diff --git a/README.md b/README.md new file mode 100644 index 0000000..ffef140 --- /dev/null +++ b/README.md @@ -0,0 +1,4 @@ +## Synopsis + +ROS packages for the integration of MoveIt framework, ros_control and Gazebo for the Mitsubishi PA10 7-DOF Arm. + diff --git a/README.md~ b/README.md~ new file mode 100644 index 0000000..e68a883 --- /dev/null +++ b/README.md~ @@ -0,0 +1,7 @@ +## Synopsis + +These packages are an integration of MoveIt framework, ros_control and Gazebo for +Mitsubishi PA10 7-DOF Arm. + + + diff --git a/pa10_description/CMakeLists.txt b/pa10_description/CMakeLists.txt new file mode 100644 index 0000000..2459a6f --- /dev/null +++ b/pa10_description/CMakeLists.txt @@ -0,0 +1,192 @@ +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) diff --git a/pa10_description/README.md b/pa10_description/README.md new file mode 100644 index 0000000..9286cee --- /dev/null +++ b/pa10_description/README.md @@ -0,0 +1,15 @@ +# 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 + diff --git a/pa10_description/README.md~ b/pa10_description/README.md~ new file mode 100644 index 0000000..cbcf987 --- /dev/null +++ b/pa10_description/README.md~ @@ -0,0 +1,5 @@ +#Synopsis +This package provides the urdf and mesh files of the PA10. + +An underactuated gripper is mounted on the final robot link + diff --git a/pa10_description/gripper_stl/finger.STL b/pa10_description/gripper_stl/finger.STL new file mode 100644 index 0000000..580d191 Binary files /dev/null and b/pa10_description/gripper_stl/finger.STL differ diff --git a/pa10_description/gripper_stl/finger_left.STL b/pa10_description/gripper_stl/finger_left.STL new file mode 100644 index 0000000..f220ebd Binary files /dev/null and b/pa10_description/gripper_stl/finger_left.STL differ diff --git a/pa10_description/gripper_stl/pa10_gripper_base.stl b/pa10_description/gripper_stl/pa10_gripper_base.stl new file mode 100644 index 0000000..c093336 Binary files /dev/null and b/pa10_description/gripper_stl/pa10_gripper_base.stl differ diff --git a/pa10_description/launch/test.launch b/pa10_description/launch/test.launch new file mode 100644 index 0000000..cfe8b12 --- /dev/null +++ b/pa10_description/launch/test.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/pa10_description/launch/test.launch~ b/pa10_description/launch/test.launch~ new file mode 100644 index 0000000..fafe3ed --- /dev/null +++ b/pa10_description/launch/test.launch~ @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/pa10_description/launch/upload_pa10.launch b/pa10_description/launch/upload_pa10.launch new file mode 100644 index 0000000..c0a633a --- /dev/null +++ b/pa10_description/launch/upload_pa10.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/pa10_description/launch/upload_pa10.launch~ b/pa10_description/launch/upload_pa10.launch~ new file mode 100644 index 0000000..fde94e2 --- /dev/null +++ b/pa10_description/launch/upload_pa10.launch~ @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/pa10_description/materials/textures/kinect.png b/pa10_description/materials/textures/kinect.png new file mode 100644 index 0000000..a930a83 Binary files /dev/null and b/pa10_description/materials/textures/kinect.png differ diff --git a/pa10_description/materials/textures/kinect.tga b/pa10_description/materials/textures/kinect.tga new file mode 100644 index 0000000..9e35c24 Binary files /dev/null and b/pa10_description/materials/textures/kinect.tga differ diff --git a/pa10_description/pa10_stl/E1-1.stl b/pa10_description/pa10_stl/E1-1.stl new file mode 100644 index 0000000..e48f22e Binary files /dev/null and b/pa10_description/pa10_stl/E1-1.stl differ diff --git a/pa10_description/pa10_stl/E1-2.stl b/pa10_description/pa10_stl/E1-2.stl new file mode 100644 index 0000000..58a081a Binary files /dev/null and b/pa10_description/pa10_stl/E1-2.stl differ diff --git a/pa10_description/pa10_stl/E1.stl b/pa10_description/pa10_stl/E1.stl new file mode 100644 index 0000000..c06fa1b Binary files 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b/pa10_description/pa10_stl_collision/E1_collision.stl new file mode 100644 index 0000000..3e0a7ba Binary files /dev/null and b/pa10_description/pa10_stl_collision/E1_collision.stl differ diff --git a/pa10_description/pa10_stl_collision/E2_collision.stl b/pa10_description/pa10_stl_collision/E2_collision.stl new file mode 100644 index 0000000..1f63724 Binary files /dev/null and b/pa10_description/pa10_stl_collision/E2_collision.stl differ diff --git a/pa10_description/pa10_stl_collision/S1_collision.stl b/pa10_description/pa10_stl_collision/S1_collision.stl new file mode 100644 index 0000000..4fa1332 Binary files /dev/null and b/pa10_description/pa10_stl_collision/S1_collision.stl differ diff --git a/pa10_description/pa10_stl_collision/S2_collision.stl b/pa10_description/pa10_stl_collision/S2_collision.stl new file mode 100644 index 0000000..98509a0 Binary files /dev/null and b/pa10_description/pa10_stl_collision/S2_collision.stl differ diff --git 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b/pa10_description/package.xml new file mode 100644 index 0000000..15fef1a --- /dev/null +++ b/pa10_description/package.xml @@ -0,0 +1,50 @@ + + + pa10_description + 0.0.0 + The pa10_description package + + + + + ubuntin + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/pa10_description/sensors_3D_models/kinect.dae b/pa10_description/sensors_3D_models/kinect.dae new file mode 100644 index 0000000..d189e94 --- /dev/null +++ b/pa10_description/sensors_3D_models/kinect.dae @@ -0,0 +1,174 @@ + + + + + Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com + Blender v:249 - Illusoft Collada Exporter v:0.3.162 + + + file:///u/nkoenig/kinect.blend + + 2011-03-08T14:13:08.240878 + 2011-03-08T14:13:08.240905 + + Z_UP + + + + + + + kinect_tga-img + A8R8G8B8 + + + + + kinect_tga-surface + LINEAR_MIPMAP_LINEAR + LINEAR + + + + + + 0.00000 0.00000 0.00000 1 + + + 0.10980 0.10980 0.10980 1 + + + + + + 0.50000 0.50000 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new file mode 100644 index 0000000..26eaacf --- /dev/null +++ b/pa10_description/urdf_backup/pa10_csl.urdf.xacro @@ -0,0 +1,299 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_description/urdf_backup/pa10_csl.urdf.xacro~ b/pa10_description/urdf_backup/pa10_csl.urdf.xacro~ new file mode 100644 index 0000000..3eaad54 --- /dev/null +++ b/pa10_description/urdf_backup/pa10_csl.urdf.xacro~ @@ -0,0 +1,297 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_description/urdf_backup/pa10csl.gazebo b/pa10_description/urdf_backup/pa10csl.gazebo new file mode 100644 index 0000000..d0d9dc9 --- /dev/null +++ b/pa10_description/urdf_backup/pa10csl.gazebo @@ -0,0 +1,60 @@ + + + + + + + /pa10 + gazebo_ros_control/DefaultRobotHWSim + + + + + + 0.2 + 0.2 + Gazebo/Grey + + + + + + Gazebo/Green + + + + + 0.2 + 0.2 + Gazebo/Grey + + + + + 0.2 + 0.2 + Gazebo/Green + + + + + 0.2 + 0.2 + Gazebo/Grey + + + + + 0.2 + 0.2 + Gazebo/Green + + + + + 0.2 + 0.2 + Gazebo/Grey + + + diff --git a/pa10_description/urdf_backup/pa10csl.gazebo~ b/pa10_description/urdf_backup/pa10csl.gazebo~ new file mode 100644 index 0000000..3a978ed --- /dev/null +++ b/pa10_description/urdf_backup/pa10csl.gazebo~ @@ -0,0 +1,60 @@ + + + + + + + /pa10 + gazebo_ros_control/DefaultRobotHWSim + + + + + + 0.2 + 0.2 + Gazebo/Grey + + + + + + Gazebo/Green + + + + + 0.2 + 0.2 + Gazebo/Grey + + + + + 0.2 + 0.2 + Gazebo/Green + + + + + 0.2 + 0.2 + Gazebo/Grey + + + + + 0.2 + 0.2 + Gazebo/Green + + + + + 0.2 + 0.2 + Gazebo/Grey + + + diff --git a/pa10_description/urdf_backup/pa10csl.xarco b/pa10_description/urdf_backup/pa10csl.xarco new file mode 100644 index 0000000..814679c --- /dev/null +++ b/pa10_description/urdf_backup/pa10csl.xarco @@ -0,0 +1,264 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_description/urdf_backup/test_pa10.urdf b/pa10_description/urdf_backup/test_pa10.urdf new file mode 100644 index 0000000..c055a57 --- /dev/null +++ b/pa10_description/urdf_backup/test_pa10.urdf @@ -0,0 +1,254 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_description/urdf_backup/test_pa10.urdf~ b/pa10_description/urdf_backup/test_pa10.urdf~ new file mode 100644 index 0000000..c055a57 --- /dev/null +++ b/pa10_description/urdf_backup/test_pa10.urdf~ @@ -0,0 +1,254 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/CMakeLists.txt b/pa10_gazebo/CMakeLists.txt new file mode 100644 index 0000000..47128ef --- /dev/null +++ b/pa10_gazebo/CMakeLists.txt @@ -0,0 +1,192 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pa10_gazebo) + +## 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_gazebo +# 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/${PROJECT_NAME}/pa10_gazebo.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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_gazebo_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_gazebo.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/pa10_gazebo/launch/pa10.launch b/pa10_gazebo/launch/pa10.launch new file mode 100644 index 0000000..6c141b9 --- /dev/null +++ b/pa10_gazebo/launch/pa10.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/launch/pa10.launch~ b/pa10_gazebo/launch/pa10.launch~ new file mode 100644 index 0000000..1f1e198 --- /dev/null +++ b/pa10_gazebo/launch/pa10.launch~ @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/launch/pa10_ccsl_gazebo.launch b/pa10_gazebo/launch/pa10_ccsl_gazebo.launch new file mode 100644 index 0000000..402387f --- /dev/null +++ b/pa10_gazebo/launch/pa10_ccsl_gazebo.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/launch/pa10_gazebo.launch b/pa10_gazebo/launch/pa10_gazebo.launch new file mode 100644 index 0000000..402387f --- /dev/null +++ b/pa10_gazebo/launch/pa10_gazebo.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/launch/pa10_gazebo.launch~ b/pa10_gazebo/launch/pa10_gazebo.launch~ new file mode 100644 index 0000000..5bd7824 --- /dev/null +++ b/pa10_gazebo/launch/pa10_gazebo.launch~ @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/launch/pa10_spawn.launch b/pa10_gazebo/launch/pa10_spawn.launch new file mode 100644 index 0000000..9b1cee9 --- /dev/null +++ b/pa10_gazebo/launch/pa10_spawn.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/launch/pa10_spawn.launch~ b/pa10_gazebo/launch/pa10_spawn.launch~ new file mode 100644 index 0000000..6f97f3c --- /dev/null +++ b/pa10_gazebo/launch/pa10_spawn.launch~ @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/launch/simulation_pa10_bringup.launch b/pa10_gazebo/launch/simulation_pa10_bringup.launch new file mode 100644 index 0000000..8df163f --- /dev/null +++ b/pa10_gazebo/launch/simulation_pa10_bringup.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/launch/simulation_pa10_bringup.launch~ b/pa10_gazebo/launch/simulation_pa10_bringup.launch~ new file mode 100644 index 0000000..7b44658 --- /dev/null +++ b/pa10_gazebo/launch/simulation_pa10_bringup.launch~ @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_gazebo/models/arm_chair/arm_chair.sdf b/pa10_gazebo/models/arm_chair/arm_chair.sdf new file mode 100644 index 0000000..555e20d --- /dev/null +++ b/pa10_gazebo/models/arm_chair/arm_chair.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://arm_chair/meshes/arm_chair.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://arm_chair/meshes/arm_chair.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/arm_chair/meshes/arm_chair.stl b/pa10_gazebo/models/arm_chair/meshes/arm_chair.stl new file mode 100644 index 0000000..d41da47 Binary files /dev/null and b/pa10_gazebo/models/arm_chair/meshes/arm_chair.stl differ diff --git a/pa10_gazebo/models/arm_chair/model.config b/pa10_gazebo/models/arm_chair/model.config new file mode 100644 index 0000000..44eb2cf --- /dev/null +++ b/pa10_gazebo/models/arm_chair/model.config @@ -0,0 +1,15 @@ + + + arm_chair + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + arm_chair.sdf + + arm_chair + + + + diff --git a/pa10_gazebo/models/aruco_board/aruco_board.sdf b/pa10_gazebo/models/aruco_board/aruco_board.sdf new file mode 100644 index 0000000..83d5e24 --- /dev/null +++ b/pa10_gazebo/models/aruco_board/aruco_board.sdf @@ -0,0 +1,53 @@ + + + + 0 + + + 0.5 + + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + + + + + + 0.02 1.9 1.3 + + + + + + + + + + 0.02 1.9 1.3 + + + + + + + + + + + + + + 1 + 0 + 0 + + + diff --git a/pa10_gazebo/models/aruco_board/material/scripts/aruco_board.material b/pa10_gazebo/models/aruco_board/material/scripts/aruco_board.material new file mode 100644 index 0000000..857a218 --- /dev/null +++ b/pa10_gazebo/models/aruco_board/material/scripts/aruco_board.material @@ -0,0 +1,14 @@ +material Aruco/aruco_board +{ + technique + { + pass + { + texture_unit + { + texture aruco_board.png + } + } + } +} + diff --git a/pa10_gazebo/models/aruco_board/material/textures/aruco_board.png b/pa10_gazebo/models/aruco_board/material/textures/aruco_board.png new file mode 100644 index 0000000..a5e44cc Binary files /dev/null and b/pa10_gazebo/models/aruco_board/material/textures/aruco_board.png differ diff --git a/pa10_gazebo/models/aruco_board/model.config b/pa10_gazebo/models/aruco_board/model.config new file mode 100644 index 0000000..dd67355 --- /dev/null +++ b/pa10_gazebo/models/aruco_board/model.config @@ -0,0 +1,15 @@ + + + aruco_board + 1.0 + + Aruco marker board + + + Jordi Pages + jordi.pages@pal-robotics.com + + aruco_board.sdf + + + diff --git a/pa10_gazebo/models/aruco_cube/aruco_cube.sdf b/pa10_gazebo/models/aruco_cube/aruco_cube.sdf new file mode 100644 index 0000000..9043776 --- /dev/null +++ b/pa10_gazebo/models/aruco_cube/aruco_cube.sdf @@ -0,0 +1,64 @@ + + + + 0 + + + + 0.05 + + 0.000052083 + 0.0 + 0.0 + 0.000052083 + 0.0 + 0.000020833 + + + + + 0 0 0 0 0 0 + + + 0.05 0.05 0.1 + + + + + + 30.0 + 30.0 + 0 0 0 + + + + + 1000000.0 + 100.0 + 0.0025 + 1.0 + + + + + + + 0 0 0 0 0 0 + + + model://aruco_cube/meshes/aruco_cube_5cm.dae + 1 1 2 + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/aruco_cube/meshes/aruco_cube_5cm.dae b/pa10_gazebo/models/aruco_cube/meshes/aruco_cube_5cm.dae new file mode 100644 index 0000000..1349496 --- /dev/null +++ b/pa10_gazebo/models/aruco_cube/meshes/aruco_cube_5cm.dae @@ -0,0 +1,225 @@ + + + + + Blender User + Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08 + + 2016-09-12T13:44:38 + 2016-09-12T13:44:38 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + marker582_small_margin.png + + + + + + + + marker582_small_margin_png + + + + + marker582_small_margin_png-surface + + + + + + 1 1 1 1 + + + 0 0 0 1 + + + + + + 0.5 0.5 0.5 1 + + + 75 + + + 1 + + + + + + + + + + + + + + + + -0.02499997 -0.02499997 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0.471630 0.290448 0.497043 0.290200 0.471630 0.256110 0.471630 0.350037 0.497043 0.290200 0.471630 0.350037 0.497043 0.350037 0.497043 0.290200 0.497043 0.350037 0.513410 0.290240 0.497043 0.290200 0.513410 0.350037 0.513410 0.290240 0.497043 0.350037 0.513410 0.350037 0.532953 0.290130 0.513410 0.290240 0.532953 0.350037 0.532953 0.290130 0.513410 0.350037 0.532953 0.350037 0.551237 0.289504 0.532953 0.290130 0.532953 0.350037 0.551237 0.350037 0.551237 0.289504 0.532953 0.350037 0.560605 0.390057 0.551237 0.350037 0.545278 0.393209 0.560605 0.390057 0.532953 0.350037 0.545278 0.393209 0.563916 0.393503 0.560605 0.390057 0.553328 0.399903 0.563916 0.393503 0.545278 0.393209 0.553328 0.399903 0.567226 0.396950 0.563916 0.393503 0.561379 0.406598 0.567226 0.396950 0.553328 0.399903 0.581634 0.404887 0.567226 0.396950 0.561379 0.406598 0.581634 0.404887 0.581634 0.398040 0.567226 0.396950 0.004356 0.404887 0.018764 0.396950 0.004356 0.398040 0.024611 0.406598 0.018764 0.396950 0.004356 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0.350037 0.416636 0.350037 0.389340 0.350037 0.389340 0.392335 0.416636 0.350037 0.416636 0.291813 0.389340 0.350037 0.443660 0.291105 0.416636 0.291813 0.416636 0.350037 0.443660 0.291105 0.416636 0.263168 0.416636 0.291813 0.443660 0.291105 0.443660 0.259414 0.416636 0.263168 0.443660 0.259414 0.416636 0.246348 0.416636 0.263168 0.443660 0.259414 0.443660 0.239549 0.416636 0.246348 0.471630 0.256110 0.443660 0.239549 0.443660 0.259414 0.471630 0.256110 0.471630 0.233597 0.443660 0.239549 0.471630 0.256110 0.497043 0.255657 0.471630 0.233597 0.497043 0.290200 0.497043 0.255657 0.471630 0.256110 0.513410 0.290240 0.497043 0.255657 0.497043 0.290200 0.513410 0.290240 0.513410 0.256789 0.497043 0.255657 0.513410 0.290240 0.532953 0.258444 0.513410 0.256789 0.532953 0.290130 0.532953 0.258444 0.513410 0.290240 0.532953 0.290130 0.551237 0.259906 0.532953 0.258444 0.532953 0.290130 0.551237 0.289504 0.551237 0.259906 0.551237 0.289504 0.571434 0.260057 0.551237 0.259906 0.551237 0.289504 0.571438 0.288993 0.571434 0.260057 0.551237 0.350037 0.571438 0.288993 0.551237 0.289504 0.551237 0.350037 0.571433 0.350037 0.571438 0.288993 0.560605 0.390057 0.571433 0.350037 0.551237 0.350037 0.560605 0.390057 0.571426 0.386497 0.571433 0.350037 0.571426 0.386497 0.560605 0.390057 0.573009 0.389005 0.563916 0.393503 0.573009 0.389005 0.560605 0.390057 0.567226 0.396950 0.573009 0.389005 0.563916 0.393503 0.573009 0.389005 0.567226 0.396950 0.572879 0.391513 0.581634 0.398040 0.572879 0.391513 0.567226 0.396950 0.581634 0.398040 0.581634 0.393005 0.572879 0.391513 0.013111 0.391513 0.004356 0.393005 0.004356 0.398040 0.282541 0.390935 0.292995 0.394823 0.292995 0.392391 0.292995 0.392391 0.292995 0.394823 0.303449 0.390935 0.292995 0.394823 0.310234 0.397476 0.303449 0.390935 0.303449 0.390935 0.310234 0.397476 0.314049 0.394242 0.310234 0.397476 0.334748 0.406054 0.314049 0.394242 0.314049 0.394242 0.334748 0.406054 0.340740 0.393304 0.334748 0.406054 0.363199 0.392883 0.340740 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0.013364 0.416636 0.013364 0.443660 0.013364 0.443660 0.002952 0.389340 0.013364 0.416636 0.002952 0.389340 0.002952 0.416636 0.038842 0.389340 0.038842 0.389340 0.100659 0.363199 0.103910 0.389340 0.100659 0.389340 0.038842 0.363199 0.143194 0.389340 0.100659 0.363199 0.103910 0.363199 0.143194 0.389340 0.143194 0.389340 0.100659 0.363199 0.199585 0.389340 0.143194 0.363199 0.143194 0.363199 0.199585 0.389340 0.199585 0.389340 0.143194 0.363199 0.214921 0.389340 0.199585 0.363199 0.199585 0.389340 0.218211 0.389340 0.199585 0.363199 0.214921 0.416636 0.199585 0.389340 0.199585 0.389340 0.218211 0.416636 0.143194 0.389340 0.199585 0.416636 0.199585 0.416636 0.143194 0.389340 0.143194 0.389340 0.199585 0.416636 0.143194 0.389340 0.100659 0.389340 0.143194 0.416636 0.083400 0.389340 0.100659 0.416636 0.143194 0.416636 0.038842 0.389340 0.100659 0.416636 0.083400 0.416636 0.199585 0.389340 0.218211 0.416636 0.223310 0.416636 0.223310 0.389340 0.218211 0.389340 0.232524 0.389340 0.232524 0.389340 0.218211 0.363199 0.227221 0.363199 0.214921 0.346224 0.229409 0.363199 0.227221 0.363199 0.214921 0.346224 0.239976 0.363199 0.227221 0.346224 0.229409 0.346224 0.239976 0.363199 0.239552 0.363199 0.227221 0.346224 0.259909 0.363199 0.239552 0.346224 0.239976 0.346224 0.259909 0.363199 0.259980 0.363199 0.239552 0.346224 0.291668 0.363199 0.259980 0.346224 0.259909 0.346224 0.291668 0.363199 0.292233 0.363199 0.259980 0.346224 0.350037 0.363199 0.292233 0.346224 0.291668 0.346224 0.350037 0.363199 0.350037 0.363199 0.292233 0.340740 0.393304 0.363199 0.350037 0.346224 0.350037 0.326780 0.350037 0.340740 0.393304 0.346224 0.350037 0.317863 0.391009 0.340740 0.393304 0.326780 0.350037 0.314049 0.394242 0.340740 0.393304 0.317863 0.391009 0.304421 0.388947 0.314049 0.394242 0.317863 0.391009 0.304421 0.388947 0.303449 0.390935 0.314049 0.394242 0.305392 0.386958 0.304421 0.388947 0.317863 0.391009 0.305392 0.386958 0.317863 0.391009 0.326780 0.350037 0.305392 0.386958 0.326780 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citizen_extras_male_03 + 0.1.0 + + Jordi Pages + jordi.page@pal-robotics.com + + model.sdf + + 3D City People - Male 03 - iClone Citizen Extras downloaded from sketchup.google.com + + diff --git a/pa10_gazebo/models/citizen_extras_male_03/model.sdf b/pa10_gazebo/models/citizen_extras_male_03/model.sdf new file mode 100644 index 0000000..3921780 --- /dev/null +++ b/pa10_gazebo/models/citizen_extras_male_03/model.sdf @@ -0,0 +1,66 @@ + + + + + + + + + + + 20 + + + + 0.0 + + 0.0 + + 0.0 + + 0.0 + + 0.0 + + 0.0 + + + + + + + + 0 0 0 0 0 0 + + + + + + model://citizen_extras_male_03/meshes/mesh.dae + + + + + + + + + + 0 0 0 0 0 0 + + + + + + model://citizen_extras_male_03/meshes/mesh.dae + + + + + + + + + + + diff --git a/pa10_gazebo/models/closet/closet.sdf b/pa10_gazebo/models/closet/closet.sdf new file mode 100644 index 0000000..601be0e --- /dev/null +++ b/pa10_gazebo/models/closet/closet.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://closet/meshes/closet.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://closet/meshes/closet.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/closet/meshes/closet.stl b/pa10_gazebo/models/closet/meshes/closet.stl new file mode 100644 index 0000000..58e1474 Binary files /dev/null and b/pa10_gazebo/models/closet/meshes/closet.stl differ diff --git a/pa10_gazebo/models/closet/model.config b/pa10_gazebo/models/closet/model.config new file mode 100644 index 0000000..3f63cf4 --- /dev/null +++ b/pa10_gazebo/models/closet/model.config @@ -0,0 +1,15 @@ + + + closet + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + closet.sdf + + closet + + + + diff --git a/pa10_gazebo/models/cocacola/cocacola.sdf b/pa10_gazebo/models/cocacola/cocacola.sdf new file mode 100644 index 0000000..aa52a07 --- /dev/null +++ b/pa10_gazebo/models/cocacola/cocacola.sdf @@ -0,0 +1,59 @@ + + + 0 + + + 0.25 + + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + + + + 0 0 0.075 3.1416 0 0 + + + 0.04 + 0.15 + + + + + + + + + + + + + + 0 0 0.075 3.1416 0 0 + + + 0.04 + 0.15 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/cocacola/material/scripts/cocacola.material b/pa10_gazebo/models/cocacola/material/scripts/cocacola.material new file mode 100644 index 0000000..4b29a6e --- /dev/null +++ b/pa10_gazebo/models/cocacola/material/scripts/cocacola.material @@ -0,0 +1,14 @@ +material Custom/cocacola +{ + technique + { + pass + { + texture_unit + { + texture cocacola.jpg + } + } + } +} + diff --git a/pa10_gazebo/models/cocacola/material/textures/cocacola.jpg b/pa10_gazebo/models/cocacola/material/textures/cocacola.jpg new file mode 100644 index 0000000..aab1f4c Binary files /dev/null and b/pa10_gazebo/models/cocacola/material/textures/cocacola.jpg differ diff --git a/pa10_gazebo/models/cocacola/model.config b/pa10_gazebo/models/cocacola/model.config new file mode 100644 index 0000000..977f566 --- /dev/null +++ b/pa10_gazebo/models/cocacola/model.config @@ -0,0 +1,15 @@ + + + cocacola + 1.0 + + cocacola can + + + Joan Guasch + guasch5000@gmail.com + + cocacola.sdf + + + diff --git a/pa10_gazebo/models/coke_can_slim/coke_can_slim.sdf b/pa10_gazebo/models/coke_can_slim/coke_can_slim.sdf new file mode 100644 index 0000000..0937eb1 --- /dev/null +++ b/pa10_gazebo/models/coke_can_slim/coke_can_slim.sdf @@ -0,0 +1,58 @@ + + + + 0 + + + 0.15 + + 2079.98 + 0.000000 + 0.000000 + 2079.98 + 0.000000 + 419.21 + + + + + + 0.029 + 0.15 + + + + + + + + + + + + + + + + 0.029 + 0.15 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/coke_can_slim/material/scripts/coke_can_slim.material b/pa10_gazebo/models/coke_can_slim/material/scripts/coke_can_slim.material new file mode 100644 index 0000000..43a892b --- /dev/null +++ b/pa10_gazebo/models/coke_can_slim/material/scripts/coke_can_slim.material @@ -0,0 +1,14 @@ +material Custom/coke_can_slim +{ + technique + { + pass + { + texture_unit + { + texture coke_can_slim.jpg + } + } + } +} + diff --git a/pa10_gazebo/models/coke_can_slim/material/textures/coke_can_slim.jpg b/pa10_gazebo/models/coke_can_slim/material/textures/coke_can_slim.jpg new file mode 100644 index 0000000..d598f6a Binary files /dev/null and b/pa10_gazebo/models/coke_can_slim/material/textures/coke_can_slim.jpg differ diff --git a/pa10_gazebo/models/coke_can_slim/model.config b/pa10_gazebo/models/coke_can_slim/model.config new file mode 100644 index 0000000..4eeede7 --- /dev/null +++ b/pa10_gazebo/models/coke_can_slim/model.config @@ -0,0 +1,15 @@ + + + coke_can_slim + 1.0 + + Slim coke can + + + Bence Magyar + bence.magyar@pal-robotics.com + + coke_can_slim.sdf + + + diff --git a/pa10_gazebo/models/database.config b/pa10_gazebo/models/database.config new file mode 100644 index 0000000..5fad997 --- /dev/null +++ b/pa10_gazebo/models/database.config @@ -0,0 +1,17 @@ + + + REEM database + Creative Commons Attribution 3.0 Unported + + file://reem_description + file://reem_right_hand_marker_description + file://reem_rgbd_description + file://reem_head_description + file://reem_arm_description + file://reem_upper_body_description + file://table_1m + file://pringles + file://pringles_with_marker + file://marker26_8cm + + diff --git a/pa10_gazebo/models/dining_chair/dining_chair.sdf b/pa10_gazebo/models/dining_chair/dining_chair.sdf new file mode 100644 index 0000000..4c091c8 --- /dev/null +++ b/pa10_gazebo/models/dining_chair/dining_chair.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://dining_chair/meshes/dining_chair.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://dining_chair/meshes/dining_chair.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/dining_chair/meshes/dining_chair.stl b/pa10_gazebo/models/dining_chair/meshes/dining_chair.stl new file mode 100644 index 0000000..c2a79ea Binary files /dev/null and b/pa10_gazebo/models/dining_chair/meshes/dining_chair.stl differ diff --git a/pa10_gazebo/models/dining_chair/model.config b/pa10_gazebo/models/dining_chair/model.config new file mode 100644 index 0000000..75ad80f --- /dev/null +++ b/pa10_gazebo/models/dining_chair/model.config @@ -0,0 +1,15 @@ + + + dining_chair + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + dining_chair.sdf + + dining_chair + + + + diff --git a/pa10_gazebo/models/floor_lamp/floor_lamp.sdf b/pa10_gazebo/models/floor_lamp/floor_lamp.sdf new file mode 100644 index 0000000..1953e61 --- /dev/null +++ b/pa10_gazebo/models/floor_lamp/floor_lamp.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://floor_lamp/meshes/floor_lamp.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://floor_lamp/meshes/floor_lamp.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/floor_lamp/meshes/floor_lamp.stl b/pa10_gazebo/models/floor_lamp/meshes/floor_lamp.stl new file mode 100644 index 0000000..3ffe9ae Binary files /dev/null and b/pa10_gazebo/models/floor_lamp/meshes/floor_lamp.stl differ diff --git a/pa10_gazebo/models/floor_lamp/model.config b/pa10_gazebo/models/floor_lamp/model.config new file mode 100644 index 0000000..9334f55 --- /dev/null +++ b/pa10_gazebo/models/floor_lamp/model.config @@ -0,0 +1,15 @@ + + + floor_lamp + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + floor_lamp.sdf + + floor_lamp + + + + diff --git a/pa10_gazebo/models/green_ball/materials/scripts/ball.material b/pa10_gazebo/models/green_ball/materials/scripts/ball.material new file mode 100644 index 0000000..bc37763 --- /dev/null +++ b/pa10_gazebo/models/green_ball/materials/scripts/ball.material @@ -0,0 +1,13 @@ +material Ball/Green +{ + technique + { + pass ambient + { + ambient 0.145 0.373 0.286 + diffuse 0.145 0.373 0.286 + specular 0.1 0.1 0.1 1 1 + } + } +} + diff --git a/pa10_gazebo/models/green_ball/model.config b/pa10_gazebo/models/green_ball/model.config new file mode 100644 index 0000000..39affe3 --- /dev/null +++ b/pa10_gazebo/models/green_ball/model.config @@ -0,0 +1,13 @@ + + + green_ball + 0.1.0 + + Bence Magyar + bence.magyar@pal-robotics.com + + model.sdf + + Green ball + + diff --git a/pa10_gazebo/models/green_ball/model.sdf b/pa10_gazebo/models/green_ball/model.sdf new file mode 100644 index 0000000..7f3c4f3 --- /dev/null +++ b/pa10_gazebo/models/green_ball/model.sdf @@ -0,0 +1,28 @@ + + + + + false + + + + 0.035 + + + + + + + 0.035 + + + + + + + + + diff --git a/pa10_gazebo/models/green_cube/green_cube.sdf b/pa10_gazebo/models/green_cube/green_cube.sdf new file mode 100644 index 0000000..13daaed --- /dev/null +++ b/pa10_gazebo/models/green_cube/green_cube.sdf @@ -0,0 +1,62 @@ + + + + 0 + + + 0.25 + + 0.000041667 + 0.000000 + 0.000000 + 0.000041667 + 0.000000 + 0.000041667 + + + + + + 0.060 0.060 0.060 + + + + + + + + + + 0.06 0.06 0.06 + + + + + + 30.0 + 30.0 + + + + + 1000000.0 + 100.0 + 1.0 + 0.0025 + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/green_cube/model.config b/pa10_gazebo/models/green_cube/model.config new file mode 100644 index 0000000..5fdb694 --- /dev/null +++ b/pa10_gazebo/models/green_cube/model.config @@ -0,0 +1,13 @@ + + + green_cube + 1.0.1 + + Jordi Pages + jordi.pages@pal-robotics.com + + green_cube.sdf + + Green cube of 6 cm + + diff --git a/pa10_gazebo/models/kitchen_chair/kitchen_chair.sdf b/pa10_gazebo/models/kitchen_chair/kitchen_chair.sdf new file mode 100644 index 0000000..00c25cb --- /dev/null +++ b/pa10_gazebo/models/kitchen_chair/kitchen_chair.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://kitchen_chair/meshes/kitchen_chair.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://kitchen_chair/meshes/kitchen_chair.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/kitchen_chair/meshes/kitchen_chair.stl b/pa10_gazebo/models/kitchen_chair/meshes/kitchen_chair.stl new file mode 100644 index 0000000..f9fd6b8 Binary files /dev/null and b/pa10_gazebo/models/kitchen_chair/meshes/kitchen_chair.stl differ diff --git a/pa10_gazebo/models/kitchen_chair/model.config b/pa10_gazebo/models/kitchen_chair/model.config new file mode 100644 index 0000000..b21711b --- /dev/null +++ b/pa10_gazebo/models/kitchen_chair/model.config @@ -0,0 +1,15 @@ + + + kitchen_chair + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + kitchen_chair.sdf + + kitchen_chair + + + + diff --git a/pa10_gazebo/models/kitchen_table/kitchen_table.sdf b/pa10_gazebo/models/kitchen_table/kitchen_table.sdf new file mode 100644 index 0000000..7fa6dff --- /dev/null +++ b/pa10_gazebo/models/kitchen_table/kitchen_table.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://kitchen_table/meshes/kitchen_table.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://kitchen_table/meshes/kitchen_table.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/kitchen_table/meshes/kitchen_table.stl b/pa10_gazebo/models/kitchen_table/meshes/kitchen_table.stl new file mode 100644 index 0000000..69af3c8 Binary files /dev/null and b/pa10_gazebo/models/kitchen_table/meshes/kitchen_table.stl differ diff --git a/pa10_gazebo/models/kitchen_table/model.config b/pa10_gazebo/models/kitchen_table/model.config new file mode 100644 index 0000000..9e8b7f6 --- /dev/null +++ b/pa10_gazebo/models/kitchen_table/model.config @@ -0,0 +1,15 @@ + + + kitchen_table + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + kitchen_table.sdf + + kitchen_table + + + + diff --git a/pa10_gazebo/models/lamp/lamp.sdf b/pa10_gazebo/models/lamp/lamp.sdf new file mode 100644 index 0000000..b3db241 --- /dev/null +++ b/pa10_gazebo/models/lamp/lamp.sdf @@ -0,0 +1,49 @@ + + + true + + + 0 0 0 0 0 0 + + + model://lamp/meshes/lamp.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://lamp/meshes/lamp.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/lamp/meshes/lamp.stl b/pa10_gazebo/models/lamp/meshes/lamp.stl new file mode 100644 index 0000000..7b74d41 Binary files /dev/null and b/pa10_gazebo/models/lamp/meshes/lamp.stl differ diff --git a/pa10_gazebo/models/lamp/model.config b/pa10_gazebo/models/lamp/model.config new file mode 100644 index 0000000..cdda2ee --- /dev/null +++ b/pa10_gazebo/models/lamp/model.config @@ -0,0 +1,15 @@ + + + lamp + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + lamp.sdf + + lamp + + + + diff --git a/pa10_gazebo/models/marker26_8cm/marker26_8cm.sdf b/pa10_gazebo/models/marker26_8cm/marker26_8cm.sdf new file mode 100644 index 0000000..bcee889 --- /dev/null +++ b/pa10_gazebo/models/marker26_8cm/marker26_8cm.sdf @@ -0,0 +1,54 @@ + + + + 0 + + + 0.1 + + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + + + + + + 0.09 0.09 0.001 + + + + + + + + + + + 0.09 0.09 0.02 + + + + + + + + + + + + + + 1 + 0 + 1 + + + diff --git a/pa10_gazebo/models/marker26_8cm/material/scripts/marker26_8cm.material b/pa10_gazebo/models/marker26_8cm/material/scripts/marker26_8cm.material new file mode 100644 index 0000000..581b0c1 --- /dev/null +++ b/pa10_gazebo/models/marker26_8cm/material/scripts/marker26_8cm.material @@ -0,0 +1,14 @@ +material Aruco/marker26_8cm +{ + technique + { + pass + { + texture_unit + { + texture aruco-26_8cm.png + } + } + } +} + diff --git a/pa10_gazebo/models/marker26_8cm/material/textures/aruco-26_8cm.png b/pa10_gazebo/models/marker26_8cm/material/textures/aruco-26_8cm.png new file mode 100644 index 0000000..4bf17c2 Binary files /dev/null and b/pa10_gazebo/models/marker26_8cm/material/textures/aruco-26_8cm.png differ diff --git a/pa10_gazebo/models/marker26_8cm/model.config b/pa10_gazebo/models/marker26_8cm/model.config new file mode 100644 index 0000000..c9dd58e --- /dev/null +++ b/pa10_gazebo/models/marker26_8cm/model.config @@ -0,0 +1,15 @@ + + + marker26_8cm + 1.0 + + Aruco marker 26 of 8 cm side length + + + Jordi Pages + jordi.pages@pal-robotics.com + + marker26_8cm.sdf + + + diff --git a/pa10_gazebo/models/pal_poster/material/scripts/pal_poster.material b/pa10_gazebo/models/pal_poster/material/scripts/pal_poster.material new file mode 100644 index 0000000..bedad95 --- /dev/null +++ b/pa10_gazebo/models/pal_poster/material/scripts/pal_poster.material @@ -0,0 +1,14 @@ +material Custom/pal_poster +{ + technique + { + pass + { + texture_unit + { + texture pal_poster.jpg + } + } + } +} + diff --git a/pa10_gazebo/models/pal_poster/material/textures/pal_poster.jpg b/pa10_gazebo/models/pal_poster/material/textures/pal_poster.jpg new file mode 100644 index 0000000..fe4d5f0 Binary files /dev/null and b/pa10_gazebo/models/pal_poster/material/textures/pal_poster.jpg differ diff --git a/pa10_gazebo/models/pal_poster/model.config b/pa10_gazebo/models/pal_poster/model.config new file mode 100644 index 0000000..98698ee --- /dev/null +++ b/pa10_gazebo/models/pal_poster/model.config @@ -0,0 +1,13 @@ + + + pal_poster + 0.1.0 + + Jordi Pages + jordi.pages@pal-robotics.com + + pal_poster.sdf + + Poster with some PAL robots + + diff --git a/pa10_gazebo/models/pal_poster/pal_poster.sdf b/pa10_gazebo/models/pal_poster/pal_poster.sdf new file mode 100644 index 0000000..3176966 --- /dev/null +++ b/pa10_gazebo/models/pal_poster/pal_poster.sdf @@ -0,0 +1,41 @@ + + + + + false + + 0.4 + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + + 0.02 0.5 0.644 + + + + + + + 0.02 0.5 0.644 + + + + + + + + + + diff --git a/pa10_gazebo/models/pringles/material/scripts/pringles.material b/pa10_gazebo/models/pringles/material/scripts/pringles.material new file mode 100644 index 0000000..c31a799 --- /dev/null +++ b/pa10_gazebo/models/pringles/material/scripts/pringles.material @@ -0,0 +1,14 @@ +material Custom/pringles +{ + technique + { + pass + { + texture_unit + { + texture pringles.jpg + } + } + } +} + diff --git a/pa10_gazebo/models/pringles/material/textures/pringles.jpg b/pa10_gazebo/models/pringles/material/textures/pringles.jpg new file mode 100644 index 0000000..9a30f74 Binary files /dev/null and b/pa10_gazebo/models/pringles/material/textures/pringles.jpg differ diff --git a/pa10_gazebo/models/pringles/model.config b/pa10_gazebo/models/pringles/model.config new file mode 100644 index 0000000..40f01b1 --- /dev/null +++ b/pa10_gazebo/models/pringles/model.config @@ -0,0 +1,15 @@ + + + pringles + 1.0 + + Pringles can + + + Jordi Pages + jordi.pages@pal-robotics.com + + pringles.sdf + + + diff --git a/pa10_gazebo/models/pringles/pringles.sdf b/pa10_gazebo/models/pringles/pringles.sdf new file mode 100644 index 0000000..cfca057 --- /dev/null +++ b/pa10_gazebo/models/pringles/pringles.sdf @@ -0,0 +1,58 @@ + + + + 0 + + + 0.25 + + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + + + + + + 0.04 + 0.235 + + + + + + + + + + + + + + + + 0.04 + 0.235 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/pringles2/material/scripts/pringles2.material b/pa10_gazebo/models/pringles2/material/scripts/pringles2.material new file mode 100644 index 0000000..59f667b --- /dev/null +++ b/pa10_gazebo/models/pringles2/material/scripts/pringles2.material @@ -0,0 +1,14 @@ +material Custom/pringles2 +{ + technique + { + pass + { + texture_unit + { + texture pringles2.jpg + } + } + } +} + diff --git a/pa10_gazebo/models/pringles2/material/textures/pringles2.jpg b/pa10_gazebo/models/pringles2/material/textures/pringles2.jpg new file mode 100644 index 0000000..41e4eb2 Binary files /dev/null and b/pa10_gazebo/models/pringles2/material/textures/pringles2.jpg differ diff --git a/pa10_gazebo/models/pringles2/model.config b/pa10_gazebo/models/pringles2/model.config new file mode 100644 index 0000000..901d7d7 --- /dev/null +++ b/pa10_gazebo/models/pringles2/model.config @@ -0,0 +1,15 @@ + + + pringles2 + 1.0 + + Pringles2 can + + + Joan Guasch + guasch5000@gmail.com + + pringles2.sdf + + + diff --git a/pa10_gazebo/models/pringles2/pringles2.sdf b/pa10_gazebo/models/pringles2/pringles2.sdf new file mode 100644 index 0000000..79d7999 --- /dev/null +++ b/pa10_gazebo/models/pringles2/pringles2.sdf @@ -0,0 +1,59 @@ + + + 0 + + + 0.25 + + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + + + + 0 0 0.12 3.1416 0 0 + + + 0.04 + 0.235 + + + + + + + + + + + + + + 0 0 0.12 3.1416 0 0 + + + 0.04 + 0.235 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/reviews_table/meshes/reviews_table.stl b/pa10_gazebo/models/reviews_table/meshes/reviews_table.stl new file mode 100644 index 0000000..548c2cf Binary files /dev/null and b/pa10_gazebo/models/reviews_table/meshes/reviews_table.stl differ diff --git a/pa10_gazebo/models/reviews_table/model.config b/pa10_gazebo/models/reviews_table/model.config new file mode 100644 index 0000000..03766f8 --- /dev/null +++ b/pa10_gazebo/models/reviews_table/model.config @@ -0,0 +1,15 @@ + + + reviews_table + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + reviews_table.sdf + + reviews_table + + + + diff --git a/pa10_gazebo/models/reviews_table/reviews_table.sdf b/pa10_gazebo/models/reviews_table/reviews_table.sdf new file mode 100644 index 0000000..e7de4e3 --- /dev/null +++ b/pa10_gazebo/models/reviews_table/reviews_table.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://reviews_table/meshes/reviews_table.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://reviews_table/meshes/reviews_table.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/robocup_walls_70cm_doors/house_walls.sdf b/pa10_gazebo/models/robocup_walls_70cm_doors/house_walls.sdf new file mode 100644 index 0000000..87bd4f3 --- /dev/null +++ b/pa10_gazebo/models/robocup_walls_70cm_doors/house_walls.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://robocup_walls_70cm_doors/meshes/robocup_house.stl + 0.001 0.001 0.001 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://robocup_walls_70cm_doors/meshes/robocup_house.stl + 0.001 0.001 0.001 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/robocup_walls_70cm_doors/meshes/robocup_house.stl b/pa10_gazebo/models/robocup_walls_70cm_doors/meshes/robocup_house.stl new file mode 100644 index 0000000..7bbcb42 Binary files /dev/null and b/pa10_gazebo/models/robocup_walls_70cm_doors/meshes/robocup_house.stl differ diff --git a/pa10_gazebo/models/robocup_walls_70cm_doors/model.config b/pa10_gazebo/models/robocup_walls_70cm_doors/model.config new file mode 100644 index 0000000..7191d48 --- /dev/null +++ b/pa10_gazebo/models/robocup_walls_70cm_doors/model.config @@ -0,0 +1,15 @@ + + + robocup_walls_70cm_doors + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + house_walls.sdf + + House walls + + + + diff --git a/pa10_gazebo/models/rockin_camp/README b/pa10_gazebo/models/rockin_camp/README new file mode 100644 index 0000000..9309760 --- /dev/null +++ b/pa10_gazebo/models/rockin_camp/README @@ -0,0 +1,4 @@ +The model.sdf file has been auto-generated from rockin_camp.png. + +Use https://github.com/RainCT/img2sdf if you need to re-generate it: + $ img2sdf.py rockin_camp.png 0.027 --name=RockinCamp > model.sdf diff --git a/pa10_gazebo/models/rockin_camp/model.config b/pa10_gazebo/models/rockin_camp/model.config new file mode 100644 index 0000000..f35022a --- /dev/null +++ b/pa10_gazebo/models/rockin_camp/model.config @@ -0,0 +1,16 @@ + + + + Rocking Camp '14 + 1.0 + model.sdf + + + Siegfried-A. Gevatter Pujals + siegfried.gevatter@pal-robotics.com + + + + A 3D model of the testing environment at Rockin Camp 2014. + + diff --git a/pa10_gazebo/models/rockin_camp/model.sdf b/pa10_gazebo/models/rockin_camp/model.sdf new file mode 100644 index 0000000..6af6a55 --- /dev/null +++ b/pa10_gazebo/models/rockin_camp/model.sdf @@ -0,0 +1,583 @@ + + + + 1 + + + + + 2.24100 0.05400 3.00000 + + + 2.20050 -0.05400 0 0 0 0.00000 + + + + + 2.24100 0.05400 3.00000 + + + + + + 2.20050 -0.05400 0 0 0 0.00000 + + + + + + + 0.05400 3.94200 3.00000 + + + 1.10700 -2.05200 0 0 0 0.00000 + + + + + 0.05400 3.94200 3.00000 + + + + + + 1.10700 -2.05200 0 0 0 0.00000 + + + + + + + 0.05400 0.99900 3.00000 + + + 3.29400 -0.58050 0 0 0 0.00000 + + + + + 0.05400 0.99900 3.00000 + + + + + + 3.29400 -0.58050 0 0 0 0.00000 + + + + + + + 3.21300 0.05400 3.00000 + + + 4.92750 -1.05300 0 0 0 0.00000 + + + + + 3.21300 0.05400 3.00000 + + + + + + 4.92750 -1.05300 0 0 0 0.00000 + + + + + + + 0.05400 1.05300 3.00000 + + + 6.50700 -1.60650 0 0 0 0.00000 + + + + + 0.05400 1.05300 3.00000 + + + + + + 6.50700 -1.60650 0 0 0 0.00000 + + + + + + + 0.05400 0.56700 3.00000 + + + 6.48000 -3.49650 0 0 0 0.00000 + + + + + 0.05400 0.56700 3.00000 + + + + + + 6.48000 -3.49650 0 0 0 0.00000 + + + + + + + 1.10700 0.05400 3.00000 + + + 5.89950 -3.72600 0 0 0 0.00000 + + + + + 1.10700 0.05400 3.00000 + + + + + + 5.89950 -3.72600 0 0 0 0.00000 + + + + + + + 1.56600 0.05400 3.00000 + + + 7.29000 -3.75300 0 0 0 0.00000 + + + + + 1.56600 0.05400 3.00000 + + + + + + 7.29000 -3.75300 0 0 0 0.00000 + + + + + + + 0.05400 1.05300 3.00000 + + + 5.37300 -4.27950 0 0 0 0.00000 + + + + + 0.05400 1.05300 3.00000 + + + + + + 5.37300 -4.27950 0 0 0 0.00000 + + + + + + + 0.62100 0.05400 3.00000 + + + 8.38350 -3.78000 0 0 0 0.00000 + + + + + 0.62100 0.05400 3.00000 + + + + + + 8.38350 -3.78000 0 0 0 0.00000 + + + + + + + 0.05400 0.02700 3.00000 + + + 8.04600 -3.79350 0 0 0 0.00000 + + + + + 0.05400 0.02700 3.00000 + + + + + + 8.04600 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+ + + + diff --git a/pa10_gazebo/models/rockin_camp/rockin_camp.png b/pa10_gazebo/models/rockin_camp/rockin_camp.png new file mode 100644 index 0000000..8d5b262 Binary files /dev/null and b/pa10_gazebo/models/rockin_camp/rockin_camp.png differ diff --git a/pa10_gazebo/models/sideboard/meshes/sideboard.stl b/pa10_gazebo/models/sideboard/meshes/sideboard.stl new file mode 100644 index 0000000..4ae4505 Binary files /dev/null and b/pa10_gazebo/models/sideboard/meshes/sideboard.stl differ diff --git a/pa10_gazebo/models/sideboard/model.config b/pa10_gazebo/models/sideboard/model.config new file mode 100644 index 0000000..ffaaa5b --- /dev/null +++ b/pa10_gazebo/models/sideboard/model.config @@ -0,0 +1,15 @@ + + + sideboard + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + sideboard.sdf + + sideboard + + + + diff --git a/pa10_gazebo/models/sideboard/sideboard.sdf b/pa10_gazebo/models/sideboard/sideboard.sdf new file mode 100644 index 0000000..f228269 --- /dev/null +++ b/pa10_gazebo/models/sideboard/sideboard.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://sideboard/meshes/sideboard.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://sideboard/meshes/sideboard.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/sofa/meshes/sofa.stl b/pa10_gazebo/models/sofa/meshes/sofa.stl new file mode 100644 index 0000000..ef692fb Binary files /dev/null and b/pa10_gazebo/models/sofa/meshes/sofa.stl differ diff --git a/pa10_gazebo/models/sofa/model.config b/pa10_gazebo/models/sofa/model.config new file mode 100644 index 0000000..902a84e --- /dev/null +++ b/pa10_gazebo/models/sofa/model.config @@ -0,0 +1,15 @@ + + + sofa + 0.1.0 + + Joan Guasch + guasch5000@pal-robotics.com + + sofa.sdf + + Sofa + + + + diff --git a/pa10_gazebo/models/sofa/sofa.sdf b/pa10_gazebo/models/sofa/sofa.sdf new file mode 100644 index 0000000..b5a16c1 --- /dev/null +++ b/pa10_gazebo/models/sofa/sofa.sdf @@ -0,0 +1,50 @@ + + + 1 + + + + 0 0 0 0 0 0 + + + model://sofa/meshes/sofa.stl + 1 1 1 + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + + model://sofa/meshes/sofa.stl + 1 1 1 + + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/sprite/material/scripts/sprite.material b/pa10_gazebo/models/sprite/material/scripts/sprite.material new file mode 100644 index 0000000..f043a25 --- /dev/null +++ b/pa10_gazebo/models/sprite/material/scripts/sprite.material @@ -0,0 +1,14 @@ +material Custom/sprite +{ + technique + { + pass + { + texture_unit + { + texture sprite.jpg + } + } + } +} + diff --git a/pa10_gazebo/models/sprite/material/textures/sprite.jpg b/pa10_gazebo/models/sprite/material/textures/sprite.jpg new file mode 100644 index 0000000..0475c53 Binary files /dev/null and b/pa10_gazebo/models/sprite/material/textures/sprite.jpg differ diff --git a/pa10_gazebo/models/sprite/model.config b/pa10_gazebo/models/sprite/model.config new file mode 100644 index 0000000..8eb18e5 --- /dev/null +++ b/pa10_gazebo/models/sprite/model.config @@ -0,0 +1,15 @@ + + + sprite + 1.0 + + sprite can + + + Joan Guasch + guasch5000@gmail.com + + sprite.sdf + + + diff --git a/pa10_gazebo/models/sprite/sprite.sdf b/pa10_gazebo/models/sprite/sprite.sdf new file mode 100644 index 0000000..b7b812f --- /dev/null +++ b/pa10_gazebo/models/sprite/sprite.sdf @@ -0,0 +1,59 @@ + + + 0 + + + 0.25 + + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + 0.000000 + + + + 0 0 0.075 3.1416 0 0 + + + 0.04 + 0.15 + + + + + + + + + + + + + + 0 0 0.075 3.1416 0 0 + + + 0.04 + 0.15 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/table_0m8/model.config b/pa10_gazebo/models/table_0m8/model.config new file mode 100644 index 0000000..6e27f0f --- /dev/null +++ b/pa10_gazebo/models/table_0m8/model.config @@ -0,0 +1,13 @@ + + + table_0m8 + 0.1.0 + + Bence Magyar + bence.magyar@pal-robotics.com + + table.sdf + + table + + diff --git a/pa10_gazebo/models/table_0m8/table.sdf b/pa10_gazebo/models/table_0m8/table.sdf new file mode 100644 index 0000000..ff51409 --- /dev/null +++ b/pa10_gazebo/models/table_0m8/table.sdf @@ -0,0 +1,178 @@ + + + + 1 + + + 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 + + + 1.000000 0.800000 0.030000 + + + + + + + + + + + + + + 0.000000 0.000000 0.800000 0.000000 0.000000 0.000000 + + + 1.000000 0.800000 0.030000 + + + + + + + + 0.480000 0.380000 0.400000 0.000000 0.000000 0.000000 + + + 0.020000 + 0.800000 + + + + + + + + + + + + + + 0.480000 0.380000 0.400000 0.000000 0.000000 0.000000 + + + 0.020000 + 0.800000 + + + + + + + + 0.480000 -0.380000 0.400000 0.000000 0.000000 0.000000 + + + 0.020000 + 0.800000 + + + + + + + + + + + + + + 0.480000 -0.380000 0.400000 0.000000 0.000000 0.000000 + + + 0.020000 + 0.800000 + + + + + + + + -0.480000 -0.380000 0.400000 0.000000 0.000000 0.000000 + + + 0.020000 + 0.800000 + + + + + + + + + + + + + + -0.480000 -0.380000 0.400000 0.000000 0.000000 0.000000 + + + 0.020000 + 0.800000 + + + + + + + + -0.480000 0.380000 0.400000 0.000000 0.000000 0.000000 + + + 0.020000 + 0.800000 + + + + + + + + + + + + + + -0.480000 0.380000 0.400000 0.000000 0.000000 0.000000 + + + 0.020000 + 0.800000 + + + + + + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + diff --git a/pa10_gazebo/models/table_1m/model.config b/pa10_gazebo/models/table_1m/model.config new file mode 100644 index 0000000..4c02e24 --- /dev/null +++ b/pa10_gazebo/models/table_1m/model.config @@ -0,0 +1,15 @@ + + + table_1m + 1.0 + + Table 1 m tall + + + Jordi Pages + jordi.pages@pal-robotics.com + + table_1m.sdf + + + diff --git a/pa10_gazebo/models/table_1m/table_1m.sdf b/pa10_gazebo/models/table_1m/table_1m.sdf new file mode 100644 index 0000000..a6e8f80 --- /dev/null +++ b/pa10_gazebo/models/table_1m/table_1m.sdf @@ -0,0 +1,178 @@ + + + + 1 + + + 0.000000 0.000000 1.010000 0.000000 0.000000 0.000000 + + + 1.000000 1.010000 0.030000 + + + + + + + + + + + + + + 0.000000 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a/pa10_gazebo/models/testing_room/README b/pa10_gazebo/models/testing_room/README new file mode 100644 index 0000000..543b49b --- /dev/null +++ b/pa10_gazebo/models/testing_room/README @@ -0,0 +1,4 @@ +The model.sdf file has been auto-generated from testing_room.png. + +Use https://github.com/RainCT/img2sdf if you need to re-generate it: + $ img2sdf.py testing_room.png 0.04 --name=TestingRoom > model.sdf diff --git a/pa10_gazebo/models/testing_room/model.config b/pa10_gazebo/models/testing_room/model.config new file mode 100644 index 0000000..c706b42 --- /dev/null +++ b/pa10_gazebo/models/testing_room/model.config @@ -0,0 +1,16 @@ + + + + Testing Room + 1.0 + model.sdf + + + Siegfried-A. Gevatter Pujals + siegfried.gevatter@pal-robotics.com + + + + An environment for testing advanced path planning (dynamic footprint, etc). + + diff --git a/pa10_gazebo/models/testing_room/model.sdf b/pa10_gazebo/models/testing_room/model.sdf new file mode 100644 index 0000000..24aa16d --- /dev/null +++ b/pa10_gazebo/models/testing_room/model.sdf @@ -0,0 +1,1279 @@ + + + + 1 + + + + + 4.76000 0.12000 3.00000 + + + 2.58000 -0.26000 0 0 0 0.00000 + + + + + 4.76000 0.12000 3.00000 + + + + + + 2.58000 -0.26000 0 0 0 0.00000 + + + + + + + 0.12000 10.56000 3.00000 + + + 0.26000 -5.60000 0 0 0 0.00000 + + + + + 0.12000 10.56000 3.00000 + + + + + + 0.26000 -5.60000 0 0 0 0.00000 + + + + + + + 0.12000 7.60000 3.00000 + + + 4.90000 -4.12000 0 0 0 0.00000 + + + + + 0.12000 7.60000 3.00000 + + + + + + 4.90000 -4.12000 0 0 0 0.00000 + + + + + + + 14.16000 0.12000 3.00000 + + + 12.04000 -0.58000 0 0 0 0.00000 + + + + + 14.16000 0.12000 3.00000 + + + + + + 12.04000 -0.58000 0 0 0 0.00000 + + + + + + + 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440.8093 4.232765 1921.691 440.8093 4.232765 1921.691 440.8093 0 1921.691 440.8093 112 1921.691 436.0193 112 1921.691 632.6637 4.232765 1921.691 632.6637 0 1921.691 632.6637 0 1921.691 632.6637 4.232765 1921.691 632.6637 4.232765 1821.051 632.6637 0 1921.691 632.6637 0 1821.051 632.6637 4.232765 1821.051 632.6637 4.232765 1921.691 632.6637 4.232765 1821.051 632.6637 0 1921.691 632.6637 0 1821.051 637.4537 4.232765 1821.051 632.6637 0 1821.051 632.6637 4.232765 1821.051 637.4537 0 1821.051 637.4537 0 1821.051 637.4537 4.232765 1821.051 632.6637 0 1821.051 632.6637 4.232765 1821.051 637.4537 4.232765 1921.691 637.4537 0 1821.051 637.4537 0 1921.691 637.4537 4.232765 1921.691 637.4537 4.232765 1821.051 637.4537 4.232765 1921.691 637.4537 0 1821.051 637.4537 0 1921.691 706.3378 4.232765 1921.691 637.4537 0 1921.691 637.4537 4.232765 1921.691 706.3378 0 1921.691 706.3378 0 1921.691 706.3378 4.232765 1921.691 637.4537 0 1921.691 637.4537 4.232765 1921.691 706.3378 4.232765 1927.439 706.3378 0 1921.691 706.3378 0 1927.439 706.3378 4.232765 1927.439 706.3378 4.232765 1921.691 706.3378 4.232765 1927.439 706.3378 0 1921.691 706.3378 0 1921.691 436.0193 4.232765 1780.704 436.0193 0 1921.691 436.0193 0 1780.704 436.0193 4.232765 1780.704 436.0193 4.232765 1921.691 436.0193 4.232765 1780.704 436.0193 0 1921.691 436.0193 0 1626.394 599.6277 4.232765 1588.522 599.6277 0 1626.394 599.6277 0 1588.522 599.6277 4.232765 1588.522 599.6277 4.232765 1626.394 599.6277 4.232765 1588.522 599.6277 0 1626.394 599.6277 0 1588.522 599.6277 4.232765 1588.522 618.6394 0 1588.522 599.6277 0 1588.522 618.6394 4.232765 1588.522 618.6394 4.232765 1588.522 599.6277 4.232765 1588.522 618.6394 0 1588.522 599.6277 0 1588.522 618.6394 4.232765 1584.69 618.6394 0 1588.522 618.6394 0 1584.69 618.6394 4.232765 1584.69 618.6394 4.232765 1588.522 618.6394 4.232765 1584.69 618.6394 0 1588.522 618.6394 0 1584.69 623.4294 4.232765 1584.69 618.6394 0 1584.69 618.6394 4.232765 1584.69 623.4294 0 1584.69 623.4294 0 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0 1696.98 623.8233 4.232765 1696.98 604.4177 0 1696.98 604.4177 4.232765 1696.98 623.8233 0 1696.98 623.8233 0 1696.98 623.8233 4.232765 1696.98 604.4177 0 1696.98 604.4177 4.232765 1696.98 623.8233 4.232765 1701.77 623.8233 0 1696.98 623.8233 0 1701.77 623.8233 4.232765 1701.77 623.8233 4.232765 1696.98 623.8233 4.232765 1701.77 623.8233 0 1696.98 623.8233 0 1701.77 623.8233 0 1701.77 608.2497 4.232765 1701.77 608.2497 0 1701.77 623.8233 4.232765 1701.77 623.8233 4.232765 1701.77 623.8233 0 1701.77 608.2497 4.232765 1701.77 608.2497 0 1701.77 608.2497 4.232765 1705.602 608.2497 0 1701.77 608.2497 0 1705.602 608.2497 4.232765 1705.602 608.2497 4.232765 1701.77 608.2497 4.232765 1705.602 608.2497 0 1701.77 608.2497 0 1705.602 608.2497 0 1705.602 604.4177 4.232765 1705.602 604.4177 0 1705.602 608.2497 4.232765 1705.602 608.2497 4.232765 1705.602 608.2497 0 1705.602 604.4177 4.232765 1705.602 604.4177 0 1705.602 604.4177 4.232765 1709.434 604.4177 0 1705.602 604.4177 0 1709.434 604.4177 4.232765 1709.434 604.4177 4.232765 1705.602 604.4177 4.232765 1709.434 604.4177 0 1705.602 604.4177 0 1709.434 604.4177 0 1709.434 599.6277 4.232765 1709.434 599.6277 0 1709.434 604.4177 4.232765 1709.434 604.4177 4.232765 1709.434 604.4177 0 1709.434 599.6277 4.232765 1709.434 599.6277 0 1709.434 599.6277 4.232765 1631.184 599.6277 0 1709.434 599.6277 0 1631.184 599.6277 4.232765 1631.184 599.6277 4.232765 1709.434 599.6277 4.232765 1631.184 599.6277 0 1709.434 599.6277 0 1631.184 599.6277 0 1631.184 440.8093 4.232765 1631.184 440.8093 0 1631.184 599.6277 4.232765 1631.184 599.6277 4.232765 1631.184 599.6277 0 1631.184 440.8093 4.232765 1631.184 440.8093 0 1631.184 440.8093 4.232765 1751.586 440.8093 0 1631.184 440.8093 0 1751.586 440.8093 4.232765 1751.586 440.8093 4.232765 1631.184 440.8093 4.232765 1751.586 440.8093 0 1631.184 440.8093 0 1751.586 599.6277 4.232765 1751.586 440.8093 0 1751.586 440.8093 4.232765 1751.586 599.6277 0 1751.586 599.6277 0 1751.586 599.6277 4.232765 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620.0837 4.232765 1751.586 608.2497 0 1751.586 608.2497 4.232765 1751.586 620.0837 0 1751.586 620.0837 0 1751.586 620.0837 4.232765 1751.586 608.2497 0 1751.586 608.2497 4.232765 1751.586 620.0837 4.232765 1756.376 620.0837 0 1751.586 620.0837 0 1756.376 620.0837 4.232765 1756.376 620.0837 4.232765 1751.586 620.0837 4.232765 1756.376 620.0837 0 1751.586 620.0837 0 1756.376 620.0837 0 1756.376 440.8093 4.232765 1756.376 440.8093 0 1756.376 620.0837 4.232765 1756.376 620.0837 4.232765 1756.376 620.0837 0 1756.376 440.8093 4.232765 1756.376 440.8093 0 1756.376 440.8093 4.232765 1921.691 440.8093 0 1756.376 440.8093 0 1921.691 440.8093 4.232765 1921.691 440.8093 4.232765 1756.376 440.8093 4.232765 1921.691 440.8093 0 1756.376 440.8093 0 1780.704 436.0193 0 1780.704 275.7358 4.232765 1780.704 275.7358 0 1780.704 436.0193 4.232765 1780.704 436.0193 4.232765 1780.704 436.0193 0 1780.704 275.7358 4.232765 1780.704 275.7358 0 1780.704 275.7358 4.232765 1784.536 275.7358 0 1780.704 275.7358 0 1784.536 275.7358 4.232765 1784.536 275.7358 4.232765 1780.704 275.7358 4.232765 1784.536 275.7358 0 1780.704 275.7358 0 1784.536 275.7358 0 1784.536 270.9458 4.232765 1784.536 270.9458 0 1784.536 275.7358 4.232765 1784.536 275.7358 4.232765 1784.536 275.7358 0 1784.536 270.9458 4.232765 1784.536 270.9458 0 1784.536 270.9458 4.232765 1780.704 270.9458 0 1784.536 270.9458 0 1780.704 270.9458 4.232765 1780.704 270.9458 4.232765 1784.536 270.9458 4.232765 1780.704 270.9458 0 1784.536 270.9458 0 1780.704 270.9458 0 1780.704 266.1558 4.232765 1780.704 266.1558 0 1780.704 270.9458 4.232765 1780.704 270.9458 4.232765 1780.704 270.9458 0 1780.704 266.1558 4.232765 1780.704 266.1558 0 1780.704 266.1558 4.232765 1775.914 266.1558 0 1780.704 266.1558 0 1775.914 266.1558 4.232765 1775.914 266.1558 4.232765 1780.704 266.1558 4.232765 1775.914 266.1558 0 1780.704 266.1558 0 1775.914 288.3982 4.232765 1775.914 266.1558 0 1775.914 266.1558 4.232765 1775.914 288.3982 0 1775.914 288.3982 0 1775.914 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622.7904 1700.987 112 622.7904 1695.239 112 573.6875 1560.272 112 572.9395 1592.288 112 569.1075 1592.288 112 569.1075 1587.498 112 534.6195 1592.288 112 534.6195 1587.498 112 456.1965 1592.288 112 378.6902 1592.288 112 378.6902 1587.498 112 370.0501 210.6774 112 370.0501 205.8874 112 360.4701 210.6774 112 229.2605 210.6774 112 229.2605 205.8874 112 344.2022 1592.288 112 344.2022 1587.498 112 335.5802 1592.288 112 261.8325 1592.288 112 261.8325 1587.498 112 227.3445 1592.288 112 227.3445 1587.498 112 228.3025 1399.258 112 228.3025 1394.468 112 223.5125 1390.636 112 218.7225 1390.636 112 218.7225 1347.526 112 203.8734 1347.526 112 218.7225 1352.316 112 203.8734 1253.737 112 199.0834 1347.526 112 218.7225 1253.737 112 218.7225 1248.947 112 199.0834 1248.947 112 218.7225 1206.795 112 218.7225 1202.005 112 44.77159 1163.766 112 44.77159 1154.186 112 218.7225 871.4147 112 218.7225 866.6247 112 218.7225 727.6561 112 218.7225 722.8661 112 228.3025 1061.314 112 223.5125 1061.314 112 228.3025 1066.104 112 223.5125 1057.482 112 218.7225 1061.314 112 203.8734 1066.104 112 199.0834 1159.853 112 199.0834 1066.104 112 218.7225 1057.482 112 223.5125 680.7141 112 223.5125 675.9241 112 223.5125 684.5461 112 223.5125 644.5321 112 223.5125 639.7421 112 218.7225 684.5461 112 228.3025 680.7141 112 228.3025 675.9241 112 275.4644 629.9492 112 272.0654 626.5742 112 260.9845 644.5321 112 258.9905 639.7421 112 223.5125 1159.853 112 218.7225 1163.685 112 223.5125 1163.685 112 229.2605 446.0219 112 229.2605 441.2319 112 229.2605 587.8881 112 229.2605 436.8785 112 229.2605 299.4674 112 229.2605 294.6774 112 229.2605 10.538 112 223.5125 587.8881 112 360.4701 446.0219 112 360.4701 441.2319 112 365.2601 446.0219 112 365.2601 441.2319 112 365.2601 539.5144 112 365.2601 437.3999 112 360.4701 537.5403 112 299.7645 605.4761 112 296.3655 602.1011 112 370.0501 446.0219 112 370.0501 441.2319 112 360.4701 437.3999 112 365.2601 399.0799 112 365.2601 394.2899 112 365.2601 402.9119 112 365.2601 257.6194 112 365.2601 252.8294 112 365.2601 248.9974 112 360.4701 248.9974 112 360.4701 402.9119 112 360.4701 299.4674 112 360.4701 294.6774 112 370.0501 399.0799 112 370.0501 394.2899 112 370.0501 257.6194 112 370.0501 252.8294 112 393.5813 4.79 112 265.6653 4.79 112 393.5813 10.538 112 265.6653 -4.2511 112 218.7225 587.8881 112 218.7225 576.3921 112 218.7225 -4.2511 112 228.3025 1159.853 112 228.3025 1155.063 112 218.7225 1159.853 112 203.8734 1155.063 112 31.35959 727.6561 112 25.61159 727.6561 112 25.61159 576.3921 112 31.35959 1538.923 112 31.35959 727.6561 0 31.35959 727.6561 112 31.35959 1538.923 0 31.35959 1538.923 0 31.35959 1538.923 112 31.35959 727.6561 0 31.35959 727.6561 112 265.6653 4.79 0 265.6653 -4.2511 112 265.6653 -4.2511 0 265.6653 4.79 3.522353 265.6653 10.538 3.522353 265.6653 4.79 101.3452 265.6653 10.538 101.3452 265.6653 4.79 112 265.6653 4.79 3.522353 265.6653 -4.2511 112 265.6653 4.79 101.3452 265.6653 4.79 112 265.6653 10.538 101.3452 265.6653 10.538 3.522353 265.6653 4.79 0 265.6653 -4.2511 0 393.5813 4.79 0 389.8381 4.79 3.522353 265.6653 4.79 0 393.5813 4.79 112 265.6653 4.79 3.522353 389.8381 4.79 101.3452 356.4286 4.79 101.3452 353.5877 4.79 101.3452 311.228 4.79 101.3452 308.4418 4.79 101.3452 265.6653 4.79 101.3452 265.6653 4.79 112 308.4418 4.79 3.522353 356.4286 4.79 3.522353 353.7806 4.79 3.522353 311.4209 4.79 3.522353 353.5877 4.79 101.3452 356.4286 4.79 101.3452 353.7806 4.79 3.522353 356.4286 4.79 3.522353 308.4418 4.79 101.3452 311.228 4.79 101.3452 308.4418 4.79 3.522353 311.4209 4.79 3.522353 389.8381 4.79 3.522353 265.6653 4.79 3.522353 265.6653 4.79 112 393.5813 4.79 112 265.6653 4.79 101.3452 389.8381 4.79 101.3452 265.6653 4.79 0 393.5813 4.79 0 393.5813 10.538 0 393.5813 4.79 112 393.5813 4.79 0 393.5813 10.538 112 393.5813 10.538 112 393.5813 10.538 0 393.5813 4.79 112 393.5813 4.79 0 229.2605 10.538 0 265.6653 10.538 3.522353 393.5813 10.538 0 229.2605 10.538 112 265.6653 10.538 101.3452 308.4418 10.538 101.3452 311.228 10.538 101.3452 353.5877 10.538 101.3452 356.4286 10.538 101.3452 389.8381 10.538 101.3452 389.8381 10.538 3.522353 393.5813 10.538 112 308.4418 10.538 3.522353 311.4209 10.538 3.522353 353.7806 10.538 3.522353 356.4286 10.538 3.522353 311.228 10.538 101.3452 308.4418 10.538 101.3452 311.4209 10.538 3.522353 308.4418 10.538 3.522353 356.4286 10.538 101.3452 353.5877 10.538 101.3452 356.4286 10.538 3.522353 353.7806 10.538 3.522353 229.2605 10.538 112 389.8381 10.538 101.3452 393.5813 10.538 112 389.8381 10.538 3.522353 265.6653 10.538 3.522353 393.5813 10.538 0 265.6653 10.538 101.3452 229.2605 10.538 0 370.0501 205.8874 112 229.2605 205.8874 0 370.0501 205.8874 0 229.2605 205.8874 112 229.2605 205.8874 112 370.0501 205.8874 112 229.2605 205.8874 0 370.0501 205.8874 0 370.0501 210.6774 0 370.0501 205.8874 112 370.0501 205.8874 0 370.0501 210.6774 112 370.0501 210.6774 112 370.0501 210.6774 0 370.0501 205.8874 112 370.0501 205.8874 0 365.2601 210.6774 112 370.0501 210.6774 0 365.2601 210.6774 0 370.0501 210.6774 112 370.0501 210.6774 112 365.2601 210.6774 112 370.0501 210.6774 0 365.2601 210.6774 0 365.2601 214.5094 0 365.2601 210.6774 112 365.2601 210.6774 0 365.2601 214.5094 112 365.2601 214.5094 112 365.2601 214.5094 0 365.2601 210.6774 112 365.2601 210.6774 0 360.4701 214.5094 112 365.2601 214.5094 0 360.4701 214.5094 0 365.2601 214.5094 112 365.2601 214.5094 112 360.4701 214.5094 112 365.2601 214.5094 0 360.4701 214.5094 0 360.4701 214.5094 112 360.4701 210.6774 0 360.4701 210.6774 112 360.4701 214.5094 0 360.4701 214.5094 0 360.4701 214.5094 112 360.4701 210.6774 0 360.4701 210.6774 112 229.2605 210.6774 112 360.4701 210.6774 0 229.2605 210.6774 0 360.4701 210.6774 112 360.4701 210.6774 112 229.2605 210.6774 112 360.4701 210.6774 0 229.2605 210.6774 0 229.2605 294.6774 0 229.2605 210.6774 112 229.2605 210.6774 0 229.2605 294.6774 112 229.2605 294.6774 112 229.2605 294.6774 0 229.2605 210.6774 112 229.2605 210.6774 0 360.4701 294.6774 112 229.2605 294.6774 0 360.4701 294.6774 0 229.2605 294.6774 112 229.2605 294.6774 112 360.4701 294.6774 112 229.2605 294.6774 0 360.4701 294.6774 0 360.4701 294.6774 112 360.4701 248.9974 0 360.4701 248.9974 112 360.4701 294.6774 0 360.4701 294.6774 0 360.4701 294.6774 112 360.4701 248.9974 0 360.4701 248.9974 112 365.2601 248.9974 112 360.4701 248.9974 0 365.2601 248.9974 0 360.4701 248.9974 112 360.4701 248.9974 112 365.2601 248.9974 112 360.4701 248.9974 0 365.2601 248.9974 0 365.2601 252.8294 0 365.2601 248.9974 112 365.2601 248.9974 0 365.2601 252.8294 112 365.2601 252.8294 112 365.2601 252.8294 0 365.2601 248.9974 112 365.2601 248.9974 0 370.0501 252.8294 112 365.2601 252.8294 0 370.0501 252.8294 0 365.2601 252.8294 112 365.2601 252.8294 112 370.0501 252.8294 112 365.2601 252.8294 0 370.0501 252.8294 0 370.0501 257.6194 0 370.0501 252.8294 112 370.0501 252.8294 0 370.0501 257.6194 112 370.0501 257.6194 112 370.0501 257.6194 0 370.0501 252.8294 112 370.0501 252.8294 0 365.2601 257.6194 112 370.0501 257.6194 0 365.2601 257.6194 0 370.0501 257.6194 112 370.0501 257.6194 112 365.2601 257.6194 112 370.0501 257.6194 0 365.2601 257.6194 0 365.2601 257.6194 0 365.2601 303.1013 54.11726 365.2601 257.6194 112 365.2601 394.2899 0 365.2601 390.118 54.11726 365.2601 390.118 104.074 365.2601 303.1013 104.074 365.2601 394.2899 112 365.2601 373.4825 104.074 365.2601 394.2899 0 365.2601 390.118 104.074 365.2601 394.2899 112 365.2601 373.4825 104.074 365.2601 303.1013 104.074 365.2601 303.1013 54.11726 365.2601 257.6194 112 365.2601 390.118 54.11726 365.2601 257.6194 0 370.0501 394.2899 112 365.2601 394.2899 0 370.0501 394.2899 0 365.2601 394.2899 112 365.2601 394.2899 112 370.0501 394.2899 112 365.2601 394.2899 0 370.0501 394.2899 0 370.0501 399.0799 0 370.0501 394.2899 112 370.0501 394.2899 0 370.0501 399.0799 112 370.0501 399.0799 112 370.0501 399.0799 0 370.0501 394.2899 112 370.0501 394.2899 0 365.2601 399.0799 112 370.0501 399.0799 0 365.2601 399.0799 0 370.0501 399.0799 112 370.0501 399.0799 112 365.2601 399.0799 112 370.0501 399.0799 0 365.2601 399.0799 0 365.2601 402.9119 0 365.2601 399.0799 112 365.2601 399.0799 0 365.2601 402.9119 112 365.2601 402.9119 112 365.2601 402.9119 0 365.2601 399.0799 112 365.2601 399.0799 0 360.4701 402.9119 112 365.2601 402.9119 0 360.4701 402.9119 0 365.2601 402.9119 112 365.2601 402.9119 112 360.4701 402.9119 112 365.2601 402.9119 0 360.4701 402.9119 0 360.4701 299.4674 112 360.4701 303.1013 104.074 360.4701 299.4674 0 360.4701 402.9119 112 360.4701 373.4825 104.074 360.4701 390.118 104.074 360.4701 390.118 54.11726 360.4701 303.1013 54.11726 360.4701 402.9119 0 360.4701 402.9119 112 360.4701 390.118 54.11726 360.4701 402.9119 0 360.4701 303.1013 54.11726 360.4701 303.1013 104.074 360.4701 299.4674 0 360.4701 390.118 104.074 360.4701 373.4825 104.074 360.4701 299.4674 112 229.2605 299.4674 112 360.4701 299.4674 0 229.2605 299.4674 0 360.4701 299.4674 112 360.4701 299.4674 112 229.2605 299.4674 112 360.4701 299.4674 0 229.2605 299.4674 0 229.2605 436.8785 0 229.2605 299.4674 112 229.2605 299.4674 0 229.2605 436.8785 112 229.2605 436.8785 112 229.2605 436.8785 0 229.2605 299.4674 112 229.2605 299.4674 0 229.2605 441.2319 0 229.2605 436.8785 112 229.2605 436.8785 0 229.2605 441.2319 112 229.2605 441.2319 112 229.2605 441.2319 0 229.2605 436.8785 112 229.2605 436.8785 0 360.4701 441.2319 112 229.2605 441.2319 0 360.4701 441.2319 0 229.2605 441.2319 112 229.2605 441.2319 112 360.4701 441.2319 112 229.2605 441.2319 0 360.4701 441.2319 0 360.4701 441.2319 112 360.4701 437.3999 0 360.4701 437.3999 112 360.4701 441.2319 0 360.4701 441.2319 0 360.4701 441.2319 112 360.4701 437.3999 0 360.4701 437.3999 112 365.2601 437.3999 112 360.4701 437.3999 0 365.2601 437.3999 0 360.4701 437.3999 112 360.4701 437.3999 112 365.2601 437.3999 112 360.4701 437.3999 0 365.2601 437.3999 0 365.2601 441.2319 0 365.2601 437.3999 112 365.2601 437.3999 0 365.2601 441.2319 112 365.2601 441.2319 112 365.2601 441.2319 0 365.2601 437.3999 112 365.2601 437.3999 0 370.0501 441.2319 112 365.2601 441.2319 0 370.0501 441.2319 0 365.2601 441.2319 112 365.2601 441.2319 112 370.0501 441.2319 112 365.2601 441.2319 0 370.0501 441.2319 0 370.0501 446.0219 0 370.0501 441.2319 112 370.0501 441.2319 0 370.0501 446.0219 112 370.0501 446.0219 112 370.0501 446.0219 0 370.0501 441.2319 112 370.0501 441.2319 0 365.2601 446.0219 112 370.0501 446.0219 0 365.2601 446.0219 0 370.0501 446.0219 112 370.0501 446.0219 112 365.2601 446.0219 112 370.0501 446.0219 0 365.2601 446.0219 0 365.2601 446.0219 0 365.2601 450.6371 54.11726 365.2601 446.0219 112 365.2601 539.5144 0 365.2601 534.3759 54.11726 365.2601 534.3759 104.074 365.2601 450.6371 104.074 365.2601 539.5144 112 365.2601 539.5144 0 365.2601 534.3759 104.074 365.2601 539.5144 112 365.2601 450.6371 104.074 365.2601 450.6371 54.11726 365.2601 446.0219 112 365.2601 534.3759 54.11726 365.2601 446.0219 0 365.2601 539.5144 0 361.1066 543.6974 54.11726 365.2601 539.5144 112 299.7645 605.4761 0 304.779 600.426 54.11726 304.779 600.426 104.074 361.1066 543.6974 104.074 299.7645 605.4761 112 299.7645 605.4761 0 304.779 600.426 104.074 299.7645 605.4761 112 361.1066 543.6974 104.074 361.1066 543.6974 54.11726 365.2601 539.5144 112 304.779 600.426 54.11726 365.2601 539.5144 0 296.3655 602.1011 112 299.7645 605.4761 0 296.3655 602.1011 0 299.7645 605.4761 112 299.7645 605.4761 112 296.3655 602.1011 112 299.7645 605.4761 0 296.3655 602.1011 0 360.4701 537.5403 112 357.7076 540.3224 104.074 360.4701 537.5403 0 296.3655 602.1011 112 301.3799 597.051 104.074 301.3799 597.051 54.11726 357.7076 540.3224 54.11726 296.3655 602.1011 0 296.3655 602.1011 112 301.3799 597.051 54.11726 296.3655 602.1011 0 357.7076 540.3224 54.11726 357.7076 540.3224 104.074 360.4701 537.5403 0 301.3799 597.051 104.074 360.4701 537.5403 112 360.4701 446.0219 112 360.4701 450.6371 104.074 360.4701 446.0219 0 360.4701 537.5403 112 360.4701 534.3759 104.074 360.4701 534.3759 54.11726 360.4701 450.6371 54.11726 360.4701 537.5403 0 360.4701 537.5403 112 360.4701 534.3759 54.11726 360.4701 537.5403 0 360.4701 450.6371 54.11726 360.4701 450.6371 104.074 360.4701 446.0219 0 360.4701 534.3759 104.074 360.4701 446.0219 112 229.2605 446.0219 112 360.4701 446.0219 0 229.2605 446.0219 0 360.4701 446.0219 112 360.4701 446.0219 112 229.2605 446.0219 112 360.4701 446.0219 0 229.2605 446.0219 0 229.2605 587.8881 0 229.2605 446.0219 112 229.2605 446.0219 0 229.2605 587.8881 112 229.2605 587.8881 112 229.2605 587.8881 0 229.2605 446.0219 112 229.2605 446.0219 0 223.5125 587.8881 112 229.2605 587.8881 0 223.5125 587.8881 0 229.2605 587.8881 112 229.2605 587.8881 112 223.5125 587.8881 112 229.2605 587.8881 0 223.5125 587.8881 0 223.5125 639.7421 0 223.5125 587.8881 112 223.5125 587.8881 0 223.5125 639.7421 112 223.5125 639.7421 112 223.5125 639.7421 0 223.5125 587.8881 112 223.5125 587.8881 0 258.9905 639.7421 112 223.5125 639.7421 0 258.9905 639.7421 0 223.5125 639.7421 112 223.5125 639.7421 112 258.9905 639.7421 112 223.5125 639.7421 0 258.9905 639.7421 0 258.9905 639.7421 112 272.0654 626.5742 0 272.0654 626.5742 112 258.9905 639.7421 0 258.9905 639.7421 0 258.9905 639.7421 112 272.0654 626.5742 0 272.0654 626.5742 112 275.4644 629.9492 112 272.0654 626.5742 0 275.4644 629.9492 0 272.0654 626.5742 112 272.0654 626.5742 112 275.4644 629.9492 112 272.0654 626.5742 0 275.4644 629.9492 0 260.9845 644.5321 0 275.4644 629.9492 112 275.4644 629.9492 0 260.9845 644.5321 112 260.9845 644.5321 112 260.9845 644.5321 0 275.4644 629.9492 112 275.4644 629.9492 0 223.5125 644.5321 112 260.9845 644.5321 0 223.5125 644.5321 0 260.9845 644.5321 112 260.9845 644.5321 112 223.5125 644.5321 112 260.9845 644.5321 0 223.5125 644.5321 0 223.5125 675.9241 0 223.5125 644.5321 112 223.5125 644.5321 0 223.5125 675.9241 112 223.5125 675.9241 112 223.5125 675.9241 0 223.5125 644.5321 112 223.5125 644.5321 0 228.3025 675.9241 112 223.5125 675.9241 0 228.3025 675.9241 0 223.5125 675.9241 112 223.5125 675.9241 112 228.3025 675.9241 112 223.5125 675.9241 0 228.3025 675.9241 0 228.3025 680.7141 0 228.3025 675.9241 112 228.3025 675.9241 0 228.3025 680.7141 112 228.3025 680.7141 112 228.3025 680.7141 0 228.3025 675.9241 112 228.3025 675.9241 0 223.5125 680.7141 112 228.3025 680.7141 0 223.5125 680.7141 0 228.3025 680.7141 112 228.3025 680.7141 112 223.5125 680.7141 112 228.3025 680.7141 0 223.5125 680.7141 0 223.5125 684.5461 0 223.5125 680.7141 112 223.5125 680.7141 0 223.5125 684.5461 112 223.5125 684.5461 112 223.5125 684.5461 0 223.5125 680.7141 112 223.5125 680.7141 0 218.7225 684.5461 112 223.5125 684.5461 0 218.7225 684.5461 0 223.5125 684.5461 112 223.5125 684.5461 112 218.7225 684.5461 112 223.5125 684.5461 0 218.7225 684.5461 0 218.7225 684.5461 112 218.7225 587.8881 0 218.7225 587.8881 112 218.7225 684.5461 0 218.7225 684.5461 0 218.7225 684.5461 112 218.7225 587.8881 0 218.7225 587.8881 112 37.10759 587.8881 0 43.05144 587.8881 54.05843 218.7225 587.8881 0 37.10759 587.8881 112 43.05144 587.8881 103.4443 127.4273 587.8881 103.4443 132.5521 587.8881 103.4443 212.4601 587.8881 103.4443 212.4601 587.8881 54.05843 218.7225 587.8881 112 127.4273 587.8881 54.05843 132.5521 587.8881 54.05843 132.5521 587.8881 103.4443 127.4273 587.8881 103.4443 132.5521 587.8881 54.05843 127.4273 587.8881 54.05843 37.10759 587.8881 112 212.4601 587.8881 103.4443 218.7225 587.8881 112 212.4601 587.8881 54.05843 43.05144 587.8881 54.05843 218.7225 587.8881 0 43.05144 587.8881 103.4443 37.10759 587.8881 0 37.10759 722.8661 0 37.10759 587.8881 112 37.10759 587.8881 0 37.10759 722.8661 112 37.10759 722.8661 112 37.10759 722.8661 0 37.10759 587.8881 112 37.10759 587.8881 0 218.7225 722.8661 112 37.10759 722.8661 0 218.7225 722.8661 0 37.10759 722.8661 112 37.10759 722.8661 112 218.7225 722.8661 112 37.10759 722.8661 0 218.7225 722.8661 0 223.5125 719.0341 112 218.7225 719.0341 112 218.7225 731.4881 112 223.5125 731.4881 112 223.5125 731.4881 112 223.5125 719.0341 112 218.7225 731.4881 112 218.7225 719.0341 112 37.10759 727.6561 112 218.7225 727.6561 0 37.10759 727.6561 0 218.7225 727.6561 112 218.7225 727.6561 112 37.10759 727.6561 112 218.7225 727.6561 0 37.10759 727.6561 0 37.10759 866.6247 0 37.10759 727.6561 112 37.10759 727.6561 0 37.10759 866.6247 112 37.10759 866.6247 112 37.10759 866.6247 0 37.10759 727.6561 112 37.10759 727.6561 0 218.7225 866.6247 112 37.10759 866.6247 0 218.7225 866.6247 0 37.10759 866.6247 112 37.10759 866.6247 112 218.7225 866.6247 112 37.10759 866.6247 0 218.7225 866.6247 0 228.3025 769.8081 112 223.5125 774.5981 112 223.5125 769.8081 112 228.3025 774.5981 112 223.5125 765.9761 112 218.7225 765.9761 112 218.7225 1022.994 112 223.5125 866.6247 112 223.5125 829.6191 112 223.5125 821.5987 112 229.2605 821.5987 112 229.2605 829.6191 112 229.2605 866.6247 112 223.5125 871.4147 112 229.2605 871.4147 112 223.5125 1018.204 112 227.3445 1022.994 112 227.3445 1018.204 112 227.3445 1018.204 112 223.5125 1018.204 112 227.3445 1022.994 112 223.5125 871.4147 112 223.5125 866.6247 112 218.7225 1022.994 112 229.2605 871.4147 112 229.2605 866.6247 112 229.2605 829.6191 112 229.2605 821.5987 112 223.5125 829.6191 112 223.5125 821.5987 112 223.5125 774.5981 112 223.5125 769.8081 112 223.5125 765.9761 112 218.7225 765.9761 112 228.3025 774.5981 112 228.3025 769.8081 112 37.10759 871.4147 112 218.7225 871.4147 0 37.10759 871.4147 0 218.7225 871.4147 112 218.7225 871.4147 112 37.10759 871.4147 112 218.7225 871.4147 0 37.10759 871.4147 0 37.10759 1061.314 0 37.10759 871.4147 112 37.10759 871.4147 0 37.10759 1061.314 112 37.10759 1061.314 112 37.10759 1061.314 0 37.10759 871.4147 112 37.10759 871.4147 0 218.7225 1061.314 112 37.10759 1061.314 0 218.7225 1061.314 0 37.10759 1061.314 112 37.10759 1061.314 112 218.7225 1061.314 112 37.10759 1061.314 0 218.7225 1061.314 0 218.7225 1061.314 112 218.7225 1057.482 0 218.7225 1057.482 112 218.7225 1061.314 0 218.7225 1061.314 0 218.7225 1061.314 112 218.7225 1057.482 0 218.7225 1057.482 112 223.5125 1057.482 112 218.7225 1057.482 0 223.5125 1057.482 0 218.7225 1057.482 112 218.7225 1057.482 112 223.5125 1057.482 112 218.7225 1057.482 0 223.5125 1057.482 0 223.5125 1061.314 0 223.5125 1057.482 112 223.5125 1057.482 0 223.5125 1061.314 112 223.5125 1061.314 112 223.5125 1061.314 0 223.5125 1057.482 112 223.5125 1057.482 0 228.3025 1061.314 112 223.5125 1061.314 0 228.3025 1061.314 0 223.5125 1061.314 112 223.5125 1061.314 112 228.3025 1061.314 112 223.5125 1061.314 0 228.3025 1061.314 0 228.3025 1066.104 0 228.3025 1061.314 112 228.3025 1061.314 0 228.3025 1066.104 112 228.3025 1066.104 112 228.3025 1066.104 0 228.3025 1061.314 112 228.3025 1061.314 0 203.8734 1066.104 112 228.3025 1066.104 0 203.8734 1066.104 0 228.3025 1066.104 112 228.3025 1066.104 112 203.8734 1066.104 112 228.3025 1066.104 0 203.8734 1066.104 0 203.8734 1155.063 0 203.8734 1066.104 112 203.8734 1066.104 0 203.8734 1155.063 112 203.8734 1155.063 112 203.8734 1155.063 0 203.8734 1066.104 112 203.8734 1066.104 0 228.3025 1155.063 112 203.8734 1155.063 0 228.3025 1155.063 0 203.8734 1155.063 112 203.8734 1155.063 112 228.3025 1155.063 112 203.8734 1155.063 0 228.3025 1155.063 0 228.3025 1159.853 0 228.3025 1155.063 112 228.3025 1155.063 0 228.3025 1159.853 112 228.3025 1159.853 112 228.3025 1159.853 0 228.3025 1155.063 112 228.3025 1155.063 0 223.5125 1159.853 112 228.3025 1159.853 0 223.5125 1159.853 0 228.3025 1159.853 112 228.3025 1159.853 112 223.5125 1159.853 112 228.3025 1159.853 0 223.5125 1159.853 0 223.5125 1163.685 0 223.5125 1159.853 112 223.5125 1159.853 0 223.5125 1163.685 112 223.5125 1163.685 112 223.5125 1163.685 0 223.5125 1159.853 112 223.5125 1159.853 0 218.7225 1163.685 112 223.5125 1163.685 0 218.7225 1163.685 0 223.5125 1163.685 112 223.5125 1163.685 112 218.7225 1163.685 112 223.5125 1163.685 0 218.7225 1163.685 0 218.7225 1163.685 112 218.7225 1159.853 0 218.7225 1159.853 112 218.7225 1163.685 0 218.7225 1163.685 0 218.7225 1163.685 112 218.7225 1159.853 0 218.7225 1159.853 112 199.0834 1159.853 112 218.7225 1159.853 0 199.0834 1159.853 0 218.7225 1159.853 112 218.7225 1159.853 112 199.0834 1159.853 112 218.7225 1159.853 0 199.0834 1159.853 0 199.0834 1159.853 112 199.0834 1066.104 0 199.0834 1066.104 112 199.0834 1159.853 0 199.0834 1159.853 0 199.0834 1159.853 112 199.0834 1066.104 0 199.0834 1066.104 112 37.10759 1066.104 112 199.0834 1066.104 0 37.10759 1066.104 0 199.0834 1066.104 112 199.0834 1066.104 112 37.10759 1066.104 112 199.0834 1066.104 0 37.10759 1066.104 0 37.10759 1154.186 0 37.10759 1066.104 112 37.10759 1066.104 0 37.10759 1154.186 112 37.10759 1154.186 112 37.10759 1154.186 0 37.10759 1066.104 112 37.10759 1066.104 0 44.77159 1154.186 112 37.10759 1154.186 0 44.77159 1154.186 0 37.10759 1154.186 112 37.10759 1154.186 112 44.77159 1154.186 112 37.10759 1154.186 0 44.77159 1154.186 0 44.77159 1163.766 0 44.77159 1154.186 112 44.77159 1154.186 0 44.77159 1163.766 112 44.77159 1163.766 112 44.77159 1163.766 0 44.77159 1154.186 112 44.77159 1154.186 0 37.10759 1163.766 112 44.77159 1163.766 0 37.10759 1163.766 0 44.77159 1163.766 112 44.77159 1163.766 112 37.10759 1163.766 112 44.77159 1163.766 0 37.10759 1163.766 0 37.10759 1202.005 0 37.10759 1163.766 112 37.10759 1163.766 0 37.10759 1202.005 112 37.10759 1202.005 112 37.10759 1202.005 0 37.10759 1163.766 112 37.10759 1163.766 0 218.7225 1202.005 112 37.10759 1202.005 0 218.7225 1202.005 0 37.10759 1202.005 112 37.10759 1202.005 112 218.7225 1202.005 112 37.10759 1202.005 0 218.7225 1202.005 0 218.7225 1198.173 112 223.5125 1198.173 112 223.5125 1210.627 112 218.7225 1210.627 112 223.5125 1198.173 112 223.5125 1210.627 112 218.7225 1210.627 112 218.7225 1198.173 112 37.10759 1206.795 112 218.7225 1206.795 0 37.10759 1206.795 0 218.7225 1206.795 112 218.7225 1206.795 112 37.10759 1206.795 112 218.7225 1206.795 0 37.10759 1206.795 0 37.10759 1347.526 0 37.10759 1206.795 112 37.10759 1206.795 0 37.10759 1347.526 112 37.10759 1347.526 112 37.10759 1347.526 0 37.10759 1206.795 112 37.10759 1206.795 0 199.0834 1347.526 112 37.10759 1347.526 0 199.0834 1347.526 0 37.10759 1347.526 112 37.10759 1347.526 112 199.0834 1347.526 112 37.10759 1347.526 0 199.0834 1347.526 0 199.0834 1347.526 112 199.0834 1248.947 0 199.0834 1248.947 112 199.0834 1347.526 0 199.0834 1347.526 0 199.0834 1347.526 112 199.0834 1248.947 0 199.0834 1248.947 112 218.7225 1248.947 112 199.0834 1248.947 0 218.7225 1248.947 0 199.0834 1248.947 112 199.0834 1248.947 112 218.7225 1248.947 112 199.0834 1248.947 0 218.7225 1248.947 0 223.5125 1245.115 112 218.7225 1245.115 112 223.5125 1248.947 112 228.3025 1253.737 112 228.3025 1248.947 112 228.3025 1248.947 112 223.5125 1248.947 112 228.3025 1253.737 112 223.5125 1245.115 112 218.7225 1245.115 112 203.8734 1253.737 112 228.3025 1253.737 0 203.8734 1253.737 0 228.3025 1253.737 112 218.7225 1253.737 112 218.7225 1253.737 112 203.8734 1253.737 112 228.3025 1253.737 112 228.3025 1253.737 0 203.8734 1253.737 0 203.8734 1347.526 0 203.8734 1253.737 112 203.8734 1253.737 0 203.8734 1347.526 112 203.8734 1347.526 112 203.8734 1347.526 0 203.8734 1253.737 112 203.8734 1253.737 0 228.3025 1347.526 112 203.8734 1347.526 0 228.3025 1347.526 0 203.8734 1347.526 112 218.7225 1347.526 112 218.7225 1347.526 112 228.3025 1347.526 112 203.8734 1347.526 112 203.8734 1347.526 0 228.3025 1347.526 0 228.3025 1347.526 112 218.7225 1356.148 112 223.5125 1352.316 112 228.3025 1352.316 112 223.5125 1356.148 112 223.5125 1352.316 112 218.7225 1356.148 112 223.5125 1356.148 112 228.3025 1352.316 112 228.3025 1347.526 112 37.10759 1352.316 112 218.7225 1352.316 0 37.10759 1352.316 0 218.7225 1352.316 112 218.7225 1352.316 112 37.10759 1352.316 112 218.7225 1352.316 0 37.10759 1352.316 0 37.10759 1538.923 0 37.10759 1352.316 112 37.10759 1352.316 0 37.10759 1538.923 112 37.10759 1538.923 112 37.10759 1538.923 0 37.10759 1352.316 112 37.10759 1352.316 0 218.7225 1538.925 112 37.10759 1538.923 0 218.7225 1538.925 0 37.10759 1538.923 112 37.10759 1538.923 112 218.7225 1538.925 112 37.10759 1538.923 0 218.7225 1538.925 0 218.7225 1538.925 112 218.7225 1390.636 0 218.7225 1390.636 112 218.7225 1538.925 0 218.7225 1538.925 0 218.7225 1538.925 112 218.7225 1390.636 0 218.7225 1390.636 112 223.5125 1390.636 112 218.7225 1390.636 0 223.5125 1390.636 0 218.7225 1390.636 112 218.7225 1390.636 112 223.5125 1390.636 112 218.7225 1390.636 0 223.5125 1390.636 0 223.5125 1394.468 0 223.5125 1390.636 112 223.5125 1390.636 0 223.5125 1394.468 112 223.5125 1394.468 112 223.5125 1394.468 0 223.5125 1390.636 112 223.5125 1390.636 0 228.3025 1394.468 112 223.5125 1394.468 0 228.3025 1394.468 0 223.5125 1394.468 112 223.5125 1394.468 112 228.3025 1394.468 112 223.5125 1394.468 0 228.3025 1394.468 0 228.3025 1399.258 0 228.3025 1394.468 112 228.3025 1394.468 0 228.3025 1399.258 112 228.3025 1399.258 112 228.3025 1399.258 0 228.3025 1394.468 112 228.3025 1394.468 0 223.5125 1399.258 112 228.3025 1399.258 0 223.5125 1399.258 0 228.3025 1399.258 112 228.3025 1399.258 112 223.5125 1399.258 112 228.3025 1399.258 0 223.5125 1399.258 0 223.5125 1544.671 0 223.5125 1399.258 112 223.5125 1399.258 0 223.5125 1544.671 112 223.5125 1544.671 112 223.5125 1544.671 0 223.5125 1399.258 112 223.5125 1399.258 0 223.5125 1587.498 0 223.5125 1587.498 112 223.5125 1587.498 112 223.5125 1587.498 0 227.3445 1587.498 112 223.5125 1587.498 0 227.3445 1587.498 0 223.5125 1587.498 112 223.5125 1587.498 112 227.3445 1587.498 112 223.5125 1587.498 0 227.3445 1587.498 0 227.3445 1592.288 0 227.3445 1587.498 112 227.3445 1587.498 0 227.3445 1592.288 112 227.3445 1592.288 112 227.3445 1592.288 0 227.3445 1587.498 112 227.3445 1587.498 0 223.5125 1592.288 112 227.3445 1592.288 0 223.5125 1592.288 0 227.3445 1592.288 112 227.3445 1592.288 112 223.5125 1592.288 112 227.3445 1592.288 0 223.5125 1592.288 0 223.5125 1734.558 0 223.5125 1592.288 112 223.5125 1592.288 0 223.5125 1734.558 112 223.5125 1734.558 112 223.5125 1734.558 0 223.5125 1592.288 112 223.5125 1592.288 0 223.5125 1754.288 0 223.5125 1734.558 112 223.5125 1734.558 0 223.5125 1754.288 112 223.5125 1754.288 112 223.5125 1754.288 0 223.5125 1734.558 112 223.5125 1734.558 0 292.0708 1754.288 112 223.5125 1754.288 0 292.0708 1754.288 0 223.5125 1754.288 112 223.5125 1754.288 112 292.0708 1754.288 112 223.5125 1754.288 0 292.0708 1754.288 0 335.5802 1754.288 112 335.5802 1754.288 0 335.5802 1754.288 112 335.5802 1754.288 0 335.5802 1754.288 112 335.5802 1592.288 0 335.5802 1592.288 112 335.5802 1754.288 0 335.5802 1754.288 0 335.5802 1754.288 112 335.5802 1592.288 0 335.5802 1592.288 112 261.8325 1592.288 112 335.5802 1592.288 0 261.8325 1592.288 0 335.5802 1592.288 112 335.5802 1592.288 112 261.8325 1592.288 112 335.5802 1592.288 0 261.8325 1592.288 0 261.8325 1592.288 112 261.8325 1587.498 0 261.8325 1587.498 112 261.8325 1592.288 0 261.8325 1592.288 0 261.8325 1592.288 112 261.8325 1587.498 0 261.8325 1587.498 112 344.2022 1587.498 112 261.8325 1587.498 0 344.2022 1587.498 0 261.8325 1587.498 112 261.8325 1587.498 112 344.2022 1587.498 112 261.8325 1587.498 0 344.2022 1587.498 0 344.2022 1592.288 0 344.2022 1587.498 112 344.2022 1587.498 0 344.2022 1592.288 112 344.2022 1592.288 112 344.2022 1592.288 0 344.2022 1587.498 112 344.2022 1587.498 0 340.3702 1592.288 112 344.2022 1592.288 0 340.3702 1592.288 0 344.2022 1592.288 112 344.2022 1592.288 112 340.3702 1592.288 112 344.2022 1592.288 0 340.3702 1592.288 0 340.3702 1751.414 0 340.3702 1592.288 112 340.3702 1592.288 0 340.3702 1751.414 112 340.3702 1751.414 112 340.3702 1751.414 0 340.3702 1592.288 112 340.3702 1592.288 0 349.9502 1751.414 112 340.3702 1751.414 0 349.9502 1751.414 0 340.3702 1751.414 112 340.3702 1751.414 112 349.9502 1751.414 112 340.3702 1751.414 0 349.9502 1751.414 0 349.9502 1754.288 0 349.9502 1751.414 112 349.9502 1751.414 0 349.9502 1754.288 112 349.9502 1754.288 112 349.9502 1754.288 0 349.9502 1751.414 112 349.9502 1751.414 0 456.1965 1754.288 112 349.9502 1754.288 0 456.1965 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660.1077 112 920.3618 655.3177 112 924.1938 660.1077 112 944.3618 804.7658 112 920.3618 811.7658 112 920.3618 804.7658 112 944.3618 811.7658 112 944.3618 904.7658 112 920.3618 911.7658 112 920.3618 904.7658 112 944.3618 911.7658 112 1020.07 990.727 112 1015.28 1000.266 112 1015.28 990.727 112 920.3618 1005.056 112 920.3618 1000.266 112 1020.07 1005.056 112 924.1938 1063.78 112 922.2205 1068.57 112 920.3618 1063.78 112 924.1938 1068.57 112 922.2205 1072.57 112 917.408 1072.57 112 296.6085 871.4147 112 296.6085 866.6247 112 369.9478 866.6247 112 863.8398 866.6247 112 880.1551 642.3045 112 863.8398 631.5046 112 880.1744 647.7237 112 856.1758 706.6464 112 856.1758 628.3844 112 863.8398 706.6464 112 286.0705 821.5987 112 291.8185 841.6209 112 286.0705 841.6209 112 291.8185 821.5987 112 291.8185 866.6247 112 291.8185 871.4147 112 291.8185 1078.922 112 296.6085 1078.922 112 286.7405 871.4147 112 286.7405 866.6247 112 291.8185 871.4147 112 291.8185 866.6247 112 286.7405 871.4147 112 286.7405 866.6247 112 296.6085 871.4147 112 296.6085 866.6247 112 296.6085 1078.922 112 296.6085 710.2974 112 291.8185 708.3232 112 291.8185 1078.922 112 291.8185 841.6209 112 291.8185 821.5987 112 286.0705 821.5987 112 286.0705 841.6209 112 863.8398 631.5046 112 863.8398 626.1044 112 863.8398 706.6464 112 862.4706 622.0448 112 856.1758 706.6464 112 856.1758 628.3844 112 915.5718 612.0743 112 915.5718 606.6357 112 880.1744 647.7237 112 880.1551 642.3045 112 915.5718 866.6247 112 863.8398 866.6247 112 915.5718 871.4147 112 863.8398 774.6567 112 856.1758 866.6247 112 369.9478 866.6247 112 369.9478 855.5583 112 365.1578 866.6247 112 922.2205 1068.57 112 920.3618 1063.78 112 922.2205 1072.57 112 920.3618 1005.056 112 920.3618 1000.266 112 920.3618 911.7658 112 920.3618 904.7658 112 920.3618 811.7658 112 920.3618 804.7658 112 920.3618 660.1077 112 920.3618 655.3177 112 920.3618 577.6579 112 917.408 1068.57 112 917.408 1072.57 112 924.1938 1068.57 112 924.1938 1063.78 112 1020.07 990.727 112 1015.28 1000.266 112 1020.07 1005.056 112 1015.28 990.727 112 944.3618 911.7658 112 944.3618 904.7658 112 944.3618 811.7658 112 944.3618 804.7658 112 924.1938 660.1077 112 924.1938 655.3177 112 915.5718 1068.57 112 915.5718 593.1523 112 913.4038 570.749 112 906.6538 577.5471 112 905.998 583.6461 112 904.648 585.0058 112 903.9346 574.8471 112 903.2788 580.9461 112 901.9288 582.3058 112 900.5596 578.2461 112 865.1898 624.7448 112 856.1758 774.6567 112 365.1578 855.5583 112 312.2018 694.5931 112 308.8027 691.2181 112 922.2205 1068.57 112 924.1938 1068.57 0 922.2205 1068.57 0 924.1938 1068.57 112 924.1938 1068.57 112 922.2205 1068.57 112 924.1938 1068.57 0 922.2205 1068.57 0 917.408 1072.57 112 917.408 1068.57 0 917.408 1068.57 112 917.408 1072.57 0 917.408 1072.57 0 917.408 1072.57 112 917.408 1068.57 0 917.408 1068.57 112 296.6085 871.4147 112 915.5718 871.4147 0 296.6085 871.4147 0 915.5718 871.4147 112 915.5718 871.4147 112 296.6085 871.4147 112 915.5718 871.4147 0 296.6085 871.4147 0 296.6085 1078.922 0 296.6085 871.4147 112 296.6085 871.4147 0 296.6085 1078.922 112 296.6085 1078.922 112 296.6085 1078.922 0 296.6085 871.4147 112 296.6085 871.4147 0 291.8185 1078.922 112 296.6085 1078.922 0 291.8185 1078.922 0 296.6085 1078.922 112 296.6085 1078.922 112 291.8185 1078.922 112 296.6085 1078.922 0 291.8185 1078.922 0 291.8185 1078.922 112 291.8185 871.4147 0 291.8185 871.4147 112 291.8185 1078.922 0 291.8185 1078.922 0 291.8185 1078.922 112 291.8185 871.4147 0 291.8185 871.4147 112 286.7405 871.4147 112 291.8185 871.4147 0 286.7405 871.4147 0 291.8185 871.4147 112 291.8185 871.4147 112 286.7405 871.4147 112 291.8185 871.4147 0 286.7405 871.4147 0 286.7405 871.4147 112 286.7405 866.6247 0 286.7405 866.6247 112 286.7405 871.4147 0 286.7405 871.4147 0 286.7405 871.4147 112 286.7405 866.6247 0 286.7405 866.6247 112 291.8185 866.6247 112 286.7405 866.6247 0 291.8185 866.6247 0 286.7405 866.6247 112 286.7405 866.6247 112 291.8185 866.6247 112 286.7405 866.6247 0 291.8185 866.6247 0 291.8185 866.6247 112 291.8185 841.6209 0 291.8185 841.6209 112 291.8185 866.6247 0 291.8185 866.6247 0 291.8185 866.6247 112 291.8185 841.6209 0 291.8185 841.6209 112 286.0705 841.6209 112 291.8185 841.6209 0 286.0705 841.6209 0 291.8185 841.6209 112 291.8185 841.6209 112 286.0705 841.6209 112 291.8185 841.6209 0 286.0705 841.6209 0 286.0705 841.6209 112 286.0705 821.5987 0 286.0705 821.5987 112 286.0705 841.6209 0 286.0705 841.6209 0 286.0705 841.6209 112 286.0705 821.5987 0 286.0705 821.5987 112 291.8185 821.5987 112 286.0705 821.5987 0 291.8185 821.5987 0 286.0705 821.5987 112 286.0705 821.5987 112 291.8185 821.5987 112 286.0705 821.5987 0 291.8185 821.5987 0 291.8185 821.5987 112 291.8185 708.3232 0 291.8185 708.3232 112 291.8185 821.5987 0 291.8185 821.5987 0 291.8185 821.5987 112 291.8185 708.3232 0 291.8185 708.3232 112 291.8185 708.3232 112 308.8027 691.2181 0 308.8027 691.2181 112 291.8185 708.3232 0 291.8185 708.3232 0 291.8185 708.3232 112 308.8027 691.2181 0 308.8027 691.2181 112 312.2018 694.5931 112 308.8027 691.2181 0 312.2018 694.5931 0 308.8027 691.2181 112 308.8027 691.2181 112 312.2018 694.5931 112 308.8027 691.2181 0 312.2018 694.5931 0 296.6085 710.2974 0 312.2018 694.5931 112 312.2018 694.5931 0 296.6085 710.2974 112 296.6085 710.2974 112 296.6085 710.2974 0 312.2018 694.5931 112 312.2018 694.5931 0 296.6085 866.6247 0 296.6085 710.2974 112 296.6085 710.2974 0 296.6085 866.6247 112 296.6085 866.6247 112 296.6085 866.6247 0 296.6085 710.2974 112 296.6085 710.2974 0 365.1578 866.6247 112 296.6085 866.6247 0 365.1578 866.6247 0 296.6085 866.6247 112 296.6085 866.6247 112 365.1578 866.6247 112 296.6085 866.6247 0 365.1578 866.6247 0 365.1578 866.6247 112 365.1578 855.5583 0 365.1578 855.5583 112 365.1578 866.6247 0 365.1578 866.6247 0 365.1578 866.6247 112 365.1578 855.5583 0 365.1578 855.5583 112 369.9478 855.5583 112 365.1578 855.5583 0 369.9478 855.5583 0 365.1578 855.5583 112 365.1578 855.5583 112 369.9478 855.5583 112 365.1578 855.5583 0 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1837.768 176.4278 112 1837.768 176.4278 4.232765 1837.768 171.6378 112 1837.768 171.6378 4.232765 1832.02 176.4278 112 1837.768 176.4278 4.232765 1832.02 176.4278 4.232765 1837.768 176.4278 112 1837.768 176.4278 112 1832.02 176.4278 112 1837.768 176.4278 4.232765 1832.02 176.4278 4.232765 1832.02 176.4278 112 1832.02 171.6378 4.232765 1832.02 171.6378 112 1832.02 176.4278 4.232765 1832.02 176.4278 4.232765 1832.02 176.4278 112 1832.02 171.6378 4.232765 1832.02 171.6378 112 1826.272 171.6378 112 1832.02 171.6378 4.232765 1826.272 171.6378 4.232765 1832.02 171.6378 112 1832.02 171.6378 112 1826.272 171.6378 112 1832.02 171.6378 4.232765 1826.272 171.6378 4.232765 1826.272 166.8478 112 1826.272 171.6378 4.232765 1826.272 166.8477 4.232765 1826.272 171.6378 112 1826.272 171.6378 112 1826.272 166.8478 112 1826.272 171.6378 4.232765 1826.272 166.8477 4.232765 1921.691 166.8478 4.232765 1916.301 166.8478 54.11726 1826.272 166.8477 4.232765 1921.691 166.8478 112 1916.301 166.8478 104.074 1841.916 166.8478 104.074 1841.916 166.8478 54.11726 1826.272 166.8478 112 1921.691 166.8478 112 1841.916 166.8478 104.074 1826.272 166.8478 112 1841.916 166.8478 54.11726 1916.301 166.8478 54.11726 1826.272 166.8477 4.232765 1916.301 166.8478 104.074 1921.691 166.8478 4.232765 1921.691 166.8478 112 1921.691 10.538 4.232765 1921.691 10.538 112 1921.691 166.8478 4.232765 1921.691 166.8478 4.232765 1921.691 166.8478 112 1921.691 10.538 4.232765 1921.691 10.538 112 1787.952 10.538 112 1921.691 10.538 4.232765 1787.952 10.538 4.232765 1921.691 10.538 112 1921.691 10.538 112 1787.952 10.538 112 1921.691 10.538 4.232765 1787.952 10.538 4.232765 1787.952 166.8478 4.232765 1787.952 10.538 112 1787.952 10.538 4.232765 1787.952 166.8478 112 1787.952 166.8478 112 1787.952 166.8478 4.232765 1787.952 10.538 112 1787.952 10.538 4.232765 1791.784 166.8478 112 1787.952 166.8478 4.232765 1791.784 166.8478 4.232765 1787.952 166.8478 112 1787.952 166.8478 112 1791.784 166.8478 112 1787.952 166.8478 4.232765 1791.784 166.8478 4.232765 1791.784 171.6378 4.232765 1791.784 166.8478 112 1791.784 166.8478 4.232765 1791.784 171.6378 112 1791.784 171.6378 112 1791.784 171.6378 4.232765 1791.784 166.8478 112 1791.784 166.8478 4.232765 1779.33 171.6378 112 1791.784 171.6378 4.232765 1779.33 171.6378 4.232765 1791.784 171.6378 112 1791.784 171.6378 112 1779.33 171.6378 112 1791.784 171.6378 4.232765 1779.33 171.6378 4.232765 1779.33 171.6378 112 1779.33 166.8478 4.232765 1779.33 166.8478 112 1779.33 171.6378 4.232765 1779.33 171.6378 4.232765 1779.33 171.6378 112 1779.33 166.8478 4.232765 1779.33 166.8478 112 1783.162 166.8478 112 1779.33 166.8478 4.232765 1783.162 166.8478 4.232765 1779.33 166.8478 112 1779.33 166.8478 112 1783.162 166.8478 112 1779.33 166.8478 4.232765 1783.162 166.8478 4.232765 1783.162 166.8478 112 1783.162 10.538 4.232765 1783.162 10.538 112 1783.162 166.8478 4.232765 1783.162 166.8478 4.232765 1783.162 166.8478 112 1783.162 10.538 4.232765 1783.162 10.538 112 1643.859 10.538 112 1783.162 10.538 4.232765 1643.859 10.538 4.232765 1783.162 10.538 112 1783.162 10.538 112 1643.859 10.538 112 1783.162 10.538 4.232765 1643.859 10.538 4.232765 1643.859 10.538 4.232765 1643.859 166.8478 112 1643.859 10.538 112 1643.859 166.8478 4.232765 1643.859 166.8478 4.232765 1643.859 10.538 4.232765 1643.859 166.8478 112 1643.859 10.538 112 1744.842 166.8478 4.232765 1731.182 166.8478 54.11726 1643.859 166.8478 4.232765 1744.842 166.8478 112 1731.182 166.8478 104.074 1649.478 166.8478 104.074 1649.478 166.8478 54.11726 1643.859 166.8478 112 1744.842 166.8478 112 1649.478 166.8478 104.074 1643.859 166.8478 112 1649.478 166.8478 54.11726 1731.182 166.8478 54.11726 1643.859 166.8478 4.232765 1731.182 166.8478 104.074 1744.842 166.8478 4.232765 1744.842 171.6378 4.232765 1744.842 166.8478 112 1744.842 166.8478 4.232765 1744.842 171.6378 112 1744.842 171.6378 112 1744.842 171.6378 4.232765 1744.842 166.8478 112 1744.842 166.8478 4.232765 1739.094 171.6378 112 1744.842 171.6378 4.232765 1739.094 171.6378 4.232765 1744.842 171.6378 112 1744.842 171.6378 112 1739.094 171.6378 112 1744.842 171.6378 4.232765 1739.094 171.6378 4.232765 1739.094 176.4278 4.232765 1739.094 171.6378 112 1739.094 171.6378 4.232765 1739.094 176.4278 112 1739.094 176.4278 112 1739.094 176.4278 4.232765 1739.094 171.6378 112 1739.094 171.6378 4.232765 1733.346 176.4278 112 1739.094 176.4278 4.232765 1733.346 176.4278 4.232765 1739.094 176.4278 112 1739.094 176.4278 112 1733.346 176.4278 112 1739.094 176.4278 4.232765 1733.346 176.4278 4.232765 1733.346 171.6378 112 1733.346 176.4278 4.232765 1733.346 171.6378 4.232765 1733.346 176.4278 112 1733.346 176.4278 112 1733.346 171.6378 112 1733.346 176.4278 4.232765 1733.346 171.6378 4.232765 1548.072 171.6378 4.232765 1551.236 171.6378 54.11726 1733.346 171.6378 4.232765 1548.072 171.6378 112 1551.236 171.6378 104.074 1634.949 171.6378 104.074 1649.478 171.6378 104.074 1731.182 171.6378 104.074 1731.182 171.6378 54.11726 1733.346 171.6378 112 1634.949 171.6378 54.11726 1649.478 171.6378 54.11726 1649.478 171.6378 104.074 1634.949 171.6378 104.074 1649.478 171.6378 54.11726 1634.949 171.6378 54.11726 1548.072 171.6378 112 1731.182 171.6378 104.074 1733.346 171.6378 112 1731.182 171.6378 54.11726 1551.236 171.6378 54.11726 1733.346 171.6378 4.232765 1551.236 171.6378 104.074 1548.072 171.6378 4.232765 1548.072 171.6378 4.232765 1548.072 176.4278 112 1548.072 171.6378 112 1548.072 176.4278 4.232765 1548.072 176.4278 4.232765 1548.072 171.6378 4.232765 1548.072 176.4278 112 1548.072 171.6378 112 1542.324 176.4278 112 1548.072 176.4278 4.232765 1542.324 176.4278 4.232765 1548.072 176.4278 112 1548.072 176.4278 112 1542.324 176.4278 112 1548.072 176.4278 4.232765 1542.324 176.4278 4.232765 1542.324 176.4278 112 1542.324 171.6378 4.232765 1542.324 171.6378 112 1542.324 176.4278 4.232765 1542.324 176.4278 4.232765 1542.324 176.4278 112 1542.324 171.6378 4.232765 1542.324 171.6378 112 1536.576 171.6378 112 1542.324 171.6378 4.232765 1536.576 171.6378 4.232765 1542.324 171.6378 112 1542.324 171.6378 112 1536.576 171.6378 112 1542.324 171.6378 4.232765 1536.576 171.6378 4.232765 1536.576 171.6378 112 1536.576 166.8478 4.232765 1536.576 166.8478 112 1536.576 171.6378 4.232765 1536.576 171.6378 4.232765 1536.576 171.6378 112 1536.576 166.8478 4.232765 1536.576 166.8478 112 1639.069 166.8478 4.232765 1634.949 166.8478 54.11726 1536.576 166.8478 4.232765 1639.069 166.8478 112 1634.949 166.8478 104.074 1551.236 166.8478 104.074 1551.236 166.8478 54.11726 1536.576 166.8478 112 1639.069 166.8478 112 1551.236 166.8478 104.074 1536.576 166.8478 112 1551.236 166.8478 54.11726 1634.949 166.8478 54.11726 1536.576 166.8478 4.232765 1634.949 166.8478 104.074 1639.069 166.8478 4.232765 1639.069 166.8478 112 1639.069 10.538 4.232765 1639.069 10.538 112 1639.069 166.8478 4.232765 1639.069 166.8478 4.232765 1639.069 166.8478 112 1639.069 10.538 4.232765 1639.069 10.538 112 1498.256 10.538 112 1639.069 10.538 4.232765 1498.256 10.538 4.232765 1639.069 10.538 112 1639.069 10.538 112 1498.256 10.538 112 1639.069 10.538 4.232765 1498.256 10.538 4.232765 1498.256 10.538 4.232765 1498.256 166.8478 112 1498.256 10.538 112 1498.256 166.8478 4.232765 1498.256 166.8478 4.232765 1498.256 10.538 4.232765 1498.256 166.8478 112 1498.256 10.538 112 1502.088 166.8478 112 1498.256 166.8478 4.232765 1502.088 166.8478 4.232765 1498.256 166.8478 112 1498.256 166.8478 112 1502.088 166.8478 112 1498.256 166.8478 4.232765 1502.088 166.8478 4.232765 1502.088 171.638 4.232765 1502.088 166.8478 112 1502.088 166.8478 4.232765 1502.088 171.6378 112 1502.088 171.6378 112 1502.088 171.638 4.232765 1502.088 166.8478 112 1502.088 166.8478 4.232765 1493.466 171.6378 112 1502.088 171.638 4.232765 1493.466 171.6379 4.232765 1502.088 171.6378 112 1502.088 171.6378 112 1493.466 171.6378 112 1502.088 171.638 4.232765 1493.466 171.6379 4.232765 1493.466 171.6378 112 1493.466 121.1098 4.232765 1493.466 121.1098 112 1493.466 171.6379 4.232765 1493.466 171.6379 4.232765 1493.466 171.6378 112 1493.466 121.1098 4.232765 1493.466 121.1098 112 1489.634 121.1098 112 1493.466 121.1098 4.232765 1489.634 121.1098 4.232765 1493.466 121.1098 112 1493.466 121.1098 112 1489.634 121.1098 112 1493.466 121.1098 4.232765 1489.634 121.1098 4.232765 1489.634 121.1098 112 1489.634 116.3198 4.232765 1489.634 116.3198 112 1489.634 121.1098 4.232765 1489.634 121.1098 4.232765 1489.634 121.1098 112 1489.634 116.3198 4.232765 1489.634 116.3198 112 1493.466 116.3198 112 1489.634 116.3198 4.232765 1493.466 116.3198 4.232765 1489.634 116.3198 112 1489.634 116.3198 112 1493.466 116.3198 112 1489.634 116.3198 4.232765 1493.466 116.3198 4.232765 1493.466 116.3198 112 1493.466 10.538 4.232765 1493.466 10.538 112 1493.466 116.3198 4.232765 1493.466 116.3198 4.232765 1493.466 116.3198 112 1493.466 10.538 4.232765 1493.466 10.538 112 1356.134 10.538 112 1493.466 10.538 0 1356.134 10.538 0 1493.466 10.538 4.232765 1493.466 10.538 112 1493.466 10.538 112 1356.134 10.538 112 1493.466 10.538 4.232765 1493.466 10.538 0 1356.134 10.538 0 1356.134 121.1098 0 1356.134 10.538 112 1356.134 10.538 0 1356.134 121.1098 97.59364 1356.134 121.1098 112 1356.134 121.1098 97.59364 1356.134 10.538 112 1356.134 121.1098 112 1356.134 121.1098 0 1356.134 10.538 0 1443.65 121.1098 0 1441.681 121.1098 54.11726 1356.134 121.1098 0 1443.65 121.1098 97.59364 1441.681 121.1098 104.074 1443.65 121.1098 112 1358.586 121.1098 104.074 1358.586 121.1098 54.11726 1356.134 121.1098 97.59364 1356.134 121.1098 112 1443.65 121.1098 112 1358.586 121.1098 104.074 1356.134 121.1098 112 1356.134 121.1098 97.59364 1358.586 121.1098 54.11726 1441.681 121.1098 54.11726 1356.134 121.1098 0 1441.681 121.1098 104.074 1443.65 121.1098 97.59364 1443.65 121.1098 0 1443.65 121.1098 112 1443.65 116.3198 0 1443.65 116.3198 112 1443.65 121.1098 97.59364 1443.65 121.1098 0 1443.65 121.1098 97.59364 1443.65 116.3198 0 1443.65 121.1098 0 1443.65 121.1098 112 1443.65 116.3198 112 1455.146 116.3198 112 1443.65 116.3198 0 1455.146 116.3198 0 1443.65 116.3198 112 1443.65 116.3198 112 1455.146 116.3198 112 1443.65 116.3198 0 1455.146 116.3198 0 1455.146 121.1098 0 1455.146 116.3198 112 1455.146 116.3198 0 1455.146 121.1098 112 1455.146 121.1098 112 1455.146 121.1098 0 1455.146 116.3198 112 1455.146 116.3198 0 1449.398 121.1098 97.59364 1455.146 121.1098 0 1449.398 121.1098 0 1455.146 121.1098 112 1449.398 121.1098 112 1449.398 121.1098 112 1449.398 121.1098 97.59364 1455.146 121.1098 112 1455.146 121.1098 0 1449.398 121.1098 0 1449.398 125.8998 0 1449.398 121.1098 97.59364 1449.398 121.1098 0 1449.398 125.8998 112 1449.398 121.1098 112 1449.398 125.8998 0 1449.398 121.1098 97.59364 1449.398 125.8998 112 1449.398 121.1098 112 1449.398 121.1098 0 1256.237 125.8998 0 1264.377 125.8998 54.11726 1449.398 125.8998 0 1256.237 125.8998 112 1264.377 125.8998 104.074 1348.875 125.8998 104.074 1358.586 125.8998 104.074 1441.681 125.8998 104.074 1441.681 125.8998 54.11726 1449.398 125.8998 112 1348.875 125.8998 54.11726 1358.586 125.8998 54.11726 1358.586 125.8998 104.074 1348.875 125.8998 104.074 1358.586 125.8998 54.11726 1348.875 125.8998 54.11726 1256.237 125.8998 112 1441.681 125.8998 104.074 1449.398 125.8998 112 1441.681 125.8998 54.11726 1264.377 125.8998 54.11726 1449.398 125.8998 0 1264.377 125.8998 104.074 1256.237 125.8998 0 1256.237 121.1098 112 1256.237 121.1098 0 1256.237 121.1098 97.59364 1256.237 125.8998 112 1256.237 125.8998 0 1256.237 125.8998 0 1256.237 125.8998 112 1256.237 121.1098 0 1256.237 121.1098 112 1256.237 121.1098 97.59364 1250.489 121.1098 112 1256.237 121.1098 0 1250.489 121.1098 0 1256.237 121.1098 97.59364 1256.237 121.1098 112 1256.237 121.1098 112 1250.489 121.1098 112 1256.237 121.1098 97.59364 1256.237 121.1098 0 1250.489 121.1098 0 1250.489 121.1098 112 1250.489 116.3198 0 1250.489 116.3198 112 1250.489 121.1098 0 1250.489 121.1098 0 1250.489 121.1098 112 1250.489 116.3198 0 1250.489 116.3198 112 1261.985 116.3198 112 1250.489 116.3198 0 1261.985 116.3198 0 1250.489 116.3198 112 1250.489 116.3198 112 1261.985 116.3198 112 1250.489 116.3198 0 1261.985 116.3198 0 1261.985 121.1098 0 1261.985 116.3198 112 1261.985 116.3198 0 1261.985 121.1098 97.59364 1261.985 121.1098 112 1261.985 121.1098 97.59364 1261.985 116.3198 112 1261.985 121.1098 112 1261.985 121.1098 0 1261.985 116.3198 0 1351.344 121.1098 0 1348.875 121.1098 54.11726 1261.985 121.1098 0 1351.344 121.1098 97.59364 1348.875 121.1098 104.074 1351.344 121.1098 112 1264.377 121.1098 104.074 1264.377 121.1098 54.11726 1261.985 121.1098 97.59364 1261.985 121.1098 112 1351.344 121.1098 112 1264.377 121.1098 104.074 1261.985 121.1098 112 1261.985 121.1098 97.59364 1264.377 121.1098 54.11726 1348.875 121.1098 54.11726 1261.985 121.1098 0 1348.875 121.1098 104.074 1351.344 121.1098 97.59364 1351.344 121.1098 0 1351.344 121.1098 112 1351.344 10.538 0 1351.344 10.538 112 1351.344 121.1098 0 1351.344 121.1098 97.59364 1351.344 121.1098 97.59364 1351.344 121.1098 112 1351.344 121.1098 0 1351.344 10.538 0 1351.344 10.538 112 1212.169 10.538 112 1351.344 10.538 0 1212.169 10.538 0 1351.344 10.538 112 1351.344 10.538 112 1212.169 10.538 112 1351.344 10.538 0 1212.169 10.538 0 1212.169 116.3198 0 1212.169 10.538 112 1212.169 10.538 0 1212.169 116.3198 112 1212.169 116.3198 112 1212.169 116.3198 0 1212.169 10.538 112 1212.169 10.538 0 1216.001 116.3198 112 1212.169 116.3198 0 1216.001 116.3198 0 1212.169 116.3198 112 1212.169 116.3198 112 1216.001 116.3198 112 1212.169 116.3198 0 1216.001 116.3198 0 1216.001 121.1098 0 1216.001 116.3198 112 1216.001 116.3198 0 1216.001 121.1098 112 1216.001 121.1098 112 1216.001 121.1098 0 1216.001 116.3198 112 1216.001 116.3198 0 1203.547 121.1098 112 1216.001 121.1098 0 1203.547 121.1098 0 1216.001 121.1098 112 1216.001 121.1098 112 1203.547 121.1098 112 1216.001 121.1098 0 1203.547 121.1098 0 1203.547 121.1098 112 1203.547 116.3198 0 1203.547 116.3198 112 1203.547 121.1098 0 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1415.539 288.3982 112 1415.539 293.1882 112 1294.969 604.4177 112 1294.969 599.6277 112 1404.872 604.4177 112 1378.167 599.6277 112 1378.167 440.8093 112 1425.561 599.6277 112 1409.662 604.4177 112 1425.561 604.4177 112 1593.647 266.1558 112 1588.857 288.3982 112 1588.857 266.1558 112 1493.466 293.1882 112 1498.256 293.1882 112 1493.466 436.0193 112 1498.256 436.0193 112 1597.479 293.1882 112 1593.647 288.3982 112 1597.479 288.3982 112 1501.202 599.6277 112 1460.049 604.4177 112 1460.049 599.6277 112 1463.881 604.4177 112 1472.503 604.4177 112 1463.881 609.2077 112 1467.713 609.2077 112 1467.713 623.8233 112 1541.58 604.4177 112 1505.992 599.6277 112 1505.992 440.8093 112 1546.37 599.6277 112 1546.37 618.6394 112 1546.37 623.4294 112 1550.202 623.4294 112 1550.202 618.6394 112 1546.37 627.2614 112 1541.58 627.2614 112 1644.421 288.3982 112 1631.967 293.1882 112 1631.967 288.3982 112 1635.799 293.1882 112 1640.589 293.1882 112 1635.799 436.0193 112 1644.421 293.1882 112 1588.522 618.6394 112 1584.69 623.4294 112 1584.69 618.6394 112 1588.522 623.4294 112 1588.522 599.6277 112 1593.312 604.4177 112 1626.394 599.6277 112 1696.98 604.4177 112 1631.184 599.6277 112 1631.184 440.8093 112 1709.434 599.6277 112 1701.77 608.2497 112 1696.98 623.8233 112 1705.602 604.4177 112 1709.434 604.4177 112 1751.586 599.6277 112 1743.922 604.4177 112 1743.922 599.6277 112 1747.754 604.4177 112 1747.754 608.2497 112 1751.586 608.2497 112 1780.704 266.1558 112 1775.914 288.3982 112 1775.914 266.1558 112 1775.914 293.1882 112 1775.914 436.0193 112 1784.536 270.9458 112 1780.704 275.7358 112 1780.704 270.9458 112 1784.536 275.7358 112 1501.202 440.8093 112 1626.394 440.8093 112 1751.586 440.8093 112 1640.589 436.0193 112 1756.376 440.8093 112 1751.586 620.0837 112 1780.704 436.0193 112 1678.633 288.3982 112 1674.801 293.1882 112 1674.801 288.3982 112 1683.423 288.3982 112 1683.423 266.1558 112 1756.376 620.0837 112 1705.602 608.2497 112 1701.77 623.8233 112 1678.633 266.1558 112 1593.312 627.2614 112 1588.522 627.2614 112 1472.503 623.8233 112 1409.662 608.2497 112 1404.872 608.2497 112 1373.466 359.5313 112 1260.481 599.6277 112 1255.609 604.4177 112 1255.609 599.6277 112 1260.481 604.4177 112 1255.609 616.9977 112 1255.609 604.4177 112 1255.609 599.6277 112 1255.609 616.9977 112 1255.609 462.8911 112 1250.819 616.9977 112 1260.481 604.4177 112 1260.481 599.6277 112 1373.466 338.5884 112 1368.676 359.5313 112 1373.466 359.5313 112 1409.662 604.4177 112 1404.872 604.4177 112 1409.662 608.2497 112 1404.872 608.2497 112 1472.503 604.4177 112 1467.713 623.8233 112 1472.503 623.8233 112 1593.312 604.4177 112 1588.522 623.4294 112 1593.312 627.2614 112 1588.522 627.2614 112 1678.633 266.1558 112 1678.633 288.3982 112 1683.423 266.1558 112 1701.77 608.2497 112 1696.98 623.8233 112 1701.77 623.8233 112 1705.602 604.4177 112 1705.602 608.2497 112 1756.376 440.8093 112 1751.586 620.0837 112 1756.376 620.0837 112 1775.914 288.3982 112 1683.423 288.3982 112 1775.914 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1546.37 627.2614 112 1541.58 604.4177 112 1541.58 627.2614 112 1550.202 618.6394 112 1546.37 618.6394 112 1550.202 623.4294 112 1505.992 599.6277 112 1467.713 609.2077 112 1463.881 609.2077 112 1463.881 604.4177 112 1460.049 604.4177 112 1460.049 599.6277 112 1597.479 288.3982 112 1593.647 288.3982 112 1597.479 293.1882 112 1593.647 266.1558 112 1588.857 288.3982 112 1498.256 293.1882 112 1493.466 293.1882 112 1415.539 293.1882 112 1415.539 288.3982 112 1588.857 266.1558 112 1425.561 604.4177 112 1425.561 599.6277 112 1378.167 599.6277 112 1373.377 599.6277 112 1294.969 604.4177 112 1294.969 599.6277 112 1415.539 295.1269 112 1415.539 266.1558 112 1410.749 293.1882 112 1368.676 336.6497 112 1410.749 266.1558 112 1373.466 394.0193 112 1373.377 440.8093 112 1368.676 436.0193 112 1368.676 394.0193 112 1276.985 440.8093 112 1274.956 436.0193 112 1250.819 460.9524 112 1921.691 436.0193 112 1921.691 275.7358 4.232765 1921.691 275.7358 112 1921.691 436.0193 4.232765 1921.691 436.0193 4.232765 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1.152670 -0.041479 3.496780 0.000000 1.123640 3.132190 + orbit + + + + diff --git a/pa10_gazebo/worlds/tabletop_cube.world b/pa10_gazebo/worlds/tabletop_cube.world new file mode 100644 index 0000000..97bf5a8 --- /dev/null +++ b/pa10_gazebo/worlds/tabletop_cube.world @@ -0,0 +1,58 @@ + + + + + 0 0 -9.81 + + + quick + 20 + 1.0 + + + 0.0 + 0.2 + 100.0 + 0.0 + + + 1000 + 0.001 + + + true + -2 0 4 0 0 0 + 1.0 1.0 1.0 1 + 0.1 0.1 0.1 1 + + 20 + 0.9 + 0.01 + 0.001 + + 0.2 0.0 -1.0 + + + + model://ground_plane + + + + model://table_0m8 + table1 + 0.88 0 0 0 0 0 + + + + model://aruco_cube + 0.53 -0.05 1.2 0 0 0 + + + + + 1.152670 -0.041479 3.496780 0.000000 1.123640 3.132190 + orbit + + + + diff --git a/pa10_gazebo/worlds/tutorial_office.world b/pa10_gazebo/worlds/tutorial_office.world new file mode 100644 index 0000000..ac65e80 --- /dev/null +++ b/pa10_gazebo/worlds/tutorial_office.world @@ -0,0 +1,334 @@ + + + + + 0 0 -9.81 + + + quick + 20 + 1.0 + + + 0.0 + 0.2 + 100.0 + 0.0 + + + 1000 + 0.001 + + + + model://sun + + + + model://ground_plane + + + 0 -5 1 0 0 0 + true + + + 1.0 + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + + 10 0.2 2 + + + + + + + 10 0.2 2 + + + + + + + 0 10 1 0 0 0 + true + + + 1.0 + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + + 10 0.2 2 + + + + + + + 10 0.2 2 + + + + + + + -5 2.5 1 0 0 0 + true + + + 1.0 + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + + 0.2 15 2 + + + + + + + 0.2 15 2 + + + + + + + 5 2.5 1 0 0 0 + true + + + 1.0 + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + + 0.2 15 2 + + + + + + + 0.2 15 2 + + + + + + + -2 5 1 0 0 0 + true + + + 1.0 + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + + 6 0.2 2 + + + + + + + 6 0.2 2 + + + + + + + 3.5 5 1 0 0 0 + true + + + 1.0 + + 1.0 + 0.0 + 0.0 + 1.0 + 0.0 + 1.0 + + + + + + 3 0.2 2 + + + + + + + 3 0.2 2 + + + + + + + + model://dining_chair + 2.5 -4.5 0.01 0 0 0 + + + + model://kitchen_table + 2.000000 -3.551060 0.000000 0.000000 0.000000 0.000000 + + + + pringles + model://pringles + 2.40654 -3 0.777497 5.1e-05 -0.000165 0.00025 + + + + model://coke_can_slim + 2.43428 -2.57448 0.734997 9.1e-05 -0.00023 0 + + + + model://pringles2 + 2.17347 -2.75653 0.657498 3.9e-05 -0.000197 -3e-06 + + + + model://wardrobe + 2.000000 9.000000 0.000000 0.000000 0.000000 0.000000 + + + + model://pal_poster + -0.78 4.83 1.2 0 0 -1.57 + + + + model://aruco_board + -4.85 -0.86 1.35 0 0 0 + + + + model://wall_with_reem_photo + -0.025898 -4.80869 1 1e-06 -6e-06 -1.60377 + + + + model://closet + -4.000000 -5.000000 0.000000 0.000000 0.000000 0.000000 + + + + model://bench + -4.465430 1.502710 0.000000 0.000000 0.000000 0.000000 + + + + model://sofa + -0.518195 9.000000 0.000000 0.000000 0.000000 0.000000 + + + + floor_lamp_0 + model://floor_lamp + -1.000000 9.417350 0.000000 0.000000 0.000000 0.000000 + + + + floor_lamp_1 + model://floor_lamp + 4.000000 4.00000 0.000000 0.000000 0.000000 0.000000 + + + + male03 + model://citizen_extras_male_03 + 4.0 0.53 0.01 0.0125 0.0023 -1.718 + + + + + female02 + model://citizen_extras_female_02 + -2.84 -2.63 0.01 0 -0.025 1.683 + + + + + female03 + model://citizen_extras_female_03 + -3.3 5.8 0.01 0.011 0.0126 1.6451 + + + + + female02bis + model://citizen_extras_female_02 + 4.000000 7.000000 0.000000 0.000000 0.000000 0.000000 + + + + + male03bis + model://citizen_extras_male_03 + -3.000000 4.000000 0.000000 0.000000 0.000000 0.000000 + + + + + + 0.685291 2.730300 18.477800 0.000000 1.529800 -3.138990 + orbit + + + + + + diff --git a/pa10_gazebo/worlds/willow_garage.world b/pa10_gazebo/worlds/willow_garage.world new file mode 100644 index 0000000..51b22f7 --- /dev/null +++ b/pa10_gazebo/worlds/willow_garage.world @@ -0,0 +1,72 @@ + + + + + 0 0 -9.81 + + + quick + 20 + 1.0 + + + 0.0 + 0.2 + 100.0 + 0.0 + + + 1000 + 0.001 + + + + + model://sun + + + + + model://ground_plane + + + + 1 + -20.000000 -17.000000 0.000000 0.000000 0.000000 0.000000 + + + + + model://willowgarage/meshes/willowgarage_collision.dae + + + 10 + + + + + + + + + + + + + + model://willowgarage/meshes/willowgarage_visual.dae + + + 0 + + + 0.000000 + 0.000000 + + 0 + 0 + 1 + + + + diff --git a/pa10_hardware_interface/CMakeLists.txt b/pa10_hardware_interface/CMakeLists.txt new file mode 100644 index 0000000..160fa97 --- /dev/null +++ b/pa10_hardware_interface/CMakeLists.txt @@ -0,0 +1,218 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pa10_hardware_interface) + +## 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 COMPONENTS + cmake_modules + control_toolbox + hardware_interface + joint_limits_interface + roscpp + sensor_msgs + controller_manager +) + +find_package(Eigen 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_hardware_interface +# CATKIN_DEPENDS cmake_modules control_toolbox eigen hardware_interface joint_limits_interface roscpp +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + include + ${catkin_INCLUDE_DIRS} + SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/pa10_hardware_interface.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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(joint_position_interface src/joint_position_interface.cpp) +add_dependencies(joint_position_interface ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(joint_position_interface ${catkin_LIBRARIES}) + +add_executable(pa10_fake_hardware_interface src/pa10_fake_hardware_interface.cpp) +add_dependencies(pa10_fake_hardware_interface ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(pa10_fake_hardware_interface ${catkin_LIBRARIES}) + +add_executable(pa10_hardware_interface_node scripts/pa10_hardware_interface.cpp) +add_dependencies(pa10_hardware_interface_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(pa10_hardware_interface_node ${catkin_LIBRARIES}) + + +add_executable(motion_planning_scene_tutorial src/motion_planning_scene_tutorial.cpp) +add_dependencies(motion_planning_scene_tutorial ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(motion_planning_scene_tutorial ${catkin_LIBRARIES}) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${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}) + + + +############# +## 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_hardware_interface.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/pa10_hardware_interface/CMakeLists.txt~ b/pa10_hardware_interface/CMakeLists.txt~ new file mode 100644 index 0000000..160fa97 --- /dev/null +++ b/pa10_hardware_interface/CMakeLists.txt~ @@ -0,0 +1,218 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pa10_hardware_interface) + +## 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 COMPONENTS + cmake_modules + control_toolbox + hardware_interface + joint_limits_interface + roscpp + sensor_msgs + controller_manager +) + +find_package(Eigen 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_hardware_interface +# CATKIN_DEPENDS cmake_modules control_toolbox eigen hardware_interface joint_limits_interface roscpp +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + include + ${catkin_INCLUDE_DIRS} + SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/pa10_hardware_interface.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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(joint_position_interface src/joint_position_interface.cpp) +add_dependencies(joint_position_interface ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(joint_position_interface ${catkin_LIBRARIES}) + +add_executable(pa10_fake_hardware_interface src/pa10_fake_hardware_interface.cpp) +add_dependencies(pa10_fake_hardware_interface ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(pa10_fake_hardware_interface ${catkin_LIBRARIES}) + +add_executable(pa10_hardware_interface_node scripts/pa10_hardware_interface.cpp) +add_dependencies(pa10_hardware_interface_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(pa10_hardware_interface_node ${catkin_LIBRARIES}) + + +add_executable(motion_planning_scene_tutorial src/motion_planning_scene_tutorial.cpp) +add_dependencies(motion_planning_scene_tutorial ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(motion_planning_scene_tutorial ${catkin_LIBRARIES}) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${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}) + + + +############# +## 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_hardware_interface.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/pa10_hardware_interface/config/fake_controllers.yaml b/pa10_hardware_interface/config/fake_controllers.yaml new file mode 100644 index 0000000..1d9b677 --- /dev/null +++ b/pa10_hardware_interface/config/fake_controllers.yaml @@ -0,0 +1,46 @@ +joint_names: [S1,S2,E1,E2,W1,W2,W3,finger_joint_1,finger_joint_2] + +# Publish all joint states ----------------------------------- +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 25 + +# Position Controllers --------------------------------------- +arm_controller: + #type: position_controllers/JointGroupPositionController + type: "velocity_controllers/JointTrajectoryController" + #type: "position_controllers/JointTrajectoryController" + #type: "effort_controllers/JointTrajectoryController" + + joints: + - S1 + - S2 + - E1 + - E2 + - W1 + - W2 + - W3 + gains: + S1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + S2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + E1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + E2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + W1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + W2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + W3: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + + constraints: + goal_time: 0.5 # Override default + state_publish_rate: 25 # Override default + action_monitor_rate: 20 # Override default + stop_trajectory_duration: 0 # Override default + +gripper_controller: + #type: "position_controllers/JointTrajectoryController" + type: "velocity_controllers/JointTrajectoryController" + joints: + - finger_joint_1 + - finger_joint_2 + gains: + finger_joint_1: &gripper_finger_gains {p: 1.0, d: 0.05, i: 0.1, i_clamp: 1.0} + finger_joint_2: *gripper_finger_gains diff --git a/pa10_hardware_interface/config/fake_controllers.yaml~ b/pa10_hardware_interface/config/fake_controllers.yaml~ new file mode 100644 index 0000000..0b7f516 --- /dev/null +++ b/pa10_hardware_interface/config/fake_controllers.yaml~ @@ -0,0 +1,46 @@ +joint_names: [S1,S2,E1,E2,W1,W2,W3,finger_joint_1,finger_joint_2] + +# Publish all joint states ----------------------------------- +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 25 + +# Position Controllers --------------------------------------- +arm_controller: + #type: position_controllers/JointGroupPositionController + type: "velocity_controllers/JointTrajectoryController" + #type: "position_controllers/JointTrajectoryController" + #type: "effort_controllers/JointTrajectoryController" + + joints: + - S1 + - S2 + - E1 + - E2 + - W1 + - W2 + - W3 + gains: + S1: {p: 2.0, i: 0.05, d: 0.2, i_clamp: 0.5} + S2: {p: 2.0, i: 0.05, d: 0.2, i_clamp: 0.5} + E1: {p: 2.0, i: 0.05, d: 0.2, i_clamp: 0.5} + E2: {p: 2.0, i: 0.05, d: 0.2, i_clamp: 0.5} + W1: {p: 2.0, i: 0.05, d: 0.2, i_clamp: 0.5} + W2: {p: 2.0, i: 0.05, d: 0.2, i_clamp: 0.5} + W3: {p: 2.0, i: 0.05, d: 0.2, i_clamp: 0.5} + + constraints: + goal_time: 0.5 # Override default + state_publish_rate: 25 # Override default + action_monitor_rate: 20 # Override default + stop_trajectory_duration: 0 # Override default + +gripper_controller: + #type: "position_controllers/JointTrajectoryController" + type: "velocity_controllers/JointTrajectoryController" + joints: + - finger_joint_1 + - finger_joint_2 + gains: + finger_joint_1: &gripper_finger_gains {p: 1.0, d: 0.05, i: 0.1, i_clamp: 1.0} + finger_joint_2: *gripper_finger_gains diff --git a/pa10_hardware_interface/config/gazebo_controllers.yaml~ b/pa10_hardware_interface/config/gazebo_controllers.yaml~ new file mode 100644 index 0000000..47e1ec7 --- /dev/null +++ b/pa10_hardware_interface/config/gazebo_controllers.yaml~ @@ -0,0 +1,46 @@ +joint_names: [S1,S2,E1,E2,W1,W2,W3,finger_joint_1,finger_joint_2] + +# Publish all joint states ----------------------------------- +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +# Position Controllers --------------------------------------- +arm_controller: + #type: position_controllers/JointGroupPositionController + type: "velocity_controllers/JointTrajectoryController" + #type: "position_controllers/JointTrajectoryController" + #type: "effort_controllers/JointTrajectoryController" + + joints: + - S1 + - S2 + - E1 + - E2 + - W1 + - W2 + - W3 + gains: + S1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + S2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + E1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + E2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + W1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + W2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + W3: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + + constraints: + goal_time: 0.5 # Override default + state_publish_rate: 50 # Override default + action_monitor_rate: 20 # Override default + stop_trajectory_duration: 0 # Override default + +gripper_controller: + #type: "position_controllers/JointTrajectoryController" + type: "velocity_controllers/JointTrajectoryController" + joints: + - finger_joint_1 + - finger_joint_2 + gains: + finger_joint_1: &gripper_finger_gains {p: 1.0, d: 0.05, i: 0.1, i_clamp: 1.0} + finger_joint_2: *gripper_finger_gains diff --git a/pa10_hardware_interface/config/joint_names.yaml b/pa10_hardware_interface/config/joint_names.yaml new file mode 100644 index 0000000..e58ff6a --- /dev/null +++ b/pa10_hardware_interface/config/joint_names.yaml @@ -0,0 +1 @@ +controller_joint_names: [S1, S2, E1, E2, W1, W2, W3,finger_joint_1,finger_joint_2] diff --git a/pa10_hardware_interface/config/joint_names.yaml~ b/pa10_hardware_interface/config/joint_names.yaml~ new file mode 100644 index 0000000..33be887 --- /dev/null +++ b/pa10_hardware_interface/config/joint_names.yaml~ @@ -0,0 +1 @@ +controller_joint_names: [soldier_joint_1,soldier_joint_2,elbow_joint_1,elbow_joint_2,wrist_joint_1,wrist_joint_2,wrist_joint_3,finger_joint_1,finger_joint_2] diff --git a/pa10_hardware_interface/config/mycontroller.yaml~ b/pa10_hardware_interface/config/mycontroller.yaml~ new file mode 100644 index 0000000..c78ac7a --- /dev/null +++ b/pa10_hardware_interface/config/mycontroller.yaml~ @@ -0,0 +1,37 @@ +joint_names: [soldier_joint_1,soldier_joint_2,elbow_joint_1,elbow_joint_2,wrist_joint_1,wrist_joint_2,wrist_joint_3,finger_joint_1,finger_joint_2] + +# Publish all joint states ----------------------------------- +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +# Position Controllers --------------------------------------- +arm_controller: + type: position_controllers/JointGroupPositionController + joints: + - soldier_joint_1 + - soldier_joint_2 + - elbow_joint_1 + - elbow_joint_2 + - wrist_joint_1 + - wrist_joint_2 + - wrist_joint_3 + gains: + soldier_joint_1: {p: 3000, d: 5, i: 1, i_clamp: 3, torque_clamp: 60} + soldier_joint_2: {p: 3000, d: 5, i: 1, i_clamp: 3, torque_clamp: 60} + elbow_joint_1: {p: 3000, d: 5, i: 1, i_clamp: 3, torque_clamp: 60} + elbow_joint_2: {p: 3000, d: 5, i: 1, i_clamp: 3, torque_clamp: 60} + wrist_joint_1: {p: 500, d: 1, i: 0.1, i_clamp: 3, torque_clamp: 60} + wrist_joint_2: {p: 500, d: 1, i: 0.1, i_clamp: 3, torque_clamp: 60} + wrist_joint_3: {p: 500, d: 1, i: 0.1, i_clamp: 3, torque_clamp: 60} + + +gripper_controller: + type: position_controllers/JointGroupPositionController + joints: + - finger_joint_1 + - finger_joint_2 + + gains: + finger_joint_1: &gripper_finger_gains {p: 2000, d: 0, i: 0, p_gain: 2000} + finger_joint_2: *gripper_finger_gains diff --git a/pa10_hardware_interface/config/pids.yaml~ b/pa10_hardware_interface/config/pids.yaml~ new file mode 100644 index 0000000..00dbb09 --- /dev/null +++ b/pa10_hardware_interface/config/pids.yaml~ @@ -0,0 +1,14 @@ +gains: + soldier_joint_1: {p: 3000, d: 5, i: 1, i_clamp: 3, torque_clamp: 60} + soldier_joint_2: {p: 3000, d: 5, i: 1, i_clamp: 3, torque_clamp: 60} + elbow_joint_1: {p: 3000, d: 5, i: 1, i_clamp: 3, torque_clamp: 60} + elbow_joint_2: {p: 3000, d: 5, i: 1, i_clamp: 3, torque_clamp: 60} + wrist_joint_1: {p: 500, d: 1, i: 0.1, i_clamp: 3, torque_clamp: 60} + wrist_joint_2: {p: 500, d: 1, i: 0.1, i_clamp: 3, torque_clamp: 60} + wrist_joint_3: {p: 500, d: 1, i: 0.1, i_clamp: 3, torque_clamp: 60} + + finger_joint_1: &gripper_finger_gains {p: 2000, d: 0, i: 0, p_gain: 2000} + finger_joint_2: *gripper_finger_gains + + + diff --git a/pa10_hardware_interface/config/real_controllers.yaml b/pa10_hardware_interface/config/real_controllers.yaml new file mode 100644 index 0000000..47e1ec7 --- /dev/null +++ b/pa10_hardware_interface/config/real_controllers.yaml @@ -0,0 +1,46 @@ +joint_names: [S1,S2,E1,E2,W1,W2,W3,finger_joint_1,finger_joint_2] + +# Publish all joint states ----------------------------------- +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +# Position Controllers --------------------------------------- +arm_controller: + #type: position_controllers/JointGroupPositionController + type: "velocity_controllers/JointTrajectoryController" + #type: "position_controllers/JointTrajectoryController" + #type: "effort_controllers/JointTrajectoryController" + + joints: + - S1 + - S2 + - E1 + - E2 + - W1 + - W2 + - W3 + gains: + S1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + S2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + E1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + E2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + W1: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + W2: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + W3: {p: 10.0, i: 0.2, d: 0.05, i_clamp: 2.5} + + constraints: + goal_time: 0.5 # Override default + state_publish_rate: 50 # Override default + action_monitor_rate: 20 # Override default + stop_trajectory_duration: 0 # Override default + +gripper_controller: + #type: "position_controllers/JointTrajectoryController" + type: "velocity_controllers/JointTrajectoryController" + joints: + - finger_joint_1 + - finger_joint_2 + gains: + finger_joint_1: &gripper_finger_gains {p: 1.0, d: 0.05, i: 0.1, i_clamp: 1.0} + finger_joint_2: *gripper_finger_gains diff --git a/pa10_hardware_interface/include/pa10_remote/pa10remote.h b/pa10_hardware_interface/include/pa10_remote/pa10remote.h new file mode 100644 index 0000000..905aedb --- /dev/null +++ b/pa10_hardware_interface/include/pa10_remote/pa10remote.h @@ -0,0 +1,27 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include // Needed for memset + +#include +#include +#include +#include +#include // Needed for the socket functions +#include + +#include +#include + +using namespace Eigen; + +MatrixXd pa10FKDHModified (VectorXd); +MatrixXd pa10Jacobian(VectorXd); + + diff --git a/pa10_hardware_interface/include/pa10_remote/pa10remote.h~ b/pa10_hardware_interface/include/pa10_remote/pa10remote.h~ new file mode 100644 index 0000000..d3dee43 --- /dev/null +++ b/pa10_hardware_interface/include/pa10_remote/pa10remote.h~ @@ -0,0 +1,27 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include // Needed for memset + +#include +#include +#include +#include +#include // Needed for the socket functions +#include + +#include +#include + +using namespace Eigen; + +Matrix4f pa10FKDHModified (VectorXd); +MatrixXd pa10Jacobian(VectorXd); + + diff --git a/pa10_hardware_interface/launch/pa10_controller_spawner.launch b/pa10_hardware_interface/launch/pa10_controller_spawner.launch new file mode 100644 index 0000000..8c7d980 --- /dev/null +++ b/pa10_hardware_interface/launch/pa10_controller_spawner.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_hardware_interface/launch/pa10_controller_spawner.launch~ b/pa10_hardware_interface/launch/pa10_controller_spawner.launch~ new file mode 100644 index 0000000..64621b1 --- /dev/null +++ b/pa10_hardware_interface/launch/pa10_controller_spawner.launch~ @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_hardware_interface/launch/pa10_fake_controller_spawner.launch b/pa10_hardware_interface/launch/pa10_fake_controller_spawner.launch new file mode 100644 index 0000000..02806a5 --- /dev/null +++ b/pa10_hardware_interface/launch/pa10_fake_controller_spawner.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_hardware_interface/launch/pa10_fake_controller_spawner.launch~ b/pa10_hardware_interface/launch/pa10_fake_controller_spawner.launch~ new file mode 100644 index 0000000..e438238 --- /dev/null +++ b/pa10_hardware_interface/launch/pa10_fake_controller_spawner.launch~ @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_hardware_interface/package.xml b/pa10_hardware_interface/package.xml new file mode 100644 index 0000000..b6c2db0 --- /dev/null +++ b/pa10_hardware_interface/package.xml @@ -0,0 +1,60 @@ + + + pa10_hardware_interface + 0.0.0 + The pa10_hardware_interface package + + + + + michalis + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + cmake_modules + control_toolbox + hardware_interface + joint_limits_interface + roscpp + cmake_modules + control_toolbox + hardware_interface + joint_limits_interface + roscpp + + + + + + + + diff --git a/pa10_hardware_interface/package.xml~ b/pa10_hardware_interface/package.xml~ new file mode 100644 index 0000000..8323595 --- /dev/null +++ b/pa10_hardware_interface/package.xml~ @@ -0,0 +1,62 @@ + + + pa10_hardware_interface + 0.0.0 + The pa10_hardware_interface package + + + + + michalis + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + cmake_modules + control_toolbox + eigen + hardware_interface + joint_limits_interface + roscpp + cmake_modules + control_toolbox + eigen + hardware_interface + joint_limits_interface + roscpp + + + + + + + + diff --git a/pa10_hardware_interface/scripts/joint_position_interface.cpp~ b/pa10_hardware_interface/scripts/joint_position_interface.cpp~ new file mode 100644 index 0000000..4428f54 --- /dev/null +++ b/pa10_hardware_interface/scripts/joint_position_interface.cpp~ @@ -0,0 +1,131 @@ +#include +#include + +#include +#include +#include +#include + +#include +#include +#include "sensor_msgs/JointState.h" + +class pa10 : public hardware_interface::RobotHW +{ +public: + + ros::NodeHandle n_; + + //bool nlyPositionFeedback = true; + + pa10() + { + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_1("soldier_joint_1", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_1); + + hardware_interface::JointStateHandle state_handle_2("soldier_joint_2", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_2); + + hardware_interface::JointStateHandle state_handle_3("elbow_joint_1", &pos[2], &vel[2], &eff[2]); + jnt_state_interface.registerHandle(state_handle_3); + + hardware_interface::JointStateHandle state_handle_4("elbow_joint_2", &pos[3], &vel[3], &eff[3]); + jnt_state_interface.registerHandle(state_handle_4); + + hardware_interface::JointStateHandle state_handle_5("wrist_joint_1", &pos[4], &vel[4], &eff[4]); + jnt_state_interface.registerHandle(state_handle_5); + + hardware_interface::JointStateHandle state_handle_6("wrist_joint_2", &pos[5], &vel[5], &eff[5]); + jnt_state_interface.registerHandle(state_handle_6); + + hardware_interface::JointStateHandle state_handle_7("wrist_joint_3", &pos[6], &vel[6], &eff[6]); + jnt_state_interface.registerHandle(state_handle_7); + + registerInterface(&jnt_state_interface); + + // connect and register the joint position interface + hardware_interface::JointHandle vel_handle_1(jnt_state_interface.getHandle("soldier_joint_1"), &cmd[0]); + jnt_vel_interface.registerHandle(vel_handle_1); + + hardware_interface::JointHandle vel_handle_2(jnt_state_interface.getHandle("soldier_joint_2"), &cmd[1]); + jnt_vel_interface.registerHandle(vel_handle_2); + + hardware_interface::JointHandle vel_handle_3(jnt_state_interface.getHandle("elbow_joint_1"), &cmd[2]); + jnt_vel_interface.registerHandle(vel_handle_3); + + hardware_interface::JointHandle vel_handle_4(jnt_state_interface.getHandle("elbow_joint_2"), &cmd[3]); + jnt_vel_interface.registerHandle(vel_handle_4); + + hardware_interface::JointHandle vel_handle_5(jnt_state_interface.getHandle("wrist_joint_1"), &cmd[4]); + jnt_vel_interface.registerHandle(vel_handle_5); + + hardware_interface::JointHandle vel_handle_6(jnt_state_interface.getHandle("wrist_joint_2"), &cmd[5]); + jnt_vel_interface.registerHandle(vel_handle_6); + + hardware_interface::JointHandle vel_handle_7(jnt_state_interface.getHandle("wrist_joint_3"), &cmd[6]); + jnt_vel_interface.registerHandle(vel_handle_7); + + registerInterface(&jnt_vel_interface); + } + + n_ = ros::NodeHandle(); + //subscriber to joint states + ros::Subscriber sub = n_.subscribe("joint_states", 1, &pa10::updateJointState, this); + + //call back function + void updateJointState(sensor_msgs::JointState msg) + { + + pos = msg.position; + vel = msg.velocity; + eff = msg.>effort; + + std::cout<<"Actual Joint States: \nPosition:"< +#include + +#include +#include +#include +#include + +#include +#include +#include "sensor_msgs/JointState.h" + + +#include "std_msgs/Float64MultiArray.h" +#include +#include + +#define PI acos(-1) +using namespace std; +using namespace Eigen; + +//global var +double qdot[7]; + +class pa10 : public hardware_interface::RobotHW +{ +public: + ros::Publisher pub; //publisher to pub the f/t mesurements + ros::NodeHandle n_; + +public: + + pa10() + { + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_1("soldier_joint_1", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_1); + + hardware_interface::JointStateHandle state_handle_2("soldier_joint_2", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_2); + + hardware_interface::JointStateHandle state_handle_3("elbow_joint_1", &pos[2], &vel[2], &eff[2]); + jnt_state_interface.registerHandle(state_handle_3); + + hardware_interface::JointStateHandle state_handle_4("elbow_joint_2", &pos[3], &vel[3], &eff[3]); + jnt_state_interface.registerHandle(state_handle_4); + + hardware_interface::JointStateHandle state_handle_5("wrist_joint_1", &pos[4], &vel[4], &eff[4]); + jnt_state_interface.registerHandle(state_handle_5); + + hardware_interface::JointStateHandle state_handle_6("wrist_joint_2", &pos[5], &vel[5], &eff[5]); + jnt_state_interface.registerHandle(state_handle_6); + + hardware_interface::JointStateHandle state_handle_7("wrist_joint_3", &pos[6], &vel[6], &eff[6]); + jnt_state_interface.registerHandle(state_handle_7); + + + registerInterface(&jnt_state_interface); + + // connect and register the joint position interface + hardware_interface::JointHandle vel_handle_1(jnt_state_interface.getHandle("soldier_joint_1"), &cmd[0]); + jnt_vel_interface.registerHandle(vel_handle_1); + + hardware_interface::JointHandle vel_handle_2(jnt_state_interface.getHandle("soldier_joint_2"), &cmd[1]); + jnt_vel_interface.registerHandle(vel_handle_2); + + hardware_interface::JointHandle vel_handle_3(jnt_state_interface.getHandle("elbow_joint_1"), &cmd[2]); + jnt_vel_interface.registerHandle(vel_handle_3); + + hardware_interface::JointHandle vel_handle_4(jnt_state_interface.getHandle("elbow_joint_2"), &cmd[3]); + jnt_vel_interface.registerHandle(vel_handle_4); + + hardware_interface::JointHandle vel_handle_5(jnt_state_interface.getHandle("wrist_joint_1"), &cmd[4]); + jnt_vel_interface.registerHandle(vel_handle_5); + + hardware_interface::JointHandle vel_handle_6(jnt_state_interface.getHandle("wrist_joint_2"), &cmd[5]); + jnt_vel_interface.registerHandle(vel_handle_6); + + hardware_interface::JointHandle vel_handle_7(jnt_state_interface.getHandle("wrist_joint_3"), &cmd[6]); + jnt_vel_interface.registerHandle(vel_handle_7); + + + registerInterface(&jnt_vel_interface); + + n_ = ros::NodeHandle(); + + } + + //////////////////////////// + /* PA10 RELATED FUNCTIONS */ + //////////////////////////// + + + /* INITIALIZATION */ + void pa10CommInit() + { + + int status; + struct addrinfo host_info; // The struct that getaddrinfo() fills up with data. + struct addrinfo *host_info_list; // Pointer to the to the linked list of host_info's. + + + memset(&host_info, 0, sizeof host_info); + + std::cout << "Setting up the structs..." << std::endl; + + host_info.ai_family = AF_UNSPEC; // IP version not specified. Can be both. + host_info.ai_socktype = SOCK_STREAM; // Use SOCK_STREAM for TCP or SOCK_DGRAM for UDP. + + status = getaddrinfo("147.102.51.71", "4534", &host_info, &host_info_list); + + if (status != 0){ + std::cout << "getaddrinfo error" << gai_strerror(status) ; + exit(0); + } + + std::cout << "Creating a socket..." << std::endl; + + //the socket discriptor + socketfd = socket(host_info_list->ai_family, host_info_list->ai_socktype, host_info_list->ai_protocol); + + if (socketfd == -1){ + std::cout << "socket error\n" ; + exit(0); + } + + std::cout << "Connecting..." << std::endl; + status = connect(socketfd, host_info_list->ai_addr, host_info_list->ai_addrlen); + + if (status == -1){ + std::cout << "connect error\n" ; + exit(0); + } + + std::cout << "Connection with PA 10 PC Established !!!"; + + std::cout << "sending message..." << std::endl; + char *msg = "I040"; + int len; + ssize_t bytes_sent; + len = strlen(msg); + + bytes_sent = send(socketfd, msg, len, 0); + + //return socketfd; + } + + + ///////////////////////// + /* GET PA10 JOINT DATA */ + ///////////////////////// + void getPA10data() + { + float pa10data[7]; + + std::cout << "Waiting to receive data..." << std::endl; + ssize_t bytes_received2; + char incomming_data_buffer2[1000]; + bytes_received2 = recv(socketfd,incomming_data_buffer2,1000, 0); + + if (bytes_received2 == 0){ + std::cout << "host shut down." << std::endl ; + exit(0); + } + + if (bytes_received2 == -1){ + std::cout << "receive error!" << std::endl ; + exit(0); + } + + + + std::cout << bytes_received2 << " bytes received :" << std::endl ; + std::cout << incomming_data_buffer2 << std::endl; + incomming_data_buffer2[bytes_received2 -2] = '\0'; + + std::cout << "Bypassed Get Angles !!!" << "\n"; + + char *mstring; + mstring = (char *)malloc(20 * sizeof(char)); + + char *mstart,*mend; + + if(incomming_data_buffer2[0]=='I') + mstart = &(incomming_data_buffer2[7]); + else + mstart = &(incomming_data_buffer2[1]); + + + for (int count=0; count<7; count++){ + mend = strchr(mstart,97); + strncpy(mstring,mstart,(int)(mend - mstart)); + //cout << "OK" << "\n"; + strcat(mstring,"\0"); + pa10data[count]=atof(mstring); + mstart=mend+1; + } + + std::cout << "PA10: " << " q1: " << pa10data[0] << " q2: " << pa10data[1] + << " q3: " << pa10data[2] << " q4: " << pa10data[3] + << " q5: " << pa10data[4] << " q6: " << pa10data[5] + << " q7: " << pa10data[6] << "\n"; + + for (int i = 0; i < 7; i++) + // fill position pos[],vel[] and eff[] with joints state + pos[i] = pa10data[i]; + // the effort is unavailable + eff[i] = 0.0; + } + + + /////////////////////////////////// + /* SEND TO PA10 THE DESIRED DATA */ + /////////////////////////////////// + void setPA10data(double* qdot) + { + + float DOF1 = qdot[0]*180/PI; + float DOF2 = qdot[1]*180/PI; + float DOF3 = qdot[2]*180/PI; + float DOF4 = qdot[3]*180/PI; + float DOF5 = qdot[4]*180/PI; + float DOF6 = qdot[5]*180/PI; + float DOF7 = qdot[6]*180/PI; + + + std::string result; + std::stringstream convert; + convert<<"M"<::const_iterator it = msg->data.begin(); it != msg->data.end(); ++it) + { + qdot[i] = *it; + i++; + } + } + + + //////////////////////// + /* Set Controller Type*/ + //////////////////////// + void setControllerType(std::string cntr_type) + { + //define the type of the controller --> the command type + controller_type = cntr_type; + } + + + /////////////////////////////////////////////////////////////////// + /* Fuction which computes joint velocities using joint positions */ + /////////////////////////////////////////////////////////////////// + void postovel(double cmd_[9]) + { + for (int i=0;i<7;++i) + { + //compute velocity commands + cmd_vel[i]=(cmd_[i]-cmd_prev[i])*100.0; + //update previous commands + cmd_prev[i] = cmd_[i]; + } + } + + + + /////////////////// + /* Read Function*/ + ////////////////// + void read() + { + // Read position velocity torque from the robot + pa10::getPA10data(); + } + + /////////////////// + /* Write Function*/ + /////////////////// + void write() + { + + // if you want velocity commands + if (controller_type=="VelocityJointInterface") + { + // send the commands to pa10 + pa10::setPA10data(cmd); + } + + // if you want velocity commands + else if (controller_type=="PositionJointInterface") + { + //convert position commands to velocities + pa10::postovel(cmd); + // send the commands to pa10 + pa10::setPA10data(cmd_vel); + } + + else + { + std::cout << "No Supported Controller!" << std::endl ; + exit(0); + } + } + + + + ros::Time get_time() { return ros::Time::now(); } ; + ros::Duration get_period() { ros::Duration(0.1);}; + + +private: + hardware_interface::JointStateInterface jnt_state_interface; + hardware_interface::PositionJointInterface jnt_vel_interface; + double cmd[7] = {0.0}; + double cmd_prev[7] = {0.0}; + double cmd_vel[7] = {0.0}; + double pos[7] = {0.0}; + double vel[7] = {0.0}; + double eff[7] = {0.0}; + std::string controller_type; + bool VelControllWithPoseCommand; + int socketfd ; // The socket descripter +}; + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pa10_hardware_interface"); + ros::NodeHandle nh; + ros::Rate loop_rate(10.0); + + pa10 robot; + + //initialize control manager + controller_manager::ControllerManager cm(&robot,nh); + + //define the type of the controller --> the command type + robot.setControllerType("PositionJointInterface"); + + //Initialize Communication with PA10 + robot.pa10CommInit(); + + + while (ros::ok()) + { + //time loop starts + double start =ros::Time::now().toSec(); + + // read robot data + robot.read(); + + // update data + cm.update(robot.get_time(), robot.get_period()); + + //send data to the robot + robot.write(); + + ros::spinOnce(); + loop_rate.sleep(); + + // time loop ends + double end =ros::Time::now().toSec(); + //print dt + printf("Loop dt:%lf\n", end-start); + + loop_rate.sleep(); + } + + return 0; +} diff --git a/pa10_hardware_interface/scripts/pa10_hardware_interface.cpp b/pa10_hardware_interface/scripts/pa10_hardware_interface.cpp new file mode 100644 index 0000000..c45269f --- /dev/null +++ b/pa10_hardware_interface/scripts/pa10_hardware_interface.cpp @@ -0,0 +1,547 @@ +#include +#include + +#include +#include +#include +#include + +#include +#include +#include "sensor_msgs/JointState.h" + + +#include "std_msgs/Float64MultiArray.h" +#include +#include + +#include + + +#define PI acos(-1) +using namespace std; +using namespace Eigen; + +//global var +double qdot[7]; + +#define RATE 50.0 + +double anglewrap(double x) +{ + double y = x; + if (x>PI) + y = x-2.0*PI; + else if (x<-M_PI) + y = x +2.0*PI; + + return y; +} + +#define SATUR(x,minx,maxx) max(min(x,maxx),minx) + +class pa10 : public hardware_interface::RobotHW +{ +public: + ros::Publisher pub; //publisher to pub the f/t mesurements + ros::NodeHandle n_; + +public: + + pa10() + { + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_1("S1", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_1); + + hardware_interface::JointStateHandle state_handle_2("S2", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_2); + + hardware_interface::JointStateHandle state_handle_3("E1", &pos[2], &vel[2], &eff[2]); + jnt_state_interface.registerHandle(state_handle_3); + + hardware_interface::JointStateHandle state_handle_4("E2", &pos[3], &vel[3], &eff[3]); + jnt_state_interface.registerHandle(state_handle_4); + + hardware_interface::JointStateHandle state_handle_5("W1", &pos[4], &vel[4], &eff[4]); + jnt_state_interface.registerHandle(state_handle_5); + + hardware_interface::JointStateHandle state_handle_6("W2", &pos[5], &vel[5], &eff[5]); + jnt_state_interface.registerHandle(state_handle_6); + + hardware_interface::JointStateHandle state_handle_7("W3", &pos[6], &vel[6], &eff[6]); + jnt_state_interface.registerHandle(state_handle_7); + + hardware_interface::JointStateHandle state_handle_8("finger_joint_1", &pos[7], &vel[7], &eff[7]); + jnt_state_interface.registerHandle(state_handle_8); + + hardware_interface::JointStateHandle state_handle_9("finger_joint_2", &pos[8], &vel[8], &eff[8]); + jnt_state_interface.registerHandle(state_handle_9); + + + + registerInterface(&jnt_state_interface); + + // connect and register the joint position interface + hardware_interface::JointHandle vel_handle_1(jnt_state_interface.getHandle("S1"), &cmd[0]); + jnt_vel_interface.registerHandle(vel_handle_1); + + hardware_interface::JointHandle vel_handle_2(jnt_state_interface.getHandle("S2"), &cmd[1]); + jnt_vel_interface.registerHandle(vel_handle_2); + + hardware_interface::JointHandle vel_handle_3(jnt_state_interface.getHandle("E1"), &cmd[2]); + jnt_vel_interface.registerHandle(vel_handle_3); + + hardware_interface::JointHandle vel_handle_4(jnt_state_interface.getHandle("E2"), &cmd[3]); + jnt_vel_interface.registerHandle(vel_handle_4); + + hardware_interface::JointHandle vel_handle_5(jnt_state_interface.getHandle("W1"), &cmd[4]); + jnt_vel_interface.registerHandle(vel_handle_5); + + hardware_interface::JointHandle vel_handle_6(jnt_state_interface.getHandle("W2"), &cmd[5]); + jnt_vel_interface.registerHandle(vel_handle_6); + + hardware_interface::JointHandle vel_handle_7(jnt_state_interface.getHandle("W3"), &cmd[6]); + jnt_vel_interface.registerHandle(vel_handle_7); + + hardware_interface::JointHandle vel_handle_8(jnt_state_interface.getHandle("finger_joint_1"), &cmd[7]); + jnt_vel_interface.registerHandle(vel_handle_8); + + hardware_interface::JointHandle vel_handle_9(jnt_state_interface.getHandle("finger_joint_2"), &cmd[8]); + jnt_vel_interface.registerHandle(vel_handle_9); + + + registerInterface(&jnt_vel_interface); + + n_ = ros::NodeHandle(); + + + } + + //////////////////////////// + /* PA10 RELATED FUNCTIONS */ + //////////////////////////// + + + /* INITIALIZATION */ + void pa10CommInit() + { + + int status; + struct addrinfo host_info; // The struct that getaddrinfo() fills up with data. + struct addrinfo *host_info_list; // Pointer to the to the linked list of host_info's. + + + memset(&host_info, 0, sizeof host_info); + + std::cout << "Setting up the structs..." << std::endl; + + host_info.ai_family = AF_UNSPEC; // IP version not specified. Can be both. + host_info.ai_socktype = SOCK_STREAM; // Use SOCK_STREAM for TCP or SOCK_DGRAM for UDP. + + status = getaddrinfo("147.102.51.71", "4534", &host_info, &host_info_list); + + if (status != 0){ + std::cout << "getaddrinfo error" << gai_strerror(status) ; + exit(0); + } + + std::cout << "Creating a socket..." << std::endl; + + //the socket discriptor + socketfd = socket(host_info_list->ai_family, host_info_list->ai_socktype, host_info_list->ai_protocol); + + if (socketfd == -1){ + std::cout << "socket error\n" ; + exit(0); + } + + std::cout << "Connecting..." << std::endl; + status = connect(socketfd, host_info_list->ai_addr, host_info_list->ai_addrlen); + + if (status == -1){ + std::cout << "connect error\n" ; + exit(0); + } + + std::cout << "Connection with PA 10 PC Established !!!"; + + std::cout << "sending message..." << std::endl; + char *msg = "I020"; + int len; + ssize_t bytes_sent; + len = strlen(msg); + + bytes_sent = send(socketfd, msg, len, 0); + + //return socketfd; + } + + + ///////////////////////// + /* GET PA10 JOINT DATA */ + ///////////////////////// + void getPA10data() + { + float pa10data[7], pa10vel[7],pa10eff[7]; + + std::cout << "Waiting to receive data..." << std::endl; + ssize_t bytes_received2; + char incomming_data_buffer2[1000]; + //return the num of bytes reads from the socket + bytes_received2 = recv(socketfd,incomming_data_buffer2,1000, 0); + + if (bytes_received2 == 0){ + std::cout << "host shut down." << std::endl ; + exit(0); + } + + if (bytes_received2 == -1){ + std::cout << "receive error!" << std::endl ; + exit(0); + } + + + + std::cout << bytes_received2 << " bytes received :" << std::endl ; + std::cout << incomming_data_buffer2 << std::endl; + incomming_data_buffer2[bytes_received2 -2] = '\0'; + + std::cout << "Bypassed Get Angles !!!" << "\n"; + + char *mstring; + mstring = (char *)malloc(20 * sizeof(char)); + + char *mstart,*mend; + + if(incomming_data_buffer2[0]=='I') + mstart = &(incomming_data_buffer2[7]); + else + mstart = &(incomming_data_buffer2[1]); + + //Read the position values + for (int count=0; count<7; count++){ + //returns a pointer to the first character 'a' in mstart + mend = strchr(mstart,97); + // copy the first mend-mstart chars of mstart to mstring + strncpy(mstring,mstart,(int)(mend - mstart)); + //cout << "OK" << "\n"; + strcat(mstring,"\0"); + // ascii to float + pa10data[count]=atof(mstring); + mstart=mend+1; + } + + // Read the velocity values + mstart = mstart + 1; // Avoid 'V' character + + for (int count=0; count<7; count++){ + //returns a pointer to the first character 'a' in mstart + mend = strchr(mstart,97); + // copy the first mend-mstart chars of mstart to mstring + strncpy(mstring,mstart,(int)(mend - mstart)); + //cout << "OK" << "\n"; + strcat(mstring,"\0"); + // ascii to float + pa10vel[count]=atof(mstring); + mstart=mend+1; + } + + // Read the effort values + mstart = mstart + 1; // Avoid 'T' character + + for (int count=0; count<7; count++){ + //returns a pointer to the first character 'a' in mstart + mend = strchr(mstart,97); + // copy the first mend-mstart chars of mstart to mstring + strncpy(mstring,mstart,(int)(mend - mstart)); + //cout << "OK" << "\n"; + strcat(mstring,"\0"); + // ascii to float + pa10eff[count]=atof(mstring); + mstart=mend+1; + } + + + std::cout << "PA10: " << " q1: " << pa10data[0] << " q2: " << pa10data[1] + << " q3: " << pa10data[2] << " q4: " << pa10data[3] + << " q5: " << pa10data[4] << " q6: " << pa10data[5] + << " q7: " << pa10data[6] << "\n"; + + for (int i = 0; i < 7; i++){ + // fill position pos[],vel[] and eff[] with joints state + pos[i] = pa10data[i]*PI/180.0; + + + + vel[i] = pa10vel[i]*PI/180.0; + + cout << "Jvel[" << i << "]= " << vel[i] << endl; + + eff[i] = pa10eff[i]; + + // if the hdw interface starts running + if (init_cmd_prev) + cmd_prev[i] = pos[i]; + } + + init_cmd_prev = false; + } + + + /////////////////////////////////// + /* SEND TO PA10 THE DESIRED DATA */ + /////////////////////////////////// + void setPA10data(double* qdot) + { + + //float limit[7] = {175.0, 92.0, 172.0, 135.0, 253.0, 163.0, 253.0}; + + cout << "Desired Velocities" << endl; + for (int i=0;i<9;i++) + cout << qdot[i] << ", "; + cout << "" << endl; + + float DOF1 = qdot[0]*180.0/PI; + float DOF2 = qdot[1]*180.0/PI; + float DOF3 = qdot[2]*180.0/PI; + float DOF4 = qdot[3]*180.0/PI; + float DOF5 = qdot[4]*180.0/PI; + float DOF6 = qdot[5]*180.0/PI; + float DOF7 = qdot[6]*180.0/PI; + + + std::string result; + std::stringstream convert; + convert<<"M"<::const_iterator it = msg->data.begin(); it != msg->data.end(); ++it) + { + qdot[i] = *it; + i++; + } + } + + + /////////////////// + /* Smooth Filter */ + /////////////////// + + /* Smoothed Velocities */ + void smooth_filter(float smooth=0.7) + { + for (int i=0;i<7;i++) { + sm_vel[i] = sm_vel[i]+smooth*(cmd_vel[i]-sm_vel[i]); + cmd_vel[i] = sm_vel[i]; + + //cout << cmd_vel[i] << endl; + } + } + + + + //////////////////////// + /* Set Controller Type*/ + //////////////////////// + void setControllerType(std::string cntr_type) + { + //define the type of the controller --> the command type + controller_type = cntr_type; + } + + + /////////////////////////////////////////////////////////////////// + /* Fuction which computes joint velocities using joint positions */ + /////////////////////////////////////////////////////////////////// + void postovel(double cmd_[9]) + { + for (int i=0;i<7;++i) + { + //compute velocity commands + cmd_vel[i]=anglewrap(cmd_[i]-cmd_prev[i])*RATE; + //update previous commands + cmd_prev[i] = cmd_[i]; + } + } + + + + /////////////////// + /* Read Function */ + /////////////////// + void read() + { + // Read position velocity torque from the robot + pa10::getPA10data(); + } + + /////////////////// + /* Write Function*/ + /////////////////// + void write() + { + + // if you want velocity commands + if (controller_type=="VelocityJointInterface") + { + // send the commands to pa10 + pa10::setPA10data(cmd); + } + + // if you want velocity commands + else if (controller_type=="PositionJointInterface") + { + //convert position commands to velocities + pa10::postovel(cmd); + //smoothed velocities + pa10::smooth_filter(1.0); + // send the commands to pa10 + + + for (int i=0;i<7;i++) + cout << "V[" << i << "]= " << cmd[i] << endl; + + double error[7]; + + error[5]=anglewrap(pos[5]-cmd[5]); + error[6]=anglewrap(pos[6]-cmd[6]); + + errorI[5] +=(1.0/RATE)*error[5]; + errorI[6] +=(1.0/RATE)*error[6]; + + errorI[5] = SATUR(errorI[5],-0.2,0.2); + errorI[6] = SATUR(errorI[6],-0.2,0.2); + + + cmd_vel[5]=(-0.06*error[5] - errorI[5]*0.0001)*180.0/PI; + cmd_vel[6]=(-0.06*error[6] - errorI[6]*0.0001)*180.0/PI; + + cout << cmd_vel[5] << endl; + cout << cmd_vel[6] << endl; + + //cmd_vel[6]=0.0; + + pa10::setPA10data(cmd_vel); + } + + else + { + std::cout << "No Supported Controller!" << std::endl ; + exit(0); + } + } + + + + ros::Time get_time() { return ros::Time::now(); } ; + ros::Duration get_period() { ros::Duration(1.0/RATE);}; + + void initvars() { + for (int i=0;i<9;i++) + { + cmd[i]=0.0; + cmd_prev[i] = 0.0; + cmd_vel[i]=0.0; + pos[i] = 0.0; + vel[i] = 0.0; + eff[i] = 0.0; + sm_vel[i] =0.0; + errorI[i]=0.0; + } + init_cmd_prev = true; + + } + +private: + hardware_interface::JointStateInterface jnt_state_interface; + hardware_interface::VelocityJointInterface jnt_vel_interface; + ros::Publisher pub_smoothed_velocities; + double cmd[9]; + double cmd_prev[9]; + double cmd_vel[9],sm_vel[9]; + double pos[9]; + double vel[9]; + double eff[9]; + std::string controller_type; + bool VelControllWithPoseCommand, init_cmd_prev; + int socketfd ; // The socket descripter + + double errorI[9]; +}; + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pa10_hardware_interface_node"); + ros::NodeHandle nh; + ros::Rate loop_rate(RATE); + + pa10 robot; + + //initialize control manager + controller_manager::ControllerManager cm(&robot,nh); + + //define the type of the controller --> the command type + robot.setControllerType("VelocityJointInterface"); + + //Initialize Communication with PA10 + robot.pa10CommInit(); + + //Initialize Variables + robot.initvars(); + + ros::AsyncSpinner spinner(1); + spinner.start(); + + ros::Duration dur = robot.get_period(); + + while (ros::ok()) + { + //time loop starts + ros::Time start =ros::Time::now(); + + // read robot data + robot.read(); + + // update data + cm.update(start, dur); + + //send data to the robot + robot.write(); + + //ros::spinOnce(); + //loop_rate.sleep(); + + loop_rate.sleep(); + + // time loop ends + dur = robot.get_time()-start; + + //print dt + printf("Loop dt:%lf\n", dur.toSec()); + + + } + + return 0; +} diff --git a/pa10_hardware_interface/scripts/pa10_hardware_interface.cpp~ b/pa10_hardware_interface/scripts/pa10_hardware_interface.cpp~ new file mode 100644 index 0000000..c45269f --- /dev/null +++ b/pa10_hardware_interface/scripts/pa10_hardware_interface.cpp~ @@ -0,0 +1,547 @@ +#include +#include + +#include +#include +#include +#include + +#include +#include +#include "sensor_msgs/JointState.h" + + +#include "std_msgs/Float64MultiArray.h" +#include +#include + +#include + + +#define PI acos(-1) +using namespace std; +using namespace Eigen; + +//global var +double qdot[7]; + +#define RATE 50.0 + +double anglewrap(double x) +{ + double y = x; + if (x>PI) + y = x-2.0*PI; + else if (x<-M_PI) + y = x +2.0*PI; + + return y; +} + +#define SATUR(x,minx,maxx) max(min(x,maxx),minx) + +class pa10 : public hardware_interface::RobotHW +{ +public: + ros::Publisher pub; //publisher to pub the f/t mesurements + ros::NodeHandle n_; + +public: + + pa10() + { + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_1("S1", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_1); + + hardware_interface::JointStateHandle state_handle_2("S2", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_2); + + hardware_interface::JointStateHandle state_handle_3("E1", &pos[2], &vel[2], &eff[2]); + jnt_state_interface.registerHandle(state_handle_3); + + hardware_interface::JointStateHandle state_handle_4("E2", &pos[3], &vel[3], &eff[3]); + jnt_state_interface.registerHandle(state_handle_4); + + hardware_interface::JointStateHandle state_handle_5("W1", &pos[4], &vel[4], &eff[4]); + jnt_state_interface.registerHandle(state_handle_5); + + hardware_interface::JointStateHandle state_handle_6("W2", &pos[5], &vel[5], &eff[5]); + jnt_state_interface.registerHandle(state_handle_6); + + hardware_interface::JointStateHandle state_handle_7("W3", &pos[6], &vel[6], &eff[6]); + jnt_state_interface.registerHandle(state_handle_7); + + hardware_interface::JointStateHandle state_handle_8("finger_joint_1", &pos[7], &vel[7], &eff[7]); + jnt_state_interface.registerHandle(state_handle_8); + + hardware_interface::JointStateHandle state_handle_9("finger_joint_2", &pos[8], &vel[8], &eff[8]); + jnt_state_interface.registerHandle(state_handle_9); + + + + registerInterface(&jnt_state_interface); + + // connect and register the joint position interface + hardware_interface::JointHandle vel_handle_1(jnt_state_interface.getHandle("S1"), &cmd[0]); + jnt_vel_interface.registerHandle(vel_handle_1); + + hardware_interface::JointHandle vel_handle_2(jnt_state_interface.getHandle("S2"), &cmd[1]); + jnt_vel_interface.registerHandle(vel_handle_2); + + hardware_interface::JointHandle vel_handle_3(jnt_state_interface.getHandle("E1"), &cmd[2]); + jnt_vel_interface.registerHandle(vel_handle_3); + + hardware_interface::JointHandle vel_handle_4(jnt_state_interface.getHandle("E2"), &cmd[3]); + jnt_vel_interface.registerHandle(vel_handle_4); + + hardware_interface::JointHandle vel_handle_5(jnt_state_interface.getHandle("W1"), &cmd[4]); + jnt_vel_interface.registerHandle(vel_handle_5); + + hardware_interface::JointHandle vel_handle_6(jnt_state_interface.getHandle("W2"), &cmd[5]); + jnt_vel_interface.registerHandle(vel_handle_6); + + hardware_interface::JointHandle vel_handle_7(jnt_state_interface.getHandle("W3"), &cmd[6]); + jnt_vel_interface.registerHandle(vel_handle_7); + + hardware_interface::JointHandle vel_handle_8(jnt_state_interface.getHandle("finger_joint_1"), &cmd[7]); + jnt_vel_interface.registerHandle(vel_handle_8); + + hardware_interface::JointHandle vel_handle_9(jnt_state_interface.getHandle("finger_joint_2"), &cmd[8]); + jnt_vel_interface.registerHandle(vel_handle_9); + + + registerInterface(&jnt_vel_interface); + + n_ = ros::NodeHandle(); + + + } + + //////////////////////////// + /* PA10 RELATED FUNCTIONS */ + //////////////////////////// + + + /* INITIALIZATION */ + void pa10CommInit() + { + + int status; + struct addrinfo host_info; // The struct that getaddrinfo() fills up with data. + struct addrinfo *host_info_list; // Pointer to the to the linked list of host_info's. + + + memset(&host_info, 0, sizeof host_info); + + std::cout << "Setting up the structs..." << std::endl; + + host_info.ai_family = AF_UNSPEC; // IP version not specified. Can be both. + host_info.ai_socktype = SOCK_STREAM; // Use SOCK_STREAM for TCP or SOCK_DGRAM for UDP. + + status = getaddrinfo("147.102.51.71", "4534", &host_info, &host_info_list); + + if (status != 0){ + std::cout << "getaddrinfo error" << gai_strerror(status) ; + exit(0); + } + + std::cout << "Creating a socket..." << std::endl; + + //the socket discriptor + socketfd = socket(host_info_list->ai_family, host_info_list->ai_socktype, host_info_list->ai_protocol); + + if (socketfd == -1){ + std::cout << "socket error\n" ; + exit(0); + } + + std::cout << "Connecting..." << std::endl; + status = connect(socketfd, host_info_list->ai_addr, host_info_list->ai_addrlen); + + if (status == -1){ + std::cout << "connect error\n" ; + exit(0); + } + + std::cout << "Connection with PA 10 PC Established !!!"; + + std::cout << "sending message..." << std::endl; + char *msg = "I020"; + int len; + ssize_t bytes_sent; + len = strlen(msg); + + bytes_sent = send(socketfd, msg, len, 0); + + //return socketfd; + } + + + ///////////////////////// + /* GET PA10 JOINT DATA */ + ///////////////////////// + void getPA10data() + { + float pa10data[7], pa10vel[7],pa10eff[7]; + + std::cout << "Waiting to receive data..." << std::endl; + ssize_t bytes_received2; + char incomming_data_buffer2[1000]; + //return the num of bytes reads from the socket + bytes_received2 = recv(socketfd,incomming_data_buffer2,1000, 0); + + if (bytes_received2 == 0){ + std::cout << "host shut down." << std::endl ; + exit(0); + } + + if (bytes_received2 == -1){ + std::cout << "receive error!" << std::endl ; + exit(0); + } + + + + std::cout << bytes_received2 << " bytes received :" << std::endl ; + std::cout << incomming_data_buffer2 << std::endl; + incomming_data_buffer2[bytes_received2 -2] = '\0'; + + std::cout << "Bypassed Get Angles !!!" << "\n"; + + char *mstring; + mstring = (char *)malloc(20 * sizeof(char)); + + char *mstart,*mend; + + if(incomming_data_buffer2[0]=='I') + mstart = &(incomming_data_buffer2[7]); + else + mstart = &(incomming_data_buffer2[1]); + + //Read the position values + for (int count=0; count<7; count++){ + //returns a pointer to the first character 'a' in mstart + mend = strchr(mstart,97); + // copy the first mend-mstart chars of mstart to mstring + strncpy(mstring,mstart,(int)(mend - mstart)); + //cout << "OK" << "\n"; + strcat(mstring,"\0"); + // ascii to float + pa10data[count]=atof(mstring); + mstart=mend+1; + } + + // Read the velocity values + mstart = mstart + 1; // Avoid 'V' character + + for (int count=0; count<7; count++){ + //returns a pointer to the first character 'a' in mstart + mend = strchr(mstart,97); + // copy the first mend-mstart chars of mstart to mstring + strncpy(mstring,mstart,(int)(mend - mstart)); + //cout << "OK" << "\n"; + strcat(mstring,"\0"); + // ascii to float + pa10vel[count]=atof(mstring); + mstart=mend+1; + } + + // Read the effort values + mstart = mstart + 1; // Avoid 'T' character + + for (int count=0; count<7; count++){ + //returns a pointer to the first character 'a' in mstart + mend = strchr(mstart,97); + // copy the first mend-mstart chars of mstart to mstring + strncpy(mstring,mstart,(int)(mend - mstart)); + //cout << "OK" << "\n"; + strcat(mstring,"\0"); + // ascii to float + pa10eff[count]=atof(mstring); + mstart=mend+1; + } + + + std::cout << "PA10: " << " q1: " << pa10data[0] << " q2: " << pa10data[1] + << " q3: " << pa10data[2] << " q4: " << pa10data[3] + << " q5: " << pa10data[4] << " q6: " << pa10data[5] + << " q7: " << pa10data[6] << "\n"; + + for (int i = 0; i < 7; i++){ + // fill position pos[],vel[] and eff[] with joints state + pos[i] = pa10data[i]*PI/180.0; + + + + vel[i] = pa10vel[i]*PI/180.0; + + cout << "Jvel[" << i << "]= " << vel[i] << endl; + + eff[i] = pa10eff[i]; + + // if the hdw interface starts running + if (init_cmd_prev) + cmd_prev[i] = pos[i]; + } + + init_cmd_prev = false; + } + + + /////////////////////////////////// + /* SEND TO PA10 THE DESIRED DATA */ + /////////////////////////////////// + void setPA10data(double* qdot) + { + + //float limit[7] = {175.0, 92.0, 172.0, 135.0, 253.0, 163.0, 253.0}; + + cout << "Desired Velocities" << endl; + for (int i=0;i<9;i++) + cout << qdot[i] << ", "; + cout << "" << endl; + + float DOF1 = qdot[0]*180.0/PI; + float DOF2 = qdot[1]*180.0/PI; + float DOF3 = qdot[2]*180.0/PI; + float DOF4 = qdot[3]*180.0/PI; + float DOF5 = qdot[4]*180.0/PI; + float DOF6 = qdot[5]*180.0/PI; + float DOF7 = qdot[6]*180.0/PI; + + + std::string result; + std::stringstream convert; + convert<<"M"<::const_iterator it = msg->data.begin(); it != msg->data.end(); ++it) + { + qdot[i] = *it; + i++; + } + } + + + /////////////////// + /* Smooth Filter */ + /////////////////// + + /* Smoothed Velocities */ + void smooth_filter(float smooth=0.7) + { + for (int i=0;i<7;i++) { + sm_vel[i] = sm_vel[i]+smooth*(cmd_vel[i]-sm_vel[i]); + cmd_vel[i] = sm_vel[i]; + + //cout << cmd_vel[i] << endl; + } + } + + + + //////////////////////// + /* Set Controller Type*/ + //////////////////////// + void setControllerType(std::string cntr_type) + { + //define the type of the controller --> the command type + controller_type = cntr_type; + } + + + /////////////////////////////////////////////////////////////////// + /* Fuction which computes joint velocities using joint positions */ + /////////////////////////////////////////////////////////////////// + void postovel(double cmd_[9]) + { + for (int i=0;i<7;++i) + { + //compute velocity commands + cmd_vel[i]=anglewrap(cmd_[i]-cmd_prev[i])*RATE; + //update previous commands + cmd_prev[i] = cmd_[i]; + } + } + + + + /////////////////// + /* Read Function */ + /////////////////// + void read() + { + // Read position velocity torque from the robot + pa10::getPA10data(); + } + + /////////////////// + /* Write Function*/ + /////////////////// + void write() + { + + // if you want velocity commands + if (controller_type=="VelocityJointInterface") + { + // send the commands to pa10 + pa10::setPA10data(cmd); + } + + // if you want velocity commands + else if (controller_type=="PositionJointInterface") + { + //convert position commands to velocities + pa10::postovel(cmd); + //smoothed velocities + pa10::smooth_filter(1.0); + // send the commands to pa10 + + + for (int i=0;i<7;i++) + cout << "V[" << i << "]= " << cmd[i] << endl; + + double error[7]; + + error[5]=anglewrap(pos[5]-cmd[5]); + error[6]=anglewrap(pos[6]-cmd[6]); + + errorI[5] +=(1.0/RATE)*error[5]; + errorI[6] +=(1.0/RATE)*error[6]; + + errorI[5] = SATUR(errorI[5],-0.2,0.2); + errorI[6] = SATUR(errorI[6],-0.2,0.2); + + + cmd_vel[5]=(-0.06*error[5] - errorI[5]*0.0001)*180.0/PI; + cmd_vel[6]=(-0.06*error[6] - errorI[6]*0.0001)*180.0/PI; + + cout << cmd_vel[5] << endl; + cout << cmd_vel[6] << endl; + + //cmd_vel[6]=0.0; + + pa10::setPA10data(cmd_vel); + } + + else + { + std::cout << "No Supported Controller!" << std::endl ; + exit(0); + } + } + + + + ros::Time get_time() { return ros::Time::now(); } ; + ros::Duration get_period() { ros::Duration(1.0/RATE);}; + + void initvars() { + for (int i=0;i<9;i++) + { + cmd[i]=0.0; + cmd_prev[i] = 0.0; + cmd_vel[i]=0.0; + pos[i] = 0.0; + vel[i] = 0.0; + eff[i] = 0.0; + sm_vel[i] =0.0; + errorI[i]=0.0; + } + init_cmd_prev = true; + + } + +private: + hardware_interface::JointStateInterface jnt_state_interface; + hardware_interface::VelocityJointInterface jnt_vel_interface; + ros::Publisher pub_smoothed_velocities; + double cmd[9]; + double cmd_prev[9]; + double cmd_vel[9],sm_vel[9]; + double pos[9]; + double vel[9]; + double eff[9]; + std::string controller_type; + bool VelControllWithPoseCommand, init_cmd_prev; + int socketfd ; // The socket descripter + + double errorI[9]; +}; + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pa10_hardware_interface_node"); + ros::NodeHandle nh; + ros::Rate loop_rate(RATE); + + pa10 robot; + + //initialize control manager + controller_manager::ControllerManager cm(&robot,nh); + + //define the type of the controller --> the command type + robot.setControllerType("VelocityJointInterface"); + + //Initialize Communication with PA10 + robot.pa10CommInit(); + + //Initialize Variables + robot.initvars(); + + ros::AsyncSpinner spinner(1); + spinner.start(); + + ros::Duration dur = robot.get_period(); + + while (ros::ok()) + { + //time loop starts + ros::Time start =ros::Time::now(); + + // read robot data + robot.read(); + + // update data + cm.update(start, dur); + + //send data to the robot + robot.write(); + + //ros::spinOnce(); + //loop_rate.sleep(); + + loop_rate.sleep(); + + // time loop ends + dur = robot.get_time()-start; + + //print dt + printf("Loop dt:%lf\n", dur.toSec()); + + + } + + return 0; +} diff --git a/pa10_hardware_interface/src/backup_files/pa10_fake_hardware_interface.cpp b/pa10_hardware_interface/src/backup_files/pa10_fake_hardware_interface.cpp new file mode 100644 index 0000000..0dacfb1 --- /dev/null +++ b/pa10_hardware_interface/src/backup_files/pa10_fake_hardware_interface.cpp @@ -0,0 +1,314 @@ +#include +#include + +#include +#include +#include +#include + +#include +#include +#include "sensor_msgs/JointState.h" + +#include "std_msgs/Float64MultiArray.h" + +using namespace std; + +#define RATE 1.0/0.04//10.0//1.0/0.04 + +class pa10 : public hardware_interface::RobotHW +{ +public: + ros::Subscriber sub; + ros::NodeHandle n_; + ros::Publisher pub_smoothed_velocities, pub_cmd; + + +public: + pa10() + { + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_1("soldier_joint_1", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_1); + + hardware_interface::JointStateHandle state_handle_2("soldier_joint_2", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_2); + + hardware_interface::JointStateHandle state_handle_3("elbow_joint_1", &pos[2], &vel[2], &eff[2]); + jnt_state_interface.registerHandle(state_handle_3); + + hardware_interface::JointStateHandle state_handle_4("elbow_joint_2", &pos[3], &vel[3], &eff[3]); + jnt_state_interface.registerHandle(state_handle_4); + + hardware_interface::JointStateHandle state_handle_5("wrist_joint_1", &pos[4], &vel[4], &eff[4]); + jnt_state_interface.registerHandle(state_handle_5); + + hardware_interface::JointStateHandle state_handle_6("wrist_joint_2", &pos[5], &vel[5], &eff[5]); + jnt_state_interface.registerHandle(state_handle_6); + + hardware_interface::JointStateHandle state_handle_7("wrist_joint_3", &pos[6], &vel[6], &eff[6]); + jnt_state_interface.registerHandle(state_handle_7); + + hardware_interface::JointStateHandle state_handle_8("finger_joint_1", &pos[7], &vel[7], &eff[7]); + jnt_state_interface.registerHandle(state_handle_8); + + hardware_interface::JointStateHandle state_handle_9("finger_joint_2", &pos[8], &vel[8], &eff[8]); + jnt_state_interface.registerHandle(state_handle_9); + + registerInterface(&jnt_state_interface); + + // connect and register the joint position interface + hardware_interface::JointHandle vel_handle_1(jnt_state_interface.getHandle("soldier_joint_1"), &cmd[0]); + jnt_vel_interface.registerHandle(vel_handle_1); + + hardware_interface::JointHandle vel_handle_2(jnt_state_interface.getHandle("soldier_joint_2"), &cmd[1]); + jnt_vel_interface.registerHandle(vel_handle_2); + + hardware_interface::JointHandle vel_handle_3(jnt_state_interface.getHandle("elbow_joint_1"), &cmd[2]); + jnt_vel_interface.registerHandle(vel_handle_3); + + hardware_interface::JointHandle vel_handle_4(jnt_state_interface.getHandle("elbow_joint_2"), &cmd[3]); + jnt_vel_interface.registerHandle(vel_handle_4); + + hardware_interface::JointHandle vel_handle_5(jnt_state_interface.getHandle("wrist_joint_1"), &cmd[4]); + jnt_vel_interface.registerHandle(vel_handle_5); + + hardware_interface::JointHandle vel_handle_6(jnt_state_interface.getHandle("wrist_joint_2"), &cmd[5]); + jnt_vel_interface.registerHandle(vel_handle_6); + + hardware_interface::JointHandle vel_handle_7(jnt_state_interface.getHandle("wrist_joint_3"), &cmd[6]); + jnt_vel_interface.registerHandle(vel_handle_7); + + hardware_interface::JointHandle vel_handle_8(jnt_state_interface.getHandle("finger_joint_1"), &cmd[7]); + jnt_vel_interface.registerHandle(vel_handle_8); + + hardware_interface::JointHandle vel_handle_9(jnt_state_interface.getHandle("finger_joint_2"), &cmd[8]); + jnt_vel_interface.registerHandle(vel_handle_9); + + + registerInterface(&jnt_vel_interface); + + n_ = ros::NodeHandle(); + //publisher for smoothed velocities + pub_smoothed_velocities = n_.advertise("/smoothed_velocities", 10); + pub_cmd = n_.advertise("/cmd", 10); + + + } + + + /* Smoothed Velocities */ + void smooth_filter(float smooth=0.7) + { + std_msgs::MultiArrayDimension dim; + dim.size = 9; + dim.stride = 9; + + //Publish Joint positions + std_msgs::Float64MultiArray pub_array; + + pub_array.layout.dim.push_back(dim); + pub_array.layout.data_offset = 0; + + for (int i=0;i<9;i++) { + sm_vel[i] = sm_vel[i]+smooth*(vel[i]-sm_vel[i]); + pub_array.data.push_back(sm_vel[i]); + + //feed with smoothed velocities + vel[i] = sm_vel[i]; + + } + //publish smoothed + pub_smoothed_velocities.publish(pub_array); + } + + /////////////////////////////////////////////////////////////////// + /* Fuction which computes joint positions using joint velocities */ + /////////////////////////////////////////////////////////////////// + void veltopos(double cmd_[9]) + { + //double cmd_p[9]; + for (int i=0;i<9;++i) + { + //compute velocity commands + pos[i] = cmd_prevv[i] + cmd_[i]*1.0/RATE ; + //update previous commands + cmd_prevv[i] = cmd_[i]; + } + //return the computed velocities + //return cmd_p; + } + + + /////////////////////////////////////////////////////////////////// + /* Fuction which computes joint velocities using joint positions */ + /////////////////////////////////////////////////////////////////// + void postovel(double cmd_[9]) + { + for (int i=0;i<9;++i) + { + //compute velocity commands + vel[i]=(cmd_[i]-cmd_prevp[i])*RATE; + //update previous commands + cmd_prevp[i] = cmd_[i]; + } + } + + /////////////////// + /* Write Function*/ + /////////////////// + void write() + { + + //std::cout<<"##joints Commands: "< +#include + +#include +#include +#include +#include + +#include +#include +#include "sensor_msgs/JointState.h" + +class pa10 : public hardware_interface::RobotHW +{ +public: + ros::Subscriber sub; + ros::NodeHandle n_; + + //OnlyPositionFeedback = true; +public: + pa10() + { + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_1("soldier_joint_1", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_1); + + hardware_interface::JointStateHandle state_handle_2("soldier_joint_2", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_2); + + hardware_interface::JointStateHandle state_handle_3("elbow_joint_1", &pos[2], &vel[2], &eff[2]); + jnt_state_interface.registerHandle(state_handle_3); + + hardware_interface::JointStateHandle state_handle_4("elbow_joint_2", &pos[3], &vel[3], &eff[3]); + jnt_state_interface.registerHandle(state_handle_4); + + hardware_interface::JointStateHandle state_handle_5("wrist_joint_1", &pos[4], &vel[4], &eff[4]); + jnt_state_interface.registerHandle(state_handle_5); + + hardware_interface::JointStateHandle state_handle_6("wrist_joint_2", &pos[5], &vel[5], &eff[5]); + jnt_state_interface.registerHandle(state_handle_6); + + hardware_interface::JointStateHandle state_handle_7("wrist_joint_3", &pos[6], &vel[6], &eff[6]); + jnt_state_interface.registerHandle(state_handle_7); + + hardware_interface::JointStateHandle state_handle_8("finger_joint_1", &pos[7], &vel[7], &eff[7]); + jnt_state_interface.registerHandle(state_handle_8); + + hardware_interface::JointStateHandle state_handle_9("finger_joint_2", &pos[8], &vel[8], &eff[8]); + jnt_state_interface.registerHandle(state_handle_9); + + registerInterface(&jnt_state_interface); + + // connect and register the joint position interface + hardware_interface::JointHandle vel_handle_1(jnt_state_interface.getHandle("soldier_joint_1"), &cmd[0]); + jnt_vel_interface.registerHandle(vel_handle_1); + + hardware_interface::JointHandle vel_handle_2(jnt_state_interface.getHandle("soldier_joint_2"), &cmd[1]); + jnt_vel_interface.registerHandle(vel_handle_2); + + hardware_interface::JointHandle vel_handle_3(jnt_state_interface.getHandle("elbow_joint_1"), &cmd[2]); + jnt_vel_interface.registerHandle(vel_handle_3); + + hardware_interface::JointHandle vel_handle_4(jnt_state_interface.getHandle("elbow_joint_2"), &cmd[3]); + jnt_vel_interface.registerHandle(vel_handle_4); + + hardware_interface::JointHandle vel_handle_5(jnt_state_interface.getHandle("wrist_joint_1"), &cmd[4]); + jnt_vel_interface.registerHandle(vel_handle_5); + + hardware_interface::JointHandle vel_handle_6(jnt_state_interface.getHandle("wrist_joint_2"), &cmd[5]); + jnt_vel_interface.registerHandle(vel_handle_6); + + hardware_interface::JointHandle vel_handle_7(jnt_state_interface.getHandle("wrist_joint_3"), &cmd[6]); + jnt_vel_interface.registerHandle(vel_handle_7); + + hardware_interface::JointHandle vel_handle_8(jnt_state_interface.getHandle("finger_joint_1"), &cmd[7]); + jnt_vel_interface.registerHandle(vel_handle_8); + + hardware_interface::JointHandle vel_handle_9(jnt_state_interface.getHandle("finger_joint_2"), &cmd[8]); + jnt_vel_interface.registerHandle(vel_handle_9); + + + registerInterface(&jnt_vel_interface); + + n_ = ros::NodeHandle(); + //subscriber to joint states + //sub = n_.subscribe("joint_states", 1, &pa10::updateJointState, this); + + + } + + + // Write Function + void write() + { + for (int i=0;i<9;++i) + { + cmd_vel[i]=cmd[i]-cmd_prev[i]*10.0; + } + std::cout<<"##joints Commands: "< names[7]; + double dt; + bool OnlyPositionFeedback; + //ros::NodeHandle n_; + bool VelocityInterface; +}; + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pa10_hardware_interface"); + ros::NodeHandle nh; + ros::Rate loop_rate(100); + pa10 robot; + + controller_manager::ControllerManager cm(&robot,nh); + ros::AsyncSpinner spinner(1); + spinner.start(); + while (ros::ok()) + { + robot.read(); + cm.update(robot.get_time(), robot.get_period()); + robot.write(); + loop_rate.sleep(); + } + spinner.stop(); +} diff --git a/pa10_hardware_interface/src/joint_position_interface.cpp~ b/pa10_hardware_interface/src/joint_position_interface.cpp~ new file mode 100644 index 0000000..a77b654 --- /dev/null +++ b/pa10_hardware_interface/src/joint_position_interface.cpp~ @@ -0,0 +1,205 @@ +#include +#include + +#include +#include +#include +#include + +#include +#include +#include "sensor_msgs/JointState.h" + +class pa10 : public hardware_interface::RobotHW +{ +public: + ros::Subscriber sub; + ros::NodeHandle n_; + + //OnlyPositionFeedback = true; +public: + pa10() + { + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_1("soldier_joint_1", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_1); + + hardware_interface::JointStateHandle state_handle_2("soldier_joint_2", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_2); + + hardware_interface::JointStateHandle state_handle_3("elbow_joint_1", &pos[2], &vel[2], &eff[2]); + jnt_state_interface.registerHandle(state_handle_3); + + hardware_interface::JointStateHandle state_handle_4("elbow_joint_2", &pos[3], &vel[3], &eff[3]); + jnt_state_interface.registerHandle(state_handle_4); + + hardware_interface::JointStateHandle state_handle_5("wrist_joint_1", &pos[4], &vel[4], &eff[4]); + jnt_state_interface.registerHandle(state_handle_5); + + hardware_interface::JointStateHandle state_handle_6("wrist_joint_2", &pos[5], &vel[5], &eff[5]); + jnt_state_interface.registerHandle(state_handle_6); + + hardware_interface::JointStateHandle state_handle_7("wrist_joint_3", &pos[6], &vel[6], &eff[6]); + jnt_state_interface.registerHandle(state_handle_7); + + hardware_interface::JointStateHandle state_handle_8("finger_joint_1", &pos[7], &vel[7], &eff[7]); + jnt_state_interface.registerHandle(state_handle_8); + + hardware_interface::JointStateHandle state_handle_9("finger_joint_2", &pos[8], &vel[8], &eff[8]); + jnt_state_interface.registerHandle(state_handle_9); + + registerInterface(&jnt_state_interface); + + // connect and register the joint position interface + hardware_interface::JointHandle vel_handle_1(jnt_state_interface.getHandle("soldier_joint_1"), &cmd[0]); + jnt_vel_interface.registerHandle(vel_handle_1); + + hardware_interface::JointHandle vel_handle_2(jnt_state_interface.getHandle("soldier_joint_2"), &cmd[1]); + jnt_vel_interface.registerHandle(vel_handle_2); + + hardware_interface::JointHandle vel_handle_3(jnt_state_interface.getHandle("elbow_joint_1"), &cmd[2]); + jnt_vel_interface.registerHandle(vel_handle_3); + + hardware_interface::JointHandle vel_handle_4(jnt_state_interface.getHandle("elbow_joint_2"), &cmd[3]); + jnt_vel_interface.registerHandle(vel_handle_4); + + hardware_interface::JointHandle vel_handle_5(jnt_state_interface.getHandle("wrist_joint_1"), &cmd[4]); + jnt_vel_interface.registerHandle(vel_handle_5); + + hardware_interface::JointHandle vel_handle_6(jnt_state_interface.getHandle("wrist_joint_2"), &cmd[5]); + jnt_vel_interface.registerHandle(vel_handle_6); + + hardware_interface::JointHandle vel_handle_7(jnt_state_interface.getHandle("wrist_joint_3"), &cmd[6]); + jnt_vel_interface.registerHandle(vel_handle_7); + + hardware_interface::JointHandle vel_handle_8(jnt_state_interface.getHandle("finger_joint_1"), &cmd[7]); + jnt_vel_interface.registerHandle(vel_handle_8); + + hardware_interface::JointHandle vel_handle_9(jnt_state_interface.getHandle("finger_joint_2"), &cmd[8]); + jnt_vel_interface.registerHandle(vel_handle_9); + + + registerInterface(&jnt_vel_interface); + + n_ = ros::NodeHandle(); + //subscriber to joint states + //sub = n_.subscribe("joint_states", 1, &pa10::updateJointState, this); + + + } + + +// call back function +// void updateJointState(const sensor_msgs::JointState msg) +// { +// /*for (int i=0;i++;i<7){ +// names[i] = msg.name[i]; +// pos[i] = msg.position[i]; +// vel[i] = msg.velocity[i]; +// eff[i] = msg.effort[i]; +// }*/ + +// //std::copy(msg.name.begin(),msg.name.end(),names); +// std::copy(msg.position.begin(),msg.position.end(),pos); +// std::copy(msg.velocity.begin(),msg.velocity.end(),vel); +// std::copy(msg.effort.begin(),msg.effort.end(),eff); + +// std::cout<<"Actual Joint States: \nPosition:"< names[7]; + double dt; + bool OnlyPositionFeedback; + //ros::NodeHandle n_; + bool VelocityInterface; +}; + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pa10_hardware_interface"); + ros::NodeHandle nh; + ros::Rate loop_rate(100); + pa10 robot; + + controller_manager::ControllerManager cm(&robot,nh); + ros::AsyncSpinner spinner(1); + spinner.start(); + while (ros::ok()) + { + robot.read(); + cm.update(robot.get_time(), robot.get_period()); + robot.write(); + loop_rate.sleep(); + } + spinner.stop(); +} diff --git a/pa10_hardware_interface/src/joint_publisher.py b/pa10_hardware_interface/src/joint_publisher.py new file mode 100755 index 0000000..2639af9 --- /dev/null +++ b/pa10_hardware_interface/src/joint_publisher.py @@ -0,0 +1,34 @@ +#!/usr/bin/env python +import rospy +from std_msgs.msg import String, Float64MultiArray +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from math import sin,cos,pi + +def talker(): + pub = rospy.Publisher('arm_controller/command', Float64MultiArray, queue_size=10) + rospy.init_node('publisher', anonymous=True) + rate = rospy.Rate(10) # 10hz + while not rospy.is_shutdown(): + now = rospy.get_rostime() + msg = Float64MultiArray() + +# msg.joint_names = ['finger_joint_1',finger_joint_2] +# +# msg.points = [JointTrajectoryPoint()] +# msg.data = [0.4*sin(2*pi*now.nsecs),0.4*cos(2*pi*now.nsecs),0.4*sin(pi*now.nsecs),0.4*cos(2*pi*now.nsecs),0.4*sin(2*pi*now.nsecs),0.4*cos(2*pi*now.nsecs),0.4*sin(pi*now.nsecs)] + msg.data = [-0.1,-0.1,0.1,-0.1,0.1,-0.1,0.1] +# msg.points[0].velocities=[0.0 for i in range(0,7)] +# msg.points[0].accelerations = [0.0 for i in range(0,7)] +# msg.points[0].effort = [0.0 for i in range(0,7)] +# msg.points[0].time_from_start = now + + rospy.loginfo(msg) + pub.publish(msg) + rate.sleep() + +if __name__ == '__main__': + try: + talker() + except rospy.ROSInterruptException: + pass + diff --git a/pa10_hardware_interface/src/joint_publisher.py~ b/pa10_hardware_interface/src/joint_publisher.py~ new file mode 100755 index 0000000..ab2e74f --- /dev/null +++ b/pa10_hardware_interface/src/joint_publisher.py~ @@ -0,0 +1,34 @@ +#!/usr/bin/env python +import rospy +from std_msgs.msg import String, Float64MultiArray +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from math import sin,cos,pi + +def talker(): + pub = rospy.Publisher('arm_controller/command', Float64MultiArray, queue_size=10) + rospy.init_node('publisher', anonymous=True) + rate = rospy.Rate(10) # 10hz + while not rospy.is_shutdown(): + now = rospy.get_rostime() + msg = Float64MultiArray() + +# msg.joint_names = ['finger_joint_1',finger_joint_2] +# +# msg.points = [JointTrajectoryPoint()] +# msg.data = [0.4*sin(2*pi*now.nsecs),0.4*cos(2*pi*now.nsecs),0.4*sin(pi*now.nsecs),0.4*cos(2*pi*now.nsecs),0.4*sin(2*pi*now.nsecs),0.4*cos(2*pi*now.nsecs),0.4*sin(pi*now.nsecs)] + msg.data = [-0.2,-0.25,-0.3,-0.35,-0.4,-0.45,-0.5] +# msg.points[0].velocities=[0.0 for i in range(0,7)] +# msg.points[0].accelerations = [0.0 for i in range(0,7)] +# msg.points[0].effort = [0.0 for i in range(0,7)] +# msg.points[0].time_from_start = now + + rospy.loginfo(msg) + pub.publish(msg) + rate.sleep() + +if __name__ == '__main__': + try: + talker() + except rospy.ROSInterruptException: + pass + diff --git a/pa10_hardware_interface/src/motion_planning_scene_tutorial.cpp b/pa10_hardware_interface/src/motion_planning_scene_tutorial.cpp new file mode 100644 index 0000000..ce61be6 --- /dev/null +++ b/pa10_hardware_interface/src/motion_planning_scene_tutorial.cpp @@ -0,0 +1,169 @@ +#include +#include + +// MoveIt! +#include +#include +#include +#include +#include + +#include +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "planning_scene_ros_api_tutorial"); + ros::AsyncSpinner spinner(1); + spinner.start(); + + ros::NodeHandle node_handle; + ros::Duration sleep_time(10.0); + sleep_time.sleep(); + sleep_time.sleep(); + + // BEGIN_TUTORIAL + // + // Advertise the required topic + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // Note that this topic may need to be remapped in the launch file + ros::Publisher planning_scene_diff_publisher = node_handle.advertise("planning_scene", 1); + while (planning_scene_diff_publisher.getNumSubscribers() < 1) + { + ros::WallDuration sleep_t(0.5); + sleep_t.sleep(); + } + + // Define the attached object message + + moveit_msgs::AttachedCollisionObject attached_object; + attached_object.link_name = "link_ee_tool"; + /* The header must contain a valid TF frame*/ + attached_object.object.header.frame_id = "link_ee_tool"; + /* The id of the object */ + attached_object.object.id = "box"; + + /* A default pose */ + geometry_msgs::Pose pose; + pose.orientation.w = 1.0; + + /* Define a box to be attached */ + shape_msgs::SolidPrimitive primitive; + primitive.type = primitive.BOX; + primitive.dimensions.resize(3); + primitive.dimensions[0] = 0.1; + primitive.dimensions[1] = 0.1; + primitive.dimensions[2] = 0.1; + + attached_object.object.primitives.push_back(primitive); + attached_object.object.primitive_poses.push_back(pose); + + // Note that attaching an object to the robot requires + // the corresponding operation to be specified as an ADD operation + attached_object.object.operation = attached_object.object.ADD; + + // Add an object into the environment + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + + ROS_INFO("Adding the object into the world at the location of the ee tool link."); + moveit_msgs::PlanningScene planning_scene; + planning_scene.world.collision_objects.push_back(attached_object.object); + planning_scene.is_diff = true; + planning_scene_diff_publisher.publish(planning_scene); + sleep_time.sleep(); + + // Interlude: Synchronous vs Asynchronous updates + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // There are two separate mechanisms available to interact + // with the move_group node using diffs: + // + // * Send a diff via a rosservice call and block until + // the diff is applied (synchronous update) + // * Send a diff via a topic, continue even though the diff + // might not be applied yet (asynchronous update) + // + // While most of this tutorial uses the latter mechanism (given the long sleeps + // inserted for visualization purposes asynchronous updates do not pose a problem), + // it would is perfectly justified to replace the planning_scene_diff_publisher + // by the following service client: + ros::ServiceClient planning_scene_diff_client = + node_handle.serviceClient("apply_planning_scene"); + planning_scene_diff_client.waitForExistence(); + // and send the diffs to the planning scene via a service call: + moveit_msgs::ApplyPlanningScene srv; + srv.request.scene = planning_scene; + planning_scene_diff_client.call(srv); + // Note that this does not continue until we are sure the diff has been applied. + // + // Attach an object to the robot + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // When the robot picks up an object from the environment, we need to + // "attach" the object to the robot so that any component dealing with + // the robot model knows to account for the attached object, e.g. for + // collision checking. + // + // Attaching an object requires two operations + // * Removing the original object from the environment + // * Attaching the object to the robot + + /* First, define the REMOVE object message*/ + moveit_msgs::CollisionObject remove_object; + remove_object.id = "box"; + remove_object.header.frame_id = "odom_combined"; + remove_object.operation = remove_object.REMOVE; + + // Note how we make sure that the diff message contains no other + // attached objects or collisions objects by clearing those fields + // first. + /* Carry out the REMOVE + ATTACH operation */ + ROS_INFO("Attaching the object to the right wrist and removing it from the world."); + planning_scene.world.collision_objects.clear(); + planning_scene.world.collision_objects.push_back(remove_object); + planning_scene.robot_state.attached_collision_objects.push_back(attached_object); + planning_scene_diff_publisher.publish(planning_scene); + + sleep_time.sleep(); + + // Detach an object from the robot + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // Detaching an object from the robot requires two operations + // * Detaching the object from the robot + // * Re-introducing the object into the environment + + /* First, define the DETACH object message*/ + moveit_msgs::AttachedCollisionObject detach_object; + detach_object.object.id = "box"; + detach_object.link_name = "link_ee_tool"; + detach_object.object.operation = attached_object.object.REMOVE; + + // Note how we make sure that the diff message contains no other + // attached objects or collisions objects by clearing those fields + // first. + /* Carry out the DETACH + ADD operation */ + ROS_INFO("Detaching the object from the robot and returning it to the world."); + planning_scene.robot_state.attached_collision_objects.clear(); + planning_scene.robot_state.attached_collision_objects.push_back(detach_object); + planning_scene.world.collision_objects.clear(); + planning_scene.world.collision_objects.push_back(attached_object.object); + planning_scene_diff_publisher.publish(planning_scene); + + sleep_time.sleep(); + + // Remove the object from the collision world + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // Removing the object from the collision world just requires + // using the remove object message defined earlier. + // Note, also how we make sure that the diff message contains no other + // attached objects or collisions objects by clearing those fields + // first. + ROS_INFO("Removing the object from the world."); + planning_scene.robot_state.attached_collision_objects.clear(); + planning_scene.world.collision_objects.clear(); + planning_scene.world.collision_objects.push_back(remove_object); + planning_scene_diff_publisher.publish(planning_scene); + // END_TUTORIAL + + ros::shutdown(); + return 0; +} diff --git a/pa10_hardware_interface/src/motion_planning_scene_tutorial.cpp~ b/pa10_hardware_interface/src/motion_planning_scene_tutorial.cpp~ new file mode 100644 index 0000000..8b33ab5 --- /dev/null +++ b/pa10_hardware_interface/src/motion_planning_scene_tutorial.cpp~ @@ -0,0 +1,169 @@ +#include +#include + +// MoveIt! +#include +#include +#include +#include +#include + +#include +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "planning_scene_ros_api_tutorial"); + ros::AsyncSpinner spinner(1); + spinner.start(); + + ros::NodeHandle node_handle; + ros::Duration sleep_time(2.0); + sleep_time.sleep(); + sleep_time.sleep(); + + // BEGIN_TUTORIAL + // + // Advertise the required topic + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // Note that this topic may need to be remapped in the launch file + ros::Publisher planning_scene_diff_publisher = node_handle.advertise("planning_scene", 1); + while (planning_scene_diff_publisher.getNumSubscribers() < 1) + { + ros::WallDuration sleep_t(0.5); + sleep_t.sleep(); + } + + // Define the attached object message + + moveit_msgs::AttachedCollisionObject attached_object; + attached_object.link_name = "link_ee_tool"; + /* The header must contain a valid TF frame*/ + attached_object.object.header.frame_id = "link_ee_tool"; + /* The id of the object */ + attached_object.object.id = "box"; + + /* A default pose */ + geometry_msgs::Pose pose; + pose.orientation.w = 1.0; + + /* Define a box to be attached */ + shape_msgs::SolidPrimitive primitive; + primitive.type = primitive.BOX; + primitive.dimensions.resize(3); + primitive.dimensions[0] = 0.1; + primitive.dimensions[1] = 0.1; + primitive.dimensions[2] = 0.1; + + attached_object.object.primitives.push_back(primitive); + attached_object.object.primitive_poses.push_back(pose); + + // Note that attaching an object to the robot requires + // the corresponding operation to be specified as an ADD operation + attached_object.object.operation = attached_object.object.ADD; + + // Add an object into the environment + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + + ROS_INFO("Adding the object into the world at the location of the ee tool link."); + moveit_msgs::PlanningScene planning_scene; + planning_scene.world.collision_objects.push_back(attached_object.object); + planning_scene.is_diff = true; + planning_scene_diff_publisher.publish(planning_scene); + sleep_time.sleep(); + + // Interlude: Synchronous vs Asynchronous updates + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // There are two separate mechanisms available to interact + // with the move_group node using diffs: + // + // * Send a diff via a rosservice call and block until + // the diff is applied (synchronous update) + // * Send a diff via a topic, continue even though the diff + // might not be applied yet (asynchronous update) + // + // While most of this tutorial uses the latter mechanism (given the long sleeps + // inserted for visualization purposes asynchronous updates do not pose a problem), + // it would is perfectly justified to replace the planning_scene_diff_publisher + // by the following service client: + ros::ServiceClient planning_scene_diff_client = + node_handle.serviceClient("apply_planning_scene"); + planning_scene_diff_client.waitForExistence(); + // and send the diffs to the planning scene via a service call: + moveit_msgs::ApplyPlanningScene srv; + srv.request.scene = planning_scene; + planning_scene_diff_client.call(srv); + // Note that this does not continue until we are sure the diff has been applied. + // + // Attach an object to the robot + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // When the robot picks up an object from the environment, we need to + // "attach" the object to the robot so that any component dealing with + // the robot model knows to account for the attached object, e.g. for + // collision checking. + // + // Attaching an object requires two operations + // * Removing the original object from the environment + // * Attaching the object to the robot + + /* First, define the REMOVE object message*/ + moveit_msgs::CollisionObject remove_object; + remove_object.id = "box"; + remove_object.header.frame_id = "odom_combined"; + remove_object.operation = remove_object.REMOVE; + + // Note how we make sure that the diff message contains no other + // attached objects or collisions objects by clearing those fields + // first. + /* Carry out the REMOVE + ATTACH operation */ + ROS_INFO("Attaching the object to the right wrist and removing it from the world."); + planning_scene.world.collision_objects.clear(); + planning_scene.world.collision_objects.push_back(remove_object); + planning_scene.robot_state.attached_collision_objects.push_back(attached_object); + planning_scene_diff_publisher.publish(planning_scene); + + sleep_time.sleep(); + + // Detach an object from the robot + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // Detaching an object from the robot requires two operations + // * Detaching the object from the robot + // * Re-introducing the object into the environment + + /* First, define the DETACH object message*/ + moveit_msgs::AttachedCollisionObject detach_object; + detach_object.object.id = "box"; + detach_object.link_name = "link_ee_tool"; + detach_object.object.operation = attached_object.object.REMOVE; + + // Note how we make sure that the diff message contains no other + // attached objects or collisions objects by clearing those fields + // first. + /* Carry out the DETACH + ADD operation */ + ROS_INFO("Detaching the object from the robot and returning it to the world."); + planning_scene.robot_state.attached_collision_objects.clear(); + planning_scene.robot_state.attached_collision_objects.push_back(detach_object); + planning_scene.world.collision_objects.clear(); + planning_scene.world.collision_objects.push_back(attached_object.object); + planning_scene_diff_publisher.publish(planning_scene); + + sleep_time.sleep(); + + // Remove the object from the collision world + // ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + // Removing the object from the collision world just requires + // using the remove object message defined earlier. + // Note, also how we make sure that the diff message contains no other + // attached objects or collisions objects by clearing those fields + // first. + ROS_INFO("Removing the object from the world."); + planning_scene.robot_state.attached_collision_objects.clear(); + planning_scene.world.collision_objects.clear(); + planning_scene.world.collision_objects.push_back(remove_object); + planning_scene_diff_publisher.publish(planning_scene); + // END_TUTORIAL + + ros::shutdown(); + return 0; +} diff --git a/pa10_hardware_interface/src/pa10_fake_hardware_interface.cpp b/pa10_hardware_interface/src/pa10_fake_hardware_interface.cpp new file mode 100644 index 0000000..20aedfa --- /dev/null +++ b/pa10_hardware_interface/src/pa10_fake_hardware_interface.cpp @@ -0,0 +1,345 @@ +#include +#include + +#include +#include +#include +#include + +#include +#include +#include "sensor_msgs/JointState.h" + +#include "std_msgs/Float64MultiArray.h" + +#include + + +#define RATE 25.0//1.0/0.04 + +double +anglewrap(const double x) +{ + double y=x; + + if (x > M_PI) + y=x-2.0*M_PI; + + else if (x<-M_PI) + y=x+2.0*M_PI; + + return y; +} + +double diffAngle(double x, double y) +{ + double diff; + + diff = fmod(y-x, 2*M_PI); + if (diff < 0 ) diff = diff + 2.0*M_PI; + if (diff > M_PI) diff = diff - 2.0*M_PI; + + return (-diff); +} + + +class pa10 : public hardware_interface::RobotHW +{ +public: + ros::Subscriber sub; + ros::NodeHandle n_; + ros::Publisher pub_smoothed_velocities, pub_cmd; + + +public: + pa10() +{ + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_1("S1", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_1); + + hardware_interface::JointStateHandle state_handle_2("S2", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_2); + + hardware_interface::JointStateHandle state_handle_3("E1", &pos[2], &vel[2], &eff[2]); + jnt_state_interface.registerHandle(state_handle_3); + + hardware_interface::JointStateHandle state_handle_4("E2", &pos[3], &vel[3], &eff[3]); + jnt_state_interface.registerHandle(state_handle_4); + + hardware_interface::JointStateHandle state_handle_5("W1", &pos[4], &vel[4], &eff[4]); + jnt_state_interface.registerHandle(state_handle_5); + + hardware_interface::JointStateHandle state_handle_6("W2", &pos[5], &vel[5], &eff[5]); + jnt_state_interface.registerHandle(state_handle_6); + + hardware_interface::JointStateHandle state_handle_7("W3", &pos[6], &vel[6], &eff[6]); + jnt_state_interface.registerHandle(state_handle_7); + + hardware_interface::JointStateHandle state_handle_8("finger_joint_1", &pos[7], &vel[7], &eff[7]); + jnt_state_interface.registerHandle(state_handle_8); + + hardware_interface::JointStateHandle state_handle_9("finger_joint_2", &pos[8], &vel[8], &eff[8]); + jnt_state_interface.registerHandle(state_handle_9); + + registerInterface(&jnt_state_interface); + + // connect and register the joint position interface + hardware_interface::JointHandle vel_handle_1(jnt_state_interface.getHandle("S1"), &cmd[0]); + jnt_vel_interface.registerHandle(vel_handle_1); + + hardware_interface::JointHandle vel_handle_2(jnt_state_interface.getHandle("S2"), &cmd[1]); + jnt_vel_interface.registerHandle(vel_handle_2); + + hardware_interface::JointHandle vel_handle_3(jnt_state_interface.getHandle("E1"), &cmd[2]); + jnt_vel_interface.registerHandle(vel_handle_3); + + hardware_interface::JointHandle vel_handle_4(jnt_state_interface.getHandle("E2"), &cmd[3]); + jnt_vel_interface.registerHandle(vel_handle_4); + + hardware_interface::JointHandle vel_handle_5(jnt_state_interface.getHandle("W1"), &cmd[4]); + jnt_vel_interface.registerHandle(vel_handle_5); + + hardware_interface::JointHandle vel_handle_6(jnt_state_interface.getHandle("W2"), &cmd[5]); + jnt_vel_interface.registerHandle(vel_handle_6); + + hardware_interface::JointHandle vel_handle_7(jnt_state_interface.getHandle("W3"), &cmd[6]); + jnt_vel_interface.registerHandle(vel_handle_7); + + hardware_interface::JointHandle vel_handle_8(jnt_state_interface.getHandle("finger_joint_1"), &cmd[7]); + jnt_vel_interface.registerHandle(vel_handle_8); + + hardware_interface::JointHandle vel_handle_9(jnt_state_interface.getHandle("finger_joint_2"), &cmd[8]); + jnt_vel_interface.registerHandle(vel_handle_9); + + + registerInterface(&jnt_vel_interface); + + n_ = ros::NodeHandle(); + //publisher for smoothed velocities + //pub_smoothed_velocities = n_.advertise("/smoothed_velocities", 10); + //pub_cmd = n_.advertise("/cmd", 10); + + mstart = ros::Time::now(); + + +} + + + /* Smoothed Velocities */ + void smooth_filter(float smooth=0.7) + { + //std_msgs::MultiArrayDimension dim; + //dim.size = 9; + //dim.stride = 9; + + //Publish Joint positions + //std_msgs::Float64MultiArray pub_array; + + //pub_array.layout.dim.push_back(dim); + //pub_array.layout.data_offset = 0; + + for (int i=0;i<9;i++) { + sm_vel[i] = sm_vel[i]+smooth*(vel[i]-sm_vel[i]); + //pub_array.data.push_back(sm_vel[i]); + } + //publish smoothed + //pub_smoothed_velocities.publish(pub_array); + } + + /////////////////////////////////////////////////////////////////// + /* Fuction which computes joint positions using joint velocities */ + /////////////////////////////////////////////////////////////////// + void veltopos(double cmd_[9]) + { + //double cmd_p[9]; + for (int i=0;i<9;++i) + { + //compute velocity commands + pos[i]=cmd_[i]/RATE+cmd_prev[i]; + //update previous commands + cmd_prev[i] = cmd_[i]; + } + //return the computed velocities + //return cmd_p; + } + + + /////////////////////////////////////////////////////////////////// + /* Fuction which computes joint velocities using joint positions */ + /////////////////////////////////////////////////////////////////// + void postovel(double cmd_[9]) + { + for (int i=0;i<9;++i) + { + //compute velocity commands + //cmd[i]=anglewrap(cmd_[i]); + + vel[i]=diffAngle(cmd_[i],cmd_prev[i])*RATE; + //update previous commands + cmd_prev[i] = cmd_[i]; + } + } + + /////////////////// + /* Write Function*/ + /////////////////// + void write() + { + + //std::cout<<"##joints Commands: "< the command type + controller_type = "VelocityJointInterface"; + VelControllWithPoseCommand = true; + + // if you want velocity commands + if (controller_type=="VelocityJointInterface") + { + // Do this cause its a fake interface!! + //pa10::veltopos(cmd); + //memcpy(vel,cmd,sizeof(double)*9); + //efford is initialized to zero + + for (int i=0;i<9;++i) + { + vel[i]=cmd[i]; + pos[i]=(pos[i]+vel[i]/RATE); + eff[i]=0.0; + } + + } + + //if you want effort commands -- NOT IMPLEMENTED YET + else if (controller_type =="EffortJointInterface") + { + for (int i=0;i<9;++i) + { + pos[i]=0.0; + vel[i]=0.0; + eff[i]=0.0; + } + } + + else if (controller_type =="PositionJointInterface") + { + //if (!VelControllWithPoseCommand) + //{ + // I want to send position commands to the robot + // give positions direct to joints_states + //memcpy(pos,cmd,sizeof(double)*9); + //for (int i=0;i<9;++i) + //{ + // vel[i]=0.0; + // eff[i]=0.0; + //} + //} + //else + // I want to send velocities command to the robot + //{ + pa10::postovel(cmd); + pa10::smooth_filter(0.8); + + for (int i=0;i<9;++i) + { + pos[i]=anglewrap(pos[i]+sm_vel[i]/RATE); + vel[i]=sm_vel[i]; + eff[i]=0.0; + } + + //std_msgs::MultiArrayDimension dim; + //dim.size = 9; + //dim.stride = 9; + + //Publish Joint positions + //sensor_msgs::JointState pub_array; + + //pub_array.header.stamp = ros::Time::now(); + + //for (int i=0;i<9;i++) + // pub_array.position.push_back(cmd[i]); + + //pub_cmd.publish(pub_array); + + //memcpy(pos,cmd,sizeof(double)*9); + //pa10::postovel(cmd); + //pa10::smooth_filter(0.8); + //} + + } + + + //std::cout << "Time: " << (ros::Time::now()-mstart).toSec()*1e-9 << std::endl; + //for (int i=0;i<9;i++) + // std::cout << vel[i] << "," ; + + //std::cout << "" << std::endl; + //std::cout << "" << std::endl; + + } + ros::Time get_time() { return ros::Time::now();} ; + ros::Duration get_period() { ros::Duration(1.0/RATE);}; + + void initialization_step() + { + for (int i=0;i<9;++i) + { + vel[i]=0.0; + pos[i]=0.0; + eff[i]=0.0; + cmd[i]=0.0; + sm_vel[i]=0.0; + } + } +private: + hardware_interface::JointStateInterface jnt_state_interface; + //hardware_interface::PositionJointInterface jnt_vel_interface; + hardware_interface::VelocityJointInterface jnt_vel_interface; + double cmd[9],cmd_prev[9],cmd_vel[9],sm_vel[9]; + double pos[9] ; + double vel[9] ; + double eff[9] ; + std::string controller_type; + bool VelControllWithPoseCommand; + ros::Time mstart; +}; + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pa10_hardware_interface"); + ros::NodeHandle nh; + ros::Rate loop_rate(RATE); + pa10 robot; + ros::Time now; + + controller_manager::ControllerManager cm(&robot,nh); + + robot.initialization_step(); + ros::AsyncSpinner spinner(1); + spinner.start(); + + ros::Duration dur = robot.get_period(); + + while (ros::ok()) + { + + now = robot.get_time(); + robot.read(); + cm.update(now,dur); + robot.write(); + loop_rate.sleep(); + dur = robot.get_time()-now; + } + spinner.stop(); +} diff --git a/pa10_hardware_interface/src/pa10_fake_hardware_interface.cpp~ b/pa10_hardware_interface/src/pa10_fake_hardware_interface.cpp~ new file mode 100644 index 0000000..c463708 --- /dev/null +++ b/pa10_hardware_interface/src/pa10_fake_hardware_interface.cpp~ @@ -0,0 +1,345 @@ +#include +#include + +#include +#include +#include +#include + +#include +#include +#include "sensor_msgs/JointState.h" + +#include "std_msgs/Float64MultiArray.h" + +#include + + +#define RATE 25.0//1.0/0.04 + +double +anglewrap(const double x) +{ + double y=x; + + if (x > M_PI) + y=x-2.0*M_PI; + + else if (x<-M_PI) + y=x+2.0*M_PI; + + return y; +} + +double diffAngle(double x, double y) +{ + double diff; + + diff = fmod(y-x, 2*M_PI); + if (diff < 0 ) diff = diff + 2.0*M_PI; + if (diff > M_PI) diff = diff - 2.0*M_PI; + + return (-diff); +} + + +class pa10 : public hardware_interface::RobotHW +{ +public: + ros::Subscriber sub; + ros::NodeHandle n_; + ros::Publisher pub_smoothed_velocities, pub_cmd; + + +public: + pa10() +{ + // connect and register the joint state interface + hardware_interface::JointStateHandle state_handle_1("soldier_joint_1", &pos[0], &vel[0], &eff[0]); + jnt_state_interface.registerHandle(state_handle_1); + + hardware_interface::JointStateHandle state_handle_2("soldier_joint_2", &pos[1], &vel[1], &eff[1]); + jnt_state_interface.registerHandle(state_handle_2); + + hardware_interface::JointStateHandle state_handle_3("elbow_joint_1", &pos[2], &vel[2], &eff[2]); + jnt_state_interface.registerHandle(state_handle_3); + + hardware_interface::JointStateHandle state_handle_4("elbow_joint_2", &pos[3], &vel[3], &eff[3]); + jnt_state_interface.registerHandle(state_handle_4); + + hardware_interface::JointStateHandle state_handle_5("wrist_joint_1", &pos[4], &vel[4], &eff[4]); + jnt_state_interface.registerHandle(state_handle_5); + + hardware_interface::JointStateHandle state_handle_6("wrist_joint_2", &pos[5], &vel[5], &eff[5]); + jnt_state_interface.registerHandle(state_handle_6); + + hardware_interface::JointStateHandle state_handle_7("wrist_joint_3", &pos[6], &vel[6], &eff[6]); + jnt_state_interface.registerHandle(state_handle_7); + + hardware_interface::JointStateHandle state_handle_8("finger_joint_1", &pos[7], &vel[7], &eff[7]); + jnt_state_interface.registerHandle(state_handle_8); + + hardware_interface::JointStateHandle state_handle_9("finger_joint_2", &pos[8], &vel[8], &eff[8]); + jnt_state_interface.registerHandle(state_handle_9); + + registerInterface(&jnt_state_interface); + + // connect and register the joint position interface + hardware_interface::JointHandle vel_handle_1(jnt_state_interface.getHandle("soldier_joint_1"), &cmd[0]); + jnt_vel_interface.registerHandle(vel_handle_1); + + hardware_interface::JointHandle vel_handle_2(jnt_state_interface.getHandle("soldier_joint_2"), &cmd[1]); + jnt_vel_interface.registerHandle(vel_handle_2); + + hardware_interface::JointHandle vel_handle_3(jnt_state_interface.getHandle("elbow_joint_1"), &cmd[2]); + jnt_vel_interface.registerHandle(vel_handle_3); + + hardware_interface::JointHandle vel_handle_4(jnt_state_interface.getHandle("elbow_joint_2"), &cmd[3]); + jnt_vel_interface.registerHandle(vel_handle_4); + + hardware_interface::JointHandle vel_handle_5(jnt_state_interface.getHandle("wrist_joint_1"), &cmd[4]); + jnt_vel_interface.registerHandle(vel_handle_5); + + hardware_interface::JointHandle vel_handle_6(jnt_state_interface.getHandle("wrist_joint_2"), &cmd[5]); + jnt_vel_interface.registerHandle(vel_handle_6); + + hardware_interface::JointHandle vel_handle_7(jnt_state_interface.getHandle("wrist_joint_3"), &cmd[6]); + jnt_vel_interface.registerHandle(vel_handle_7); + + hardware_interface::JointHandle vel_handle_8(jnt_state_interface.getHandle("finger_joint_1"), &cmd[7]); + jnt_vel_interface.registerHandle(vel_handle_8); + + hardware_interface::JointHandle vel_handle_9(jnt_state_interface.getHandle("finger_joint_2"), &cmd[8]); + jnt_vel_interface.registerHandle(vel_handle_9); + + + registerInterface(&jnt_vel_interface); + + n_ = ros::NodeHandle(); + //publisher for smoothed velocities + //pub_smoothed_velocities = n_.advertise("/smoothed_velocities", 10); + //pub_cmd = n_.advertise("/cmd", 10); + + mstart = ros::Time::now(); + + +} + + + /* Smoothed Velocities */ + void smooth_filter(float smooth=0.7) + { + //std_msgs::MultiArrayDimension dim; + //dim.size = 9; + //dim.stride = 9; + + //Publish Joint positions + //std_msgs::Float64MultiArray pub_array; + + //pub_array.layout.dim.push_back(dim); + //pub_array.layout.data_offset = 0; + + for (int i=0;i<9;i++) { + sm_vel[i] = sm_vel[i]+smooth*(vel[i]-sm_vel[i]); + //pub_array.data.push_back(sm_vel[i]); + } + //publish smoothed + //pub_smoothed_velocities.publish(pub_array); + } + + /////////////////////////////////////////////////////////////////// + /* Fuction which computes joint positions using joint velocities */ + /////////////////////////////////////////////////////////////////// + void veltopos(double cmd_[9]) + { + //double cmd_p[9]; + for (int i=0;i<9;++i) + { + //compute velocity commands + pos[i]=cmd_[i]/RATE+cmd_prev[i]; + //update previous commands + cmd_prev[i] = cmd_[i]; + } + //return the computed velocities + //return cmd_p; + } + + + /////////////////////////////////////////////////////////////////// + /* Fuction which computes joint velocities using joint positions */ + /////////////////////////////////////////////////////////////////// + void postovel(double cmd_[9]) + { + for (int i=0;i<9;++i) + { + //compute velocity commands + //cmd[i]=anglewrap(cmd_[i]); + + vel[i]=diffAngle(cmd_[i],cmd_prev[i])*RATE; + //update previous commands + cmd_prev[i] = cmd_[i]; + } + } + + /////////////////// + /* Write Function*/ + /////////////////// + void write() + { + + //std::cout<<"##joints Commands: "< the command type + controller_type = "VelocityJointInterface"; + VelControllWithPoseCommand = true; + + // if you want velocity commands + if (controller_type=="VelocityJointInterface") + { + // Do this cause its a fake interface!! + //pa10::veltopos(cmd); + //memcpy(vel,cmd,sizeof(double)*9); + //efford is initialized to zero + + for (int i=0;i<9;++i) + { + vel[i]=cmd[i]; + pos[i]=(pos[i]+vel[i]/RATE); + eff[i]=0.0; + } + + } + + //if you want effort commands -- NOT IMPLEMENTED YET + else if (controller_type =="EffortJointInterface") + { + for (int i=0;i<9;++i) + { + pos[i]=0.0; + vel[i]=0.0; + eff[i]=0.0; + } + } + + else if (controller_type =="PositionJointInterface") + { + //if (!VelControllWithPoseCommand) + //{ + // I want to send position commands to the robot + // give positions direct to joints_states + //memcpy(pos,cmd,sizeof(double)*9); + //for (int i=0;i<9;++i) + //{ + // vel[i]=0.0; + // eff[i]=0.0; + //} + //} + //else + // I want to send velocities command to the robot + //{ + pa10::postovel(cmd); + pa10::smooth_filter(0.8); + + for (int i=0;i<9;++i) + { + pos[i]=anglewrap(pos[i]+sm_vel[i]/RATE); + vel[i]=sm_vel[i]; + eff[i]=0.0; + } + + //std_msgs::MultiArrayDimension dim; + //dim.size = 9; + //dim.stride = 9; + + //Publish Joint positions + //sensor_msgs::JointState pub_array; + + //pub_array.header.stamp = ros::Time::now(); + + //for (int i=0;i<9;i++) + // pub_array.position.push_back(cmd[i]); + + //pub_cmd.publish(pub_array); + + //memcpy(pos,cmd,sizeof(double)*9); + //pa10::postovel(cmd); + //pa10::smooth_filter(0.8); + //} + + } + + + //std::cout << "Time: " << (ros::Time::now()-mstart).toSec()*1e-9 << std::endl; + //for (int i=0;i<9;i++) + // std::cout << vel[i] << "," ; + + //std::cout << "" << std::endl; + //std::cout << "" << std::endl; + + } + ros::Time get_time() { return ros::Time::now();} ; + ros::Duration get_period() { ros::Duration(1.0/RATE);}; + + void initialization_step() + { + for (int i=0;i<9;++i) + { + vel[i]=0.0; + pos[i]=0.0; + eff[i]=0.0; + cmd[i]=0.0; + sm_vel[i]=0.0; + } + } +private: + hardware_interface::JointStateInterface jnt_state_interface; + //hardware_interface::PositionJointInterface jnt_vel_interface; + hardware_interface::VelocityJointInterface jnt_vel_interface; + double cmd[9],cmd_prev[9],cmd_vel[9],sm_vel[9]; + double pos[9] ; + double vel[9] ; + double eff[9] ; + std::string controller_type; + bool VelControllWithPoseCommand; + ros::Time mstart; +}; + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pa10_hardware_interface"); + ros::NodeHandle nh; + ros::Rate loop_rate(RATE); + pa10 robot; + ros::Time now; + + controller_manager::ControllerManager cm(&robot,nh); + + robot.initialization_step(); + ros::AsyncSpinner spinner(1); + spinner.start(); + + ros::Duration dur = robot.get_period(); + + while (ros::ok()) + { + + now = robot.get_time(); + robot.read(); + cm.update(now,dur); + robot.write(); + loop_rate.sleep(); + dur = robot.get_time()-now; + } + spinner.stop(); +} diff --git a/pa10_hardware_interface/src/simple_trajectoryry.cpp b/pa10_hardware_interface/src/simple_trajectoryry.cpp new file mode 100644 index 0000000..9218900 --- /dev/null +++ b/pa10_hardware_interface/src/simple_trajectoryry.cpp @@ -0,0 +1,129 @@ +#include +#include +#include + +typedef actionlib::SimpleActionClient< pr2_controllers_msgs::JointTrajectoryAction > TrajClient; + +class RobotArm +{ +private: + // Action client for the joint trajectory action + // used to trigger the arm movement action + TrajClient* traj_client_; + +public: + //! Initialize the action client and wait for action server to come up + RobotArm() + { + // tell the action client that we want to spin a thread by default + traj_client_ = new TrajClient("arm_controller/command", true); + + // wait for action server to come up + while(!traj_client_->waitForServer(ros::Duration(5.0))){ + ROS_INFO("Waiting for the joint_trajectory_action server"); + } + } + + //! Clean up the action client + ~RobotArm() + { + delete traj_client_; + } + + //! Sends the command to start a given trajectory + void startTrajectory(pr2_controllers_msgs::JointTrajectoryGoal goal) + { + // When to start the trajectory: 1s from now + goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0); + traj_client_->sendGoal(goal); + } + + //! Generates a simple trajectory with two waypoints, used as an example + /*! Note that this trajectory contains two waypoints, joined together + as a single trajectory. Alternatively, each of these waypoints could + be in its own trajectory - a trajectory can have one or more waypoints + depending on the desired application. + */ + pr2_controllers_msgs::JointTrajectoryGoal armExtensionTrajectory() + { + //our goal variable + pr2_controllers_msgs::JointTrajectoryGoal goal; + + // First, the joint names, which apply to all waypoints + goal.trajectory.joint_names.push_back("r_shoulder_pan_joint"); + goal.trajectory.joint_names.push_back("r_shoulder_lift_joint"); + goal.trajectory.joint_names.push_back("r_upper_arm_roll_joint"); + goal.trajectory.joint_names.push_back("r_elbow_flex_joint"); + goal.trajectory.joint_names.push_back("r_forearm_roll_joint"); + goal.trajectory.joint_names.push_back("r_wrist_flex_joint"); + goal.trajectory.joint_names.push_back("r_wrist_roll_joint"); + + // We will have two waypoints in this goal trajectory + goal.trajectory.points.resize(2); + + // First trajectory point + // Positions + int ind = 0; + goal.trajectory.points[ind].positions.resize(7); + goal.trajectory.points[ind].positions[0] = 0.0; + goal.trajectory.points[ind].positions[1] = 0.0; + goal.trajectory.points[ind].positions[2] = 0.0; + goal.trajectory.points[ind].positions[3] = 0.0; + goal.trajectory.points[ind].positions[4] = 0.0; + goal.trajectory.points[ind].positions[5] = 0.0; + goal.trajectory.points[ind].positions[6] = 0.0; + // Velocities + goal.trajectory.points[ind].velocities.resize(7); + for (size_t j = 0; j < 7; ++j) + { + goal.trajectory.points[ind].velocities[j] = 0.0; + } + // To be reached 1 second after starting along the trajectory + goal.trajectory.points[ind].time_from_start = ros::Duration(1.0); + + // Second trajectory point + // Positions + ind += 1; + goal.trajectory.points[ind].positions.resize(7); + goal.trajectory.points[ind].positions[0] = -0.3; + goal.trajectory.points[ind].positions[1] = 0.2; + goal.trajectory.points[ind].positions[2] = -0.1; + goal.trajectory.points[ind].positions[3] = -1.2; + goal.trajectory.points[ind].positions[4] = 1.5; + goal.trajectory.points[ind].positions[5] = -0.3; + goal.trajectory.points[ind].positions[6] = 0.5; + // Velocities + goal.trajectory.points[ind].velocities.resize(7); + for (size_t j = 0; j < 7; ++j) + { + goal.trajectory.points[ind].velocities[j] = 0.0; + } + // To be reached 2 seconds after starting along the trajectory + goal.trajectory.points[ind].time_from_start = ros::Duration(2.0); + + //we are done; return the goal + return goal; + } + + //! Returns the current state of the action + actionlib::SimpleClientGoalState getState() + { + return traj_client_->getState(); + } + +}; + +int main(int argc, char** argv) +{ + // Init the ROS node + ros::init(argc, argv, "robot_driver"); + + RobotArm arm; + // Start the trajectory + arm.startTrajectory(arm.armExtensionTrajectory()); + // Wait for trajectory completion + while(!arm.getState().isDone() && ros::ok()) + { + usleep(50000); + } +}ros diff --git a/pa10_hardware_interface/src/simple_trajectoryry.cpp~ b/pa10_hardware_interface/src/simple_trajectoryry.cpp~ new file mode 100644 index 0000000..22580f0 --- /dev/null +++ b/pa10_hardware_interface/src/simple_trajectoryry.cpp~ @@ -0,0 +1,129 @@ +#include +#include +#include + +typedef actionlib::SimpleActionClient< pr2_controllers_msgs::JointTrajectoryAction > TrajClient; + +class RobotArm +{ +private: + // Action client for the joint trajectory action + // used to trigger the arm movement action + TrajClient* traj_client_; + +public: + //! Initialize the action client and wait for action server to come up + RobotArm() + { + // tell the action client that we want to spin a thread by default + traj_client_ = new TrajClient("r_arm_controller/joint_trajectory_action", true); + + // wait for action server to come up + while(!traj_client_->waitForServer(ros::Duration(5.0))){ + ROS_INFO("Waiting for the joint_trajectory_action server"); + } + } + + //! Clean up the action client + ~RobotArm() + { + delete traj_client_; + } + + //! Sends the command to start a given trajectory + void startTrajectory(pr2_controllers_msgs::JointTrajectoryGoal goal) + { + // When to start the trajectory: 1s from now + goal.trajectory.header.stamp = ros::Time::now() + ros::Duration(1.0); + traj_client_->sendGoal(goal); + } + + //! Generates a simple trajectory with two waypoints, used as an example + /*! Note that this trajectory contains two waypoints, joined together + as a single trajectory. Alternatively, each of these waypoints could + be in its own trajectory - a trajectory can have one or more waypoints + depending on the desired application. + */ + pr2_controllers_msgs::JointTrajectoryGoal armExtensionTrajectory() + { + //our goal variable + pr2_controllers_msgs::JointTrajectoryGoal goal; + + // First, the joint names, which apply to all waypoints + goal.trajectory.joint_names.push_back("r_shoulder_pan_joint"); + goal.trajectory.joint_names.push_back("r_shoulder_lift_joint"); + goal.trajectory.joint_names.push_back("r_upper_arm_roll_joint"); + goal.trajectory.joint_names.push_back("r_elbow_flex_joint"); + goal.trajectory.joint_names.push_back("r_forearm_roll_joint"); + goal.trajectory.joint_names.push_back("r_wrist_flex_joint"); + goal.trajectory.joint_names.push_back("r_wrist_roll_joint"); + + // We will have two waypoints in this goal trajectory + goal.trajectory.points.resize(2); + + // First trajectory point + // Positions + int ind = 0; + goal.trajectory.points[ind].positions.resize(7); + goal.trajectory.points[ind].positions[0] = 0.0; + goal.trajectory.points[ind].positions[1] = 0.0; + goal.trajectory.points[ind].positions[2] = 0.0; + goal.trajectory.points[ind].positions[3] = 0.0; + goal.trajectory.points[ind].positions[4] = 0.0; + goal.trajectory.points[ind].positions[5] = 0.0; + goal.trajectory.points[ind].positions[6] = 0.0; + // Velocities + goal.trajectory.points[ind].velocities.resize(7); + for (size_t j = 0; j < 7; ++j) + { + goal.trajectory.points[ind].velocities[j] = 0.0; + } + // To be reached 1 second after starting along the trajectory + goal.trajectory.points[ind].time_from_start = ros::Duration(1.0); + + // Second trajectory point + // Positions + ind += 1; + goal.trajectory.points[ind].positions.resize(7); + goal.trajectory.points[ind].positions[0] = -0.3; + goal.trajectory.points[ind].positions[1] = 0.2; + goal.trajectory.points[ind].positions[2] = -0.1; + goal.trajectory.points[ind].positions[3] = -1.2; + goal.trajectory.points[ind].positions[4] = 1.5; + goal.trajectory.points[ind].positions[5] = -0.3; + goal.trajectory.points[ind].positions[6] = 0.5; + // Velocities + goal.trajectory.points[ind].velocities.resize(7); + for (size_t j = 0; j < 7; ++j) + { + goal.trajectory.points[ind].velocities[j] = 0.0; + } + // To be reached 2 seconds after starting along the trajectory + goal.trajectory.points[ind].time_from_start = ros::Duration(2.0); + + //we are done; return the goal + return goal; + } + + //! Returns the current state of the action + actionlib::SimpleClientGoalState getState() + { + return traj_client_->getState(); + } + +}; + +int main(int argc, char** argv) +{ + // Init the ROS node + ros::init(argc, argv, "robot_driver"); + + RobotArm arm; + // Start the trajectory + arm.startTrajectory(arm.armExtensionTrajectory()); + // Wait for trajectory completion + while(!arm.getState().isDone() && ros::ok()) + { + usleep(50000); + } +} diff --git a/pa10_hardware_interface/src/tutorial.py b/pa10_hardware_interface/src/tutorial.py new file mode 100644 index 0000000..eaf2800 --- /dev/null +++ b/pa10_hardware_interface/src/tutorial.py @@ -0,0 +1,46 @@ +import sys +import copy +import rospy +import moveit_commander +import moveit_msgs.msg +import geometry_msgs.msg + +print "============ Starting tutorial setup" +moveit_commander.roscpp_initialize(sys.argv) +rospy.init_node('move_group_python_interface_tutorial',anonymous=True) + +robot = moveit_commander.RobotCommander() # get object robot + +scene = moveit_commander.PlanningSceneInterface() + +group = moveit_commander.MoveGroupCommander("arm") + +display_trajectory_publisher = rospy.Publisher( + '/move_group/display_planned_path', + moveit_msgs.msg.DisplayTrajectory) + + +print "============ Waiting for RVIZ..." +rospy.sleep(10) +print "============ Starting tutorial " + + +print "============ Reference frame: %s" % group.get_planning_frame() + +print "============ Robot Groups:" +print robot.get_group_names() + +print "============ Printing robot state" +print robot.get_current_state() +print "============" + +print "============ Generating plan 1" +pose_target = geometry_msgs.msg.Pose() +pose_target.orientation.w = 1.0 +pose_target.position.x = 0.7 +pose_target.position.y = -0.05 +pose_target.position.z = 1.1 +group.set_pose_target(pose_target) + + + diff --git a/pa10_hardware_interface/src/tutorial.py~ b/pa10_hardware_interface/src/tutorial.py~ new file mode 100644 index 0000000..7e0f07b --- /dev/null +++ b/pa10_hardware_interface/src/tutorial.py~ @@ -0,0 +1,35 @@ +import sys +import copy +import rospy +import moveit_commander +import moveit_msgs.msg +import geometry_msgs.msg + +print "============ Starting tutorial setup" +moveit_commander.roscpp_initialize(sys.argv) +rospy.init_node('move_group_python_interface_tutorial',anonymous=True) + +robot = moveit_commander.RobotCommander() # get object robot + +scene = moveit_commander.PlanningSceneInterface() + +group = moveit_commander.MoveGroupCommander("arm") + +display_trajectory_publisher = rospy.Publisher( + '/move_group/display_planned_path', + moveit_msgs.msg.DisplayTrajectory) + + +print "============ Waiting for RVIZ..." +rospy.sleep(10) +print "============ Starting tutorial " + + +print "============ Reference frame: %s" % group.get_planning_frame() + +print "============ Robot Groups:" +print robot.get_group_names() + +print "============ Printing robot state" +print robot.get_current_state() +print "============" diff --git a/pa10_moveit_config/.setup_assistant b/pa10_moveit_config/.setup_assistant new file mode 100644 index 0000000..a64e262 --- /dev/null +++ b/pa10_moveit_config/.setup_assistant @@ -0,0 +1,10 @@ +moveit_setup_assistant_config: + URDF: + package: pa10_description + relative_path: urdf/pa10_csl.urdf.xacro + SRDF: + relative_path: config/pa10_csl.srdf + CONFIG: + author_name: Michalis Logothetis + author_email: logothm@gmail.com + generated_timestamp: 1497090195 \ No newline at end of file diff --git a/pa10_moveit_config/CMakeLists.txt b/pa10_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..0d608da --- /dev/null +++ b/pa10_moveit_config/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pa10_moveit_config) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/pa10_moveit_config/config/controllers.yaml b/pa10_moveit_config/config/controllers.yaml new file mode 100644 index 0000000..b77aef2 --- /dev/null +++ b/pa10_moveit_config/config/controllers.yaml @@ -0,0 +1,24 @@ +controller_manager_ns: controller_manager + +controller_list: + - name: arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - S1 + - S2 + - E1 + - E2 + - W1 + - W2 + - W3 + + - name: gripper_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - finger_joint_1 + - finger_joint_2 + diff --git a/pa10_moveit_config/config/controllers.yaml~ b/pa10_moveit_config/config/controllers.yaml~ new file mode 100644 index 0000000..9ac4f10 --- /dev/null +++ b/pa10_moveit_config/config/controllers.yaml~ @@ -0,0 +1,24 @@ +controller_manager_ns: controller_manager + +controller_list: + - name: arm_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - soldier_joint_1 + - soldier_joint_2 + - elbow_joint_1 + - elbow_joint_2 + - wrist_joint_1 + - wrist_joint_2 + - wrist_joint_3 + + - name: gripper_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - finger_joint_1 + - finger_joint_2 + diff --git a/pa10_moveit_config/config/fake_controllers.yaml b/pa10_moveit_config/config/fake_controllers.yaml new file mode 100644 index 0000000..831756e --- /dev/null +++ b/pa10_moveit_config/config/fake_controllers.yaml @@ -0,0 +1,14 @@ +controller_list: + - name: fake_arm_controller + joints: + - S1 + - S2 + - E1 + - E2 + - W1 + - W2 + - W3 + - name: fake_gripper_controller + joints: + - finger_joint_1 + - finger_joint_2 \ No newline at end of file diff --git a/pa10_moveit_config/config/joint_limits.yaml b/pa10_moveit_config/config/joint_limits.yaml new file mode 100644 index 0000000..9bf3ccd --- /dev/null +++ b/pa10_moveit_config/config/joint_limits.yaml @@ -0,0 +1,49 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + E1: + has_velocity_limits: true + max_velocity: 1.85 + has_acceleration_limits: false + max_acceleration: 0 + E2: + has_velocity_limits: true + max_velocity: 1.85 + has_acceleration_limits: false + max_acceleration: 0 + S1: + has_velocity_limits: true + max_velocity: 0.85 + has_acceleration_limits: false + max_acceleration: 0 + S2: + has_velocity_limits: true + max_velocity: 0.85 + has_acceleration_limits: false + max_acceleration: 0 + W1: + has_velocity_limits: true + max_velocity: 1.85 + has_acceleration_limits: false + max_acceleration: 0 + W2: + has_velocity_limits: true + max_velocity: 5.65486677646 + has_acceleration_limits: false + max_acceleration: 0 + W3: + has_velocity_limits: true + max_velocity: 5.65486677646 + has_acceleration_limits: false + max_acceleration: 0 + finger_joint_1: + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: false + max_acceleration: 0 + finger_joint_2: + has_velocity_limits: true + max_velocity: 1 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/pa10_moveit_config/config/kinematics.yaml b/pa10_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..e00dcc2 --- /dev/null +++ b/pa10_moveit_config/config/kinematics.yaml @@ -0,0 +1,5 @@ +arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.01 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/pa10_moveit_config/config/ompl_planning.yaml b/pa10_moveit_config/config/ompl_planning.yaml new file mode 100644 index 0000000..edcfb04 --- /dev/null +++ b/pa10_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,82 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar +arm: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(S1,S2) + longest_valid_segment_fraction: 0.05 +gripper: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault \ No newline at end of file diff --git a/pa10_moveit_config/config/pa10.srdf b/pa10_moveit_config/config/pa10.srdf new file mode 100644 index 0000000..05c4e8d --- /dev/null +++ b/pa10_moveit_config/config/pa10.srdf @@ -0,0 +1,102 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/config/pa10.srdf~ b/pa10_moveit_config/config/pa10.srdf~ new file mode 100644 index 0000000..ffad5df --- /dev/null +++ b/pa10_moveit_config/config/pa10.srdf~ @@ -0,0 +1,102 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/config/pa10_csl.srdf b/pa10_moveit_config/config/pa10_csl.srdf new file mode 100644 index 0000000..05c4e8d --- /dev/null +++ b/pa10_moveit_config/config/pa10_csl.srdf @@ -0,0 +1,102 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/config/pa10_csl.srdf~ b/pa10_moveit_config/config/pa10_csl.srdf~ new file mode 100644 index 0000000..ffad5df --- /dev/null +++ b/pa10_moveit_config/config/pa10_csl.srdf~ @@ -0,0 +1,102 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/config/sensors_kinect2.yaml b/pa10_moveit_config/config/sensors_kinect2.yaml new file mode 100644 index 0000000..122bba8 --- /dev/null +++ b/pa10_moveit_config/config/sensors_kinect2.yaml @@ -0,0 +1,8 @@ +sensors: + - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /kinect2/qhd/points + max_range: 3.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + filtered_cloud_topic: filtered_cloud diff --git a/pa10_moveit_config/config/sensors_kinect2.yaml~ b/pa10_moveit_config/config/sensors_kinect2.yaml~ new file mode 100644 index 0000000..a4a6ffc --- /dev/null +++ b/pa10_moveit_config/config/sensors_kinect2.yaml~ @@ -0,0 +1,8 @@ +sensors: + - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /kinect2/sd/points + max_range: 3.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + filtered_cloud_topic: filtered_cloud diff --git a/pa10_moveit_config/launch/default_warehouse_db.launch b/pa10_moveit_config/launch/default_warehouse_db.launch new file mode 100644 index 0000000..8a7c8b0 --- /dev/null +++ b/pa10_moveit_config/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/demo.launch b/pa10_moveit_config/launch/demo.launch new file mode 100644 index 0000000..3598711 --- /dev/null +++ b/pa10_moveit_config/launch/demo.launch @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + [/move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/demo_velocity.launch b/pa10_moveit_config/launch/demo_velocity.launch new file mode 100644 index 0000000..e05371f --- /dev/null +++ b/pa10_moveit_config/launch/demo_velocity.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/demo_velocity.launch~ b/pa10_moveit_config/launch/demo_velocity.launch~ new file mode 100644 index 0000000..307fbe1 --- /dev/null +++ b/pa10_moveit_config/launch/demo_velocity.launch~ @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/pa10_moveit_config/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..497f55a --- /dev/null +++ b/pa10_moveit_config/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/pa10_moveit_config/launch/joystick_control.launch b/pa10_moveit_config/launch/joystick_control.launch new file mode 100644 index 0000000..f741735 --- /dev/null +++ b/pa10_moveit_config/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/move_group.launch b/pa10_moveit_config/launch/move_group.launch new file mode 100644 index 0000000..343eec7 --- /dev/null +++ b/pa10_moveit_config/launch/move_group.launch @@ -0,0 +1,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/move_group.launch~ b/pa10_moveit_config/launch/move_group.launch~ new file mode 100644 index 0000000..c128bf0 --- /dev/null +++ b/pa10_moveit_config/launch/move_group.launch~ @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/moveit.rviz b/pa10_moveit_config/launch/moveit.rviz new file mode 100644 index 0000000..8b2b768 --- /dev/null +++ b/pa10_moveit_config/launch/moveit.rviz @@ -0,0 +1,689 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.74256 + Tree Height: 664 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: left_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /world + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.9965 + Focal Point: + X: 0.113567 + Y: 0.10592 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: /world + Value: XYOrbit (rviz) + Yaw: 5.65995 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1337 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1828 + X: 459 + Y: -243 diff --git a/pa10_moveit_config/launch/moveit_rviz.launch b/pa10_moveit_config/launch/moveit_rviz.launch new file mode 100644 index 0000000..74bf25d --- /dev/null +++ b/pa10_moveit_config/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/ompl_planning_pipeline.launch.xml b/pa10_moveit_config/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..0e643d0 --- /dev/null +++ b/pa10_moveit_config/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/pa10_moveit_controller_manager.launch.xml b/pa10_moveit_config/launch/pa10_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..2ea310a --- /dev/null +++ b/pa10_moveit_config/launch/pa10_moveit_controller_manager.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + --> + + diff --git a/pa10_moveit_config/launch/pa10_moveit_sensor_manager.launch.xml b/pa10_moveit_config/launch/pa10_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..f57a169 --- /dev/null +++ b/pa10_moveit_config/launch/pa10_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/pa10_moveit_config/launch/pa10_moveit_sensor_manager.launch.xml~ b/pa10_moveit_config/launch/pa10_moveit_sensor_manager.launch.xml~ new file mode 100644 index 0000000..deb38b7 --- /dev/null +++ b/pa10_moveit_config/launch/pa10_moveit_sensor_manager.launch.xml~ @@ -0,0 +1,3 @@ + + + diff --git a/pa10_moveit_config/launch/planning_context.launch b/pa10_moveit_config/launch/planning_context.launch new file mode 100644 index 0000000..5c67bf3 --- /dev/null +++ b/pa10_moveit_config/launch/planning_context.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/planning_pipeline.launch.xml b/pa10_moveit_config/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..1e7a45b --- /dev/null +++ b/pa10_moveit_config/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/pa10_moveit_config/launch/run_benchmark_ompl.launch b/pa10_moveit_config/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..fe770ae --- /dev/null +++ b/pa10_moveit_config/launch/run_benchmark_ompl.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/sensor_manager.launch.xml b/pa10_moveit_config/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..44455d9 --- /dev/null +++ b/pa10_moveit_config/launch/sensor_manager.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/sensor_manager.launch.xml~ b/pa10_moveit_config/launch/sensor_manager.launch.xml~ new file mode 100644 index 0000000..13edb27 --- /dev/null +++ b/pa10_moveit_config/launch/sensor_manager.launch.xml~ @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/setup_assistant.launch b/pa10_moveit_config/launch/setup_assistant.launch new file mode 100644 index 0000000..c1a8e3c --- /dev/null +++ b/pa10_moveit_config/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/trajectory_execution.launch.xml b/pa10_moveit_config/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..53d5f29 --- /dev/null +++ b/pa10_moveit_config/launch/trajectory_execution.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/warehouse.launch b/pa10_moveit_config/launch/warehouse.launch new file mode 100644 index 0000000..c693809 --- /dev/null +++ b/pa10_moveit_config/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/launch/warehouse_settings.launch.xml b/pa10_moveit_config/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..d11aaeb --- /dev/null +++ b/pa10_moveit_config/launch/warehouse_settings.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/pa10_moveit_config/package.xml b/pa10_moveit_config/package.xml new file mode 100644 index 0000000..c5f083a --- /dev/null +++ b/pa10_moveit_config/package.xml @@ -0,0 +1,30 @@ + + + pa10_moveit_config + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the pa10 with the MoveIt! Motion Planning Framework + + Michalis Logothetis + Michalis Logothetis + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + pa10_description + pa10_description + + +