pa10 ros packages

README.md

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+## Synopsis
+
+ROS packages for the integration of MoveIt framework, ros_control and Gazebo for the Mitsubishi PA10 7-DOF Arm.
+

README.md~

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+## Synopsis
+
+These packages are an integration of MoveIt framework, ros_control and Gazebo for 
+Mitsubishi PA10 7-DOF Arm.
+
+
+

pa10_description/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(pa10_description)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+# add_definitions(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES pa10_description
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/pa10_description.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/pa10_description_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_pa10_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

pa10_description/README.md

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+# Synopsis
+This package provides the urdf and mesh files of the PA10.
+
+An underactuated gripper is mounted on the final robot link and
+a Kinect Camera is also rigidly attached wrt base link as the picture
+above shows.
+
+![alt text](https:////github.com/mlogoth/PA10/pa10_description/pa10_urdf.png)
+
+# Information
+This package is tested on Ubuntu 14.04 and using ROS Indigo version.
+
+# Example
+A visual representation of the urdf is the 
+

pa10_description/README.md~

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+#Synopsis
+This package provides the urdf and mesh files of the PA10.
+
+An underactuated gripper is mounted on the final robot link 
+

pa10_description/launch/test.launch

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+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="model" default="$(find pa10_description)/urdf/pa10_csl.urdf.xacro"/>
+  <arg name="gui" default="true" />
+  <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />
+
+  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
+  <param name="use_gui" value="$(arg gui)"/>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>

pa10_description/launch/test.launch~

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+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="model" default="$(find urdf_tutorial)/urdf/r2d2.xacro"/>
+  <arg name="gui" default="true" />
+  <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />
+
+  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
+  <param name="use_gui" value="$(arg gui)"/>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+</launch>

pa10_description/launch/upload_pa10.launch

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+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="multi" default=""/>
+
+  <!-- Robot description -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find pa10_description)/urdf/pa10_csl.urdf.xacro' $(arg multi)" />
+
+</launch>

pa10_description/launch/upload_pa10.launch~

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+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="multi" default=""/>
+
+  <!-- Robot description -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find tiago_description)/robots/tiago_$(arg robot).urdf.xacro' $(arg multi)" />
+
+</launch>

pa10_description/pa10_stl/pa10_model.urdf~

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+<robot name="pa10_mitsubishi">
+  <link name="S1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="~/pa10_stl/S1.stl"/>
+
+
+<!-- podemos usar tambien en vez de mesh que requiere un archivo, cilindros cajas o esferas!!! -->
+
+      </geometry>
+      <material name="">
+        <color rgba="0.34 0.35 0.36 1.0"/>
+      </material>
+    </visual>
+  </link>
+<link name="S2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.317"/>
+      <geometry>
+        <mesh filename="~/pa10_stl/S2.stl"/>
+
+
+<!-- podemos usar tambien en vez de mesh que requiere un archivo, cilindros cajas o esferas!!! -->
+
+      </geometry>
+      <material name="">
+        <color rgba="0.34 0.35 0.36 1.0"/>
+      </material>
+    </visual>
+  </link>

pa10_description/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>pa10_description</name>
+  <version>0.0.0</version>
+  <description>The pa10_description package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">ubuntin</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/pa10_description</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>