
 			<arg name="base" value="$(arg base)"/>
 		</include>
-		<include file="$(find cob_bringup)/controllers/base_controller.launch">
-			<arg name="base" value="$(arg base)"/>
-		</include>
+		<include file="$(find cob_bringup)/controllers/base_controller.launch"/>
 	</group>
 	<group if="$(arg sim)">
 		<include file="$(find cob_bringup)/controllers/base_controller_plugin.launch">

diff --git a/cob_bringup/bundles/base_ros_control.launch b/cob_bringup/bundles/base_ros_control.launch
@@ -14,7 +14,8 @@
 	<arg name="start_external_sync" value="false"/>
 
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
-		<arg name="base" value="$(arg base)"/>
+		<arg name="module" value="$(arg base)"/>
+		<arg name="module_type" value="base"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="can_device" value="$(arg can_device)"/>
 		<arg name="interval_ms" value="$(arg interval_ms)"/>

diff --git a/cob_bringup/bundles/canopen_generic.launch b/cob_bringup/bundles/canopen_generic.launch
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="component_name"/>
 
 	<arg name="can_device"/>
@@ -12,7 +13,8 @@
 	<arg name="sim" default="false"/>
 
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="can_device" value="$(arg can_device)"/>
 		<arg name="interval_ms" value="$(arg interval_ms)"/>
@@ -22,11 +24,13 @@
 	<node if="$(arg sim)" ns="$(arg component_name)" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
 
 	<include file="$(find cob_bringup)/controllers/generic_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 	<include if="$(arg cartesian_control)" file="$(find cob_bringup)/controllers/generic_cartesian_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="debug" value="false"/>
 	</include>

diff --git a/cob_bringup/bundles/gripper_sdhx_legacy.launch b/cob_bringup/bundles/gripper_sdhx_legacy.launch
@@ -1,14 +1,16 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="module"/>
+	<arg name="module_type" default="gripper"/>
 	<arg name="component_name"/>
 	<arg name="sim" default="false"/>
 
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/schunk_sdhx.launch">
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 	<include if="$(arg sim)" file="$(find cob_bringup)/controllers/generic_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 </launch>
diff --git a/cob_bringup/bundles/schunk_powercube_legacy.launch b/cob_bringup/bundles/schunk_powercube_legacy.launch
@@ -1,23 +1,27 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="component_name"/>
 	<arg name="sim" default="false"/>
 
 	<group unless="$(arg sim)">
 		<include file="$(find cob_bringup)/drivers/schunk_powercube_chain_driver.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg module)"/>
+			<arg name="module_type" value="$(arg module_type)"/>
 			<arg name="component_name" value="$(arg component_name)"/>
 		</include>
 		<include file="$(find cob_bringup)/controllers/cob_trajectory_controller.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg module)"/>
+			<arg name="module_type" value="$(arg module_type)"/>
 			<arg name="component_name" value="$(arg component_name)"/>
 		</include>
 	</group>
 
 	<group if="$(arg sim)">
 		<include file="$(find cob_bringup)/controllers/generic_controller.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg module)"/>
+			<arg name="module_type" value="$(arg module_type)"/>
 			<arg name="component_name" value="$(arg component_name)"/>
 		</include>
 		<node ns="$(arg component_name)" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>

diff --git a/cob_bringup/controllers/cob_trajectory_controller.launch b/cob_bringup/controllers/cob_trajectory_controller.launch
@@ -1,14 +1,15 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 
 	<group ns="$(arg component_name)">
 
 		<!-- parameter description of the trajectory controller -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_controller.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_controller.yaml"/>
 
 		<!-- The trajectory controller listens for JointTrajectoryFollowAction and sends velocity commands to the CANopen node -->
 		<node pkg="cob_trajectory_controller" type="cob_trajectory_controller" name="joint_trajectory_controller" cwd="node" respawn="false" output="screen"/>

diff --git a/cob_bringup/controllers/generic_cartesian_controller.launch b/cob_bringup/controllers/generic_cartesian_controller.launch
@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 	<arg name="debug" default="false"/>
 
 	<group ns="$(arg component_name)">
 
 		<!-- load Cartesian controller config -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_cartesian_controller.yaml"/>
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_self_collision.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_cartesian_controller.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_self_collision.yaml"/>
 
 		<!-- Cartesian controllers -->
 		<node pkg="cob_twist_controller" type="cob_twist_controller_node" name="twist_controller" cwd="node" respawn="false" output="screen">

diff --git a/cob_bringup/controllers/generic_controller.launch b/cob_bringup/controllers/generic_controller.launch
@@ -1,15 +1,16 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 
 	<group ns="$(arg component_name)">
 
 		<!-- load controller configs -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_controller.yaml"/>
-		<!--rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_joint_limits.yaml"/-->
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_controller.yaml"/>
+		<!--rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_joint_limits.yaml"/-->
 
 		<!-- start_controllers -->
 		<node pkg="controller_manager" type="controller_manager" name="$(arg component_name)_controller_spawner" args="spawn joint_state_controller" respawn="false" output="screen"/>

diff --git a/cob_bringup/drivers/canopen_402.launch b/cob_bringup/drivers/canopen_402.launch
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 	<arg name="can_device"/>
@@ -17,7 +18,7 @@
 
 	<!-- start canopen node -->
 	<node ns="$(arg component_name)" pkg="canopen_motor_node" type="canopen_motor_node" name="driver" output="screen">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_driver.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_driver.yaml"/>
 		<rosparam subst_value="True">{bus: { device: $(arg can_device) } }</rosparam>
 		<rosparam subst_value="True" if="$(arg use_external_sync)">{sync: { interval_ms: $(arg interval_ms), overflow: $(arg overflow) } }</rosparam>
 		<param name="bus/master_allocator" value="canopen::ExternalMaster::Allocator" if="$(arg use_external_sync)"/>

diff --git a/cob_bringup/drivers/schunk_powercube_chain_driver.launch b/cob_bringup/drivers/schunk_powercube_chain_driver.launch
@@ -1,12 +1,13 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 
 	<node ns="$(arg component_name)" pkg="schunk_powercube_chain" type="schunk_powercube_chain" name="$(arg component_name)_driver" respawn="false" output="screen" >
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_driver.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_driver.yaml"/>
 		<remap from="diagnostics" to="/diagnostics"/>
 	</node>
 

diff --git a/cob_bringup/modules/arm/cob4-arm3.launch b/cob_bringup/modules/arm/cob4-arm3.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="arm" value="cob4-arm3"/>
+	<arg name="component_name"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg arm)"/>
+		<arg name="module_type" value="arm"/>
+		<arg name="component_name" value="$(arg component_name)"/>
+		<arg name="can_device" value="can3"/>
+		<arg name="sim" value="$(arg sim)"/>
+		<arg if="$(arg sim)" name="cartesian_control" value="true"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/arm/cob4-arm4.launch b/cob_bringup/modules/arm/cob4-arm4.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="arm" value="cob4-arm4"/>
+	<arg name="component_name"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg arm)"/>
+		<arg name="module_type" value="arm"/>
+		<arg name="component_name" value="$(arg component_name)"/>
+		<arg name="can_device" value="can2"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/cob4-b3.launch b/cob_bringup/modules/base/cob4-b3.launch
@@ -8,7 +8,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>

diff --git a/cob_bringup/modules/base/cob4-b4.launch b/cob_bringup/modules/base/cob4-b4.launch
@@ -8,7 +8,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>

diff --git a/cob_bringup/modules/base/cob4-b5.launch b/cob_bringup/modules/base/cob4-b5.launch
@@ -37,7 +37,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>

diff --git a/cob_bringup/modules/base/cob4-b6.launch b/cob_bringup/modules/base/cob4-b6.launch
@@ -8,7 +8,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>

diff --git a/cob_bringup/modules/base/cob4-b7.launch b/cob_bringup/modules/base/cob4-b7.launch
@@ -37,7 +37,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>

diff --git a/cob_bringup/modules/base/cob4-b8.launch b/cob_bringup/modules/base/cob4-b8.launch
@@ -37,7 +37,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>

diff --git a/cob_bringup/modules/base/raw3-b1.launch b/cob_bringup/modules/base/raw3-b1.launch
@@ -29,7 +29,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>

diff --git a/cob_bringup/modules/base/raw3-b3.launch b/cob_bringup/modules/base/raw3-b3.launch
@@ -5,15 +5,15 @@
 
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
 		<arg name="name" value="base_laser_front"/>
-		<arg name="port" value="/dev/ttyScan0"/>
+		<arg name="port" value="/dev/ttyUSB1"/>
 		<arg name="inverted" value="false"/>
 		<arg name="scan_id" value="7"/>
 		<arg name="scan_intervals" value=" [[-2.0, 2.0]]"/>
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
 		<arg name="name" value="base_laser_rear"/>
-		<arg name="port" value="/dev/ttyScan1"/>
+		<arg name="port" value="/dev/ttyUSB0"/>
 		<arg name="inverted" value="false"/>
 		<arg name="scan_id" value="7"/>
 		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
@@ -29,7 +29,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>

diff --git a/cob_bringup/modules/base/raw3-b5.launch b/cob_bringup/modules/base/raw3-b5.launch
@@ -4,7 +4,7 @@
 	<arg name="sim" default="false"/>
 
 	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
-		<arg name="name" value="base_laser_left"/>
+		<arg name="name" value="base_laser_front"/>
 		<arg name="host" value="141.3.80.116"/>
 		<arg name="inverted" value="true"/>
 		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
@@ -28,7 +28,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>

diff --git a/cob_bringup/modules/sensorring/cob4-s3.launch b/cob_bringup/modules/sensorring/cob4-s3.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sensorring" value="cob4-s3"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg sensorring)"/>
+		<arg name="module_type" value="sensorring"/>
+		<arg name="component_name" value="sensorring"/>
+		<arg name="can_device" value="can1"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/torso/cob4-t2.launch b/cob_bringup/modules/torso/cob4-t2.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="torso" value="cob4-t2"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg torso)"/>
+		<arg name="module_type" value="torso"/>
+		<arg name="component_name" value="torso"/>
+		<arg name="can_device" value="can0"/>
+		<arg name="sim" value="$(arg sim)"/>
+		<arg if="$(arg sim)" name="cartesian_control" value="true"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/torso/cob4-t7.launch b/cob_bringup/modules/torso/cob4-t7.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="torso" value="cob4-t7"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg torso)"/>
+		<arg name="module_type" value="torso"/>
+		<arg name="component_name" value="torso"/>
+		<arg name="can_device" value="can0"/>
+		<arg name="sim" value="$(arg sim)"/>
+		<arg if="$(arg sim)" name="cartesian_control" value="true"/>
+	</include>
+
+</launch>