From 8dcaaf895906f54e3c05ccd7acc53ac43c85d66c Mon Sep 17 00:00:00 2001 From: Ben Starmer-Smith Date: Tue, 27 Sep 2022 10:39:44 +0100 Subject: [PATCH] Fixed all licence issues. --- .circleci/config.yml | 14 ++++++++++++++ aws.yml | 14 ++++++++++++++ sr_config/package.xml | 12 ++++++++++++ .../calibrations/lh/calibration.yaml | 14 ++++++++++++++ .../calibrations/lh/pressure_calibration.yaml | 14 ++++++++++++++ .../calibrations/lh/pressure_calibration_raw.yaml | 14 ++++++++++++++ .../calibrations/rh/calibration.yaml | 14 ++++++++++++++ .../calibrations/rh/pressure_calibration.yaml | 14 ++++++++++++++ .../calibrations/rh/pressure_calibration_raw.yaml | 14 ++++++++++++++ .../controls/friction_compensation.yaml | 14 ++++++++++++++ .../host/lh/sr_edc_calibration_controllers.yaml | 13 +++++++++++++ .../host/lh/sr_edc_effort_controllers.yaml | 14 ++++++++++++++ .../host/lh/sr_edc_effort_controllers_PWM.yaml | 14 ++++++++++++++ .../host/lh/sr_edc_joint_position_controllers.yaml | 14 ++++++++++++++ .../lh/sr_edc_joint_position_controllers_PWM.yaml | 14 ++++++++++++++ .../host/lh/sr_edc_joint_velocity_controllers.yaml | 14 ++++++++++++++ .../lh/sr_edc_joint_velocity_controllers_PWM.yaml | 14 ++++++++++++++ ..._mixed_position_velocity_joint_controllers.yaml | 14 ++++++++++++++ ...ed_position_velocity_joint_controllers_PWM.yaml | 14 ++++++++++++++ .../host/rh/sr_edc_calibration_controllers.yaml | 13 +++++++++++++ .../host/rh/sr_edc_effort_controllers.yaml | 14 ++++++++++++++ .../host/rh/sr_edc_effort_controllers_PWM.yaml | 14 ++++++++++++++ .../host/rh/sr_edc_joint_position_controllers.yaml | 14 ++++++++++++++ .../rh/sr_edc_joint_position_controllers_PWM.yaml | 14 ++++++++++++++ .../host/rh/sr_edc_joint_velocity_controllers.yaml | 14 ++++++++++++++ .../rh/sr_edc_joint_velocity_controllers_PWM.yaml | 14 ++++++++++++++ ..._mixed_position_velocity_joint_controllers.yaml | 14 ++++++++++++++ ...ed_position_velocity_joint_controllers_PWM.yaml | 14 ++++++++++++++ .../motors/lh/motor_board_effort_controllers.yaml | 14 ++++++++++++++ .../motor_board_effort_controllers_ff_and_th.yaml | 14 ++++++++++++++ .../motor_board_effort_controllers_stopped.yaml | 14 ++++++++++++++ .../motors/rh/motor_board_effort_controllers.yaml | 14 ++++++++++++++ .../controls/sr_edc_default_controllers.launch | 12 ++++++++++++ .../tactiles/lh/sr_tactile_sensor_controller.yaml | 14 ++++++++++++++ .../tactiles/rh/sr_tactile_sensor_controller.yaml | 14 ++++++++++++++ sr_ethercat_hand_config/diagnostic_analyzer.yaml | 14 ++++++++++++++ .../diagnostic_analyzer_bimanual.yaml | 14 ++++++++++++++ .../diagnostic_analyzer_bimanual_extra_lite.yaml | 14 ++++++++++++++ .../diagnostic_analyzer_bimanual_lite.yaml | 14 ++++++++++++++ .../diagnostic_analyzer_extra_lite.yaml | 14 ++++++++++++++ .../diagnostic_analyzer_lite.yaml | 14 ++++++++++++++ .../launch/demos/all_hands_demo.launch | 12 ++++++++++++ .../launch/demos/all_hands_store.launch | 12 ++++++++++++ .../launch/demos/lhand_demo.launch | 12 ++++++++++++ .../launch/demos/lhand_open.launch | 12 ++++++++++++ .../launch/demos/lhand_store.launch | 12 ++++++++++++ .../launch/demos/rhand_demo.launch | 12 ++++++++++++ .../launch/demos/rhand_open.launch | 12 ++++++++++++ .../launch/demos/rhand_store.launch | 12 ++++++++++++ .../launch/sensors/optoforce_hand.launch | 12 ++++++++++++ sr_ethercat_hand_config/launch/sr_bimanual.launch | 12 ++++++++++++ sr_ethercat_hand_config/launch/sr_lhand.launch | 12 ++++++++++++ sr_ethercat_hand_config/launch/sr_rhand.launch | 12 ++++++++++++ sr_ethercat_hand_config/launch/sr_system.launch | 12 ++++++++++++ .../launch/tools/lhand_gui.launch | 12 ++++++++++++ .../launch/tools/lhand_robot_monitor.launch | 12 ++++++++++++ .../launch/tools/lhand_tactile_gui.launch | 12 ++++++++++++ .../launch/tools/rhand_gui.launch | 12 ++++++++++++ .../launch/tools/rhand_robot_monitor.launch | 12 ++++++++++++ .../launch/tools/rhand_tactile_gui.launch | 12 ++++++++++++ sr_ethercat_hand_config/package.xml | 12 ++++++++++++ .../rates/motor_data_polling.yaml | 14 ++++++++++++++ .../rates/muscle_data_polling.yaml | 14 ++++++++++++++ .../rates/sensor_data_polling.yaml | 14 ++++++++++++++ 64 files changed, 850 insertions(+) diff --git a/.circleci/config.yml b/.circleci/config.yml index 2637fde7..a8641fc6 100644 --- a/.circleci/config.yml +++ b/.circleci/config.yml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + version: 2 jobs: build: diff --git a/aws.yml b/aws.yml index 0a2dbfc4..9bb120e6 100644 --- a/aws.yml +++ b/aws.yml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + settings: machine_type: medium ubuntu: diff --git a/sr_config/package.xml b/sr_config/package.xml index 146caf29..28c6d55a 100644 --- a/sr_config/package.xml +++ b/sr_config/package.xml @@ -1,3 +1,15 @@ + sr_config 1.4.0 diff --git a/sr_ethercat_hand_config/calibrations/lh/calibration.yaml b/sr_ethercat_hand_config/calibrations/lh/calibration.yaml index 341b12e9..3c490b13 100644 --- a/sr_ethercat_hand_config/calibrations/lh/calibration.yaml +++ b/sr_ethercat_hand_config/calibrations/lh/calibration.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sr_calibrations: [ ["FFJ1", [[2929.0, 0.0], [2189.0, 22.5], [1554.0, 45.0], [859.0, 67.5], [416.0, 90.0]]], ["FFJ2", [[3027.0, 0.0], [2814.0, 22.5], [2359.0, 45.0], [1986.0, 67.5], [1563.0, 90.0]]], diff --git a/sr_ethercat_hand_config/calibrations/lh/pressure_calibration.yaml b/sr_ethercat_hand_config/calibrations/lh/pressure_calibration.yaml index 1c4628ce..9f1acce0 100644 --- a/sr_ethercat_hand_config/calibrations/lh/pressure_calibration.yaml +++ b/sr_ethercat_hand_config/calibrations/lh/pressure_calibration.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + {'sr_pressure_calibrations': [ # Each joint has 2 pressure sensors 0 and 1. So we have a row per joint/sensor combination. # ["_", [[, ], [, ]]], diff --git a/sr_ethercat_hand_config/calibrations/lh/pressure_calibration_raw.yaml b/sr_ethercat_hand_config/calibrations/lh/pressure_calibration_raw.yaml index 6a7edc1a..c815f406 100644 --- a/sr_ethercat_hand_config/calibrations/lh/pressure_calibration_raw.yaml +++ b/sr_ethercat_hand_config/calibrations/lh/pressure_calibration_raw.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # Use this file to see raw values from the pressure sensors. # {'sr_pressure_calibrations': [ diff --git a/sr_ethercat_hand_config/calibrations/rh/calibration.yaml b/sr_ethercat_hand_config/calibrations/rh/calibration.yaml index 341b12e9..3c490b13 100644 --- a/sr_ethercat_hand_config/calibrations/rh/calibration.yaml +++ b/sr_ethercat_hand_config/calibrations/rh/calibration.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sr_calibrations: [ ["FFJ1", [[2929.0, 0.0], [2189.0, 22.5], [1554.0, 45.0], [859.0, 67.5], [416.0, 90.0]]], ["FFJ2", [[3027.0, 0.0], [2814.0, 22.5], [2359.0, 45.0], [1986.0, 67.5], [1563.0, 90.0]]], diff --git a/sr_ethercat_hand_config/calibrations/rh/pressure_calibration.yaml b/sr_ethercat_hand_config/calibrations/rh/pressure_calibration.yaml index 1c4628ce..9f1acce0 100644 --- a/sr_ethercat_hand_config/calibrations/rh/pressure_calibration.yaml +++ b/sr_ethercat_hand_config/calibrations/rh/pressure_calibration.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + {'sr_pressure_calibrations': [ # Each joint has 2 pressure sensors 0 and 1. So we have a row per joint/sensor combination. # ["_", [[, ], [, ]]], diff --git a/sr_ethercat_hand_config/calibrations/rh/pressure_calibration_raw.yaml b/sr_ethercat_hand_config/calibrations/rh/pressure_calibration_raw.yaml index 6a7edc1a..c815f406 100644 --- a/sr_ethercat_hand_config/calibrations/rh/pressure_calibration_raw.yaml +++ b/sr_ethercat_hand_config/calibrations/rh/pressure_calibration_raw.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # Use this file to see raw values from the pressure sensors. # {'sr_pressure_calibrations': [ diff --git a/sr_ethercat_hand_config/controls/friction_compensation.yaml b/sr_ethercat_hand_config/controls/friction_compensation.yaml index 10d13e63..12dc731e 100644 --- a/sr_ethercat_hand_config/controls/friction_compensation.yaml +++ b/sr_ethercat_hand_config/controls/friction_compensation.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sr_friction_map: [ #["LFJ5", 1, [[0.0, 0.0], [1.0, 0.0]]], #["LFJ5", -1, [[0.0, -80.0], [1.0, -80.0]]] diff --git a/sr_ethercat_hand_config/controls/host/lh/sr_edc_calibration_controllers.yaml b/sr_ethercat_hand_config/controls/host/lh/sr_edc_calibration_controllers.yaml index 626c0e74..1c51f66a 100644 --- a/sr_ethercat_hand_config/controls/host/lh/sr_edc_calibration_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/lh/sr_edc_calibration_controllers.yaml @@ -1,3 +1,16 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . # Shadow Hand Defines diff --git a/sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers.yaml b/sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers.yaml index 31601e55..b86c6118 100644 --- a/sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # First Finger (Index finger) sh_lh_ffj0_effort_controller: type: sr_mechanism_controllers/SrhEffortJointController diff --git a/sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers_PWM.yaml b/sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers_PWM.yaml index c52131f7..67dc1963 100644 --- a/sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers_PWM.yaml +++ b/sr_ethercat_hand_config/controls/host/lh/sr_edc_effort_controllers_PWM.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # First Finger (Index finger) sh_lh_ffj0_effort_controller: type: sr_mechanism_controllers/SrhEffortJointController diff --git a/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers.yaml b/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers.yaml index 527d5dd8..e12e2c12 100644 --- a/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sh_lh_ffj0_position_controller: joint: lh_FFJ0 pid: diff --git a/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers_PWM.yaml b/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers_PWM.yaml index 9ab88edf..e8c29c78 100644 --- a/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers_PWM.yaml +++ b/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_position_controllers_PWM.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sh_lh_ffj0_position_controller: joint: lh_FFJ0 pid: diff --git a/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers.yaml b/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers.yaml index ba5a6d1f..5784e4b3 100644 --- a/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # Shadow Hand Defines .. Need Fixing as PID values are not correct sh_lh_ffj0_velocity_controller: diff --git a/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers_PWM.yaml b/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers_PWM.yaml index ba5a6d1f..5784e4b3 100644 --- a/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers_PWM.yaml +++ b/sr_ethercat_hand_config/controls/host/lh/sr_edc_joint_velocity_controllers_PWM.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # Shadow Hand Defines .. Need Fixing as PID values are not correct sh_lh_ffj0_velocity_controller: diff --git a/sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers.yaml b/sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers.yaml index c9503769..037c1602 100644 --- a/sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sh_lh_ffj0_mixed_position_velocity_controller: joint: lh_FFJ0 motor_min_force_threshold: 40 diff --git a/sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml b/sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml index c9503769..037c1602 100644 --- a/sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml +++ b/sr_ethercat_hand_config/controls/host/lh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sh_lh_ffj0_mixed_position_velocity_controller: joint: lh_FFJ0 motor_min_force_threshold: 40 diff --git a/sr_ethercat_hand_config/controls/host/rh/sr_edc_calibration_controllers.yaml b/sr_ethercat_hand_config/controls/host/rh/sr_edc_calibration_controllers.yaml index 9a9855dd..fcb88c86 100644 --- a/sr_ethercat_hand_config/controls/host/rh/sr_edc_calibration_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/rh/sr_edc_calibration_controllers.yaml @@ -1,3 +1,16 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . # Shadow Hand Defines diff --git a/sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers.yaml b/sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers.yaml index e44c0df1..fb28199a 100644 --- a/sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # First Finger (Index finger) sh_rh_ffj0_effort_controller: type: sr_mechanism_controllers/SrhEffortJointController diff --git a/sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers_PWM.yaml b/sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers_PWM.yaml index 2cc69395..a401321e 100644 --- a/sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers_PWM.yaml +++ b/sr_ethercat_hand_config/controls/host/rh/sr_edc_effort_controllers_PWM.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # First Finger (Index finger) sh_rh_ffj0_effort_controller: type: sr_mechanism_controllers/SrhEffortJointController diff --git a/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers.yaml b/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers.yaml index 0d3682ca..ec9422d1 100644 --- a/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sh_rh_ffj0_position_controller: joint: rh_FFJ0 pid: diff --git a/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers_PWM.yaml b/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers_PWM.yaml index 108c78d6..e16397c2 100644 --- a/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers_PWM.yaml +++ b/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_position_controllers_PWM.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sh_rh_ffj0_position_controller: joint: rh_FFJ0 pid: diff --git a/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_velocity_controllers.yaml b/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_velocity_controllers.yaml index da6be675..a9933554 100644 --- a/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_velocity_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_velocity_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # Shadow Hand Defines .. Need Fixing as PID values are not correct sh_rh_ffj0_velocity_controller: diff --git a/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_velocity_controllers_PWM.yaml b/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_velocity_controllers_PWM.yaml index da6be675..a9933554 100644 --- a/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_velocity_controllers_PWM.yaml +++ b/sr_ethercat_hand_config/controls/host/rh/sr_edc_joint_velocity_controllers_PWM.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + # Shadow Hand Defines .. Need Fixing as PID values are not correct sh_rh_ffj0_velocity_controller: diff --git a/sr_ethercat_hand_config/controls/host/rh/sr_edc_mixed_position_velocity_joint_controllers.yaml b/sr_ethercat_hand_config/controls/host/rh/sr_edc_mixed_position_velocity_joint_controllers.yaml index aca3cbe0..dd2e1d4a 100644 --- a/sr_ethercat_hand_config/controls/host/rh/sr_edc_mixed_position_velocity_joint_controllers.yaml +++ b/sr_ethercat_hand_config/controls/host/rh/sr_edc_mixed_position_velocity_joint_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sh_rh_ffj0_mixed_position_velocity_controller: joint: rh_FFJ0 motor_min_force_threshold: 40 diff --git a/sr_ethercat_hand_config/controls/host/rh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml b/sr_ethercat_hand_config/controls/host/rh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml index aca3cbe0..dd2e1d4a 100644 --- a/sr_ethercat_hand_config/controls/host/rh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml +++ b/sr_ethercat_hand_config/controls/host/rh/sr_edc_mixed_position_velocity_joint_controllers_PWM.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sh_rh_ffj0_mixed_position_velocity_controller: joint: rh_FFJ0 motor_min_force_threshold: 40 diff --git a/sr_ethercat_hand_config/controls/motors/lh/motor_board_effort_controllers.yaml b/sr_ethercat_hand_config/controls/motors/lh/motor_board_effort_controllers.yaml index 8485a0d5..51e80915 100644 --- a/sr_ethercat_hand_config/controls/motors/lh/motor_board_effort_controllers.yaml +++ b/sr_ethercat_hand_config/controls/motors/lh/motor_board_effort_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + ffj0: backlash_compensation: true pid: diff --git a/sr_ethercat_hand_config/controls/motors/motor_board_effort_controllers_ff_and_th.yaml b/sr_ethercat_hand_config/controls/motors/motor_board_effort_controllers_ff_and_th.yaml index b2610c8e..56f267d1 100644 --- a/sr_ethercat_hand_config/controls/motors/motor_board_effort_controllers_ff_and_th.yaml +++ b/sr_ethercat_hand_config/controls/motors/motor_board_effort_controllers_ff_and_th.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + ffj0: pid: d: 18000 diff --git a/sr_ethercat_hand_config/controls/motors/motor_board_effort_controllers_stopped.yaml b/sr_ethercat_hand_config/controls/motors/motor_board_effort_controllers_stopped.yaml index 443884fe..10718a9f 100644 --- a/sr_ethercat_hand_config/controls/motors/motor_board_effort_controllers_stopped.yaml +++ b/sr_ethercat_hand_config/controls/motors/motor_board_effort_controllers_stopped.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + ffj0: pid: d: 0 diff --git a/sr_ethercat_hand_config/controls/motors/rh/motor_board_effort_controllers.yaml b/sr_ethercat_hand_config/controls/motors/rh/motor_board_effort_controllers.yaml index 8485a0d5..51e80915 100644 --- a/sr_ethercat_hand_config/controls/motors/rh/motor_board_effort_controllers.yaml +++ b/sr_ethercat_hand_config/controls/motors/rh/motor_board_effort_controllers.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + ffj0: backlash_compensation: true pid: diff --git a/sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch b/sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch index 4f49e349..62ba2bba 100644 --- a/sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch +++ b/sr_ethercat_hand_config/controls/sr_edc_default_controllers.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/controls/tactiles/lh/sr_tactile_sensor_controller.yaml b/sr_ethercat_hand_config/controls/tactiles/lh/sr_tactile_sensor_controller.yaml index cf91ad3a..73cc6ada 100644 --- a/sr_ethercat_hand_config/controls/tactiles/lh/sr_tactile_sensor_controller.yaml +++ b/sr_ethercat_hand_config/controls/tactiles/lh/sr_tactile_sensor_controller.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sr_lh_tactile_sensor_controller: type: sr_tactile_sensor_controller/SrTactileSensorController publish_rate: 100 diff --git a/sr_ethercat_hand_config/controls/tactiles/rh/sr_tactile_sensor_controller.yaml b/sr_ethercat_hand_config/controls/tactiles/rh/sr_tactile_sensor_controller.yaml index 9bcc432a..8907e69d 100644 --- a/sr_ethercat_hand_config/controls/tactiles/rh/sr_tactile_sensor_controller.yaml +++ b/sr_ethercat_hand_config/controls/tactiles/rh/sr_tactile_sensor_controller.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + sr_rh_tactile_sensor_controller: type: sr_tactile_sensor_controller/SrTactileSensorController publish_rate: 100 diff --git a/sr_ethercat_hand_config/diagnostic_analyzer.yaml b/sr_ethercat_hand_config/diagnostic_analyzer.yaml index 31b28cd2..92dd98dc 100644 --- a/sr_ethercat_hand_config/diagnostic_analyzer.yaml +++ b/sr_ethercat_hand_config/diagnostic_analyzer.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + analyzers: # The shadow hand has two motors per EtherCAT slave device. # The diagnostics for the devices and motors are seperate diff --git a/sr_ethercat_hand_config/diagnostic_analyzer_bimanual.yaml b/sr_ethercat_hand_config/diagnostic_analyzer_bimanual.yaml index 20649dce..23293005 100644 --- a/sr_ethercat_hand_config/diagnostic_analyzer_bimanual.yaml +++ b/sr_ethercat_hand_config/diagnostic_analyzer_bimanual.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + analyzers: # The shadow hand has two motors per EtherCAT slave device. # The diagnostics for the devices and motors are seperate diff --git a/sr_ethercat_hand_config/diagnostic_analyzer_bimanual_extra_lite.yaml b/sr_ethercat_hand_config/diagnostic_analyzer_bimanual_extra_lite.yaml index b2dd7feb..283cceb8 100644 --- a/sr_ethercat_hand_config/diagnostic_analyzer_bimanual_extra_lite.yaml +++ b/sr_ethercat_hand_config/diagnostic_analyzer_bimanual_extra_lite.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + analyzers: # The shadow hand has two motors per EtherCAT slave device. # The diagnostics for the devices and motors are seperate diff --git a/sr_ethercat_hand_config/diagnostic_analyzer_bimanual_lite.yaml b/sr_ethercat_hand_config/diagnostic_analyzer_bimanual_lite.yaml index 89f6da8a..a02b2dca 100644 --- a/sr_ethercat_hand_config/diagnostic_analyzer_bimanual_lite.yaml +++ b/sr_ethercat_hand_config/diagnostic_analyzer_bimanual_lite.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + analyzers: # The shadow hand has two motors per EtherCAT slave device. # The diagnostics for the devices and motors are seperate diff --git a/sr_ethercat_hand_config/diagnostic_analyzer_extra_lite.yaml b/sr_ethercat_hand_config/diagnostic_analyzer_extra_lite.yaml index 57b938cb..5986bffd 100644 --- a/sr_ethercat_hand_config/diagnostic_analyzer_extra_lite.yaml +++ b/sr_ethercat_hand_config/diagnostic_analyzer_extra_lite.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + analyzers: # The shadow hand has two motors per EtherCAT slave device. # The diagnostics for the devices and motors are seperate diff --git a/sr_ethercat_hand_config/diagnostic_analyzer_lite.yaml b/sr_ethercat_hand_config/diagnostic_analyzer_lite.yaml index 93c347f4..6eba77c4 100644 --- a/sr_ethercat_hand_config/diagnostic_analyzer_lite.yaml +++ b/sr_ethercat_hand_config/diagnostic_analyzer_lite.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + analyzers: # The shadow hand has two motors per EtherCAT slave device. # The diagnostics for the devices and motors are seperate diff --git a/sr_ethercat_hand_config/launch/demos/all_hands_demo.launch b/sr_ethercat_hand_config/launch/demos/all_hands_demo.launch index 792daad0..0b482a76 100644 --- a/sr_ethercat_hand_config/launch/demos/all_hands_demo.launch +++ b/sr_ethercat_hand_config/launch/demos/all_hands_demo.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/demos/all_hands_store.launch b/sr_ethercat_hand_config/launch/demos/all_hands_store.launch index edcb96bd..964afd72 100644 --- a/sr_ethercat_hand_config/launch/demos/all_hands_store.launch +++ b/sr_ethercat_hand_config/launch/demos/all_hands_store.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/demos/lhand_demo.launch b/sr_ethercat_hand_config/launch/demos/lhand_demo.launch index b877d976..ac45ad41 100644 --- a/sr_ethercat_hand_config/launch/demos/lhand_demo.launch +++ b/sr_ethercat_hand_config/launch/demos/lhand_demo.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/demos/lhand_open.launch b/sr_ethercat_hand_config/launch/demos/lhand_open.launch index 5ee2daa5..746127f4 100644 --- a/sr_ethercat_hand_config/launch/demos/lhand_open.launch +++ b/sr_ethercat_hand_config/launch/demos/lhand_open.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/demos/lhand_store.launch b/sr_ethercat_hand_config/launch/demos/lhand_store.launch index 6cf53a05..1eacef91 100644 --- a/sr_ethercat_hand_config/launch/demos/lhand_store.launch +++ b/sr_ethercat_hand_config/launch/demos/lhand_store.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/demos/rhand_demo.launch b/sr_ethercat_hand_config/launch/demos/rhand_demo.launch index 834cdb6a..04d36a43 100644 --- a/sr_ethercat_hand_config/launch/demos/rhand_demo.launch +++ b/sr_ethercat_hand_config/launch/demos/rhand_demo.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/demos/rhand_open.launch b/sr_ethercat_hand_config/launch/demos/rhand_open.launch index dfca71bd..4fe552d2 100644 --- a/sr_ethercat_hand_config/launch/demos/rhand_open.launch +++ b/sr_ethercat_hand_config/launch/demos/rhand_open.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/demos/rhand_store.launch b/sr_ethercat_hand_config/launch/demos/rhand_store.launch index a89dcf16..bb5d9345 100644 --- a/sr_ethercat_hand_config/launch/demos/rhand_store.launch +++ b/sr_ethercat_hand_config/launch/demos/rhand_store.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/sensors/optoforce_hand.launch b/sr_ethercat_hand_config/launch/sensors/optoforce_hand.launch index d6b59062..5b79e346 100644 --- a/sr_ethercat_hand_config/launch/sensors/optoforce_hand.launch +++ b/sr_ethercat_hand_config/launch/sensors/optoforce_hand.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/sr_bimanual.launch b/sr_ethercat_hand_config/launch/sr_bimanual.launch index 4b70413e..4f019d9e 100644 --- a/sr_ethercat_hand_config/launch/sr_bimanual.launch +++ b/sr_ethercat_hand_config/launch/sr_bimanual.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/sr_lhand.launch b/sr_ethercat_hand_config/launch/sr_lhand.launch index cfee9a4c..114d0ca2 100644 --- a/sr_ethercat_hand_config/launch/sr_lhand.launch +++ b/sr_ethercat_hand_config/launch/sr_lhand.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/sr_rhand.launch b/sr_ethercat_hand_config/launch/sr_rhand.launch index 74aea4d2..3ad5e805 100644 --- a/sr_ethercat_hand_config/launch/sr_rhand.launch +++ b/sr_ethercat_hand_config/launch/sr_rhand.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/sr_system.launch b/sr_ethercat_hand_config/launch/sr_system.launch index 08609bcc..e6063971 100644 --- a/sr_ethercat_hand_config/launch/sr_system.launch +++ b/sr_ethercat_hand_config/launch/sr_system.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/tools/lhand_gui.launch b/sr_ethercat_hand_config/launch/tools/lhand_gui.launch index e9c78421..7ddaea37 100644 --- a/sr_ethercat_hand_config/launch/tools/lhand_gui.launch +++ b/sr_ethercat_hand_config/launch/tools/lhand_gui.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/tools/lhand_robot_monitor.launch b/sr_ethercat_hand_config/launch/tools/lhand_robot_monitor.launch index 4b969589..5bde8812 100644 --- a/sr_ethercat_hand_config/launch/tools/lhand_robot_monitor.launch +++ b/sr_ethercat_hand_config/launch/tools/lhand_robot_monitor.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/tools/lhand_tactile_gui.launch b/sr_ethercat_hand_config/launch/tools/lhand_tactile_gui.launch index dfa90891..626c16f1 100644 --- a/sr_ethercat_hand_config/launch/tools/lhand_tactile_gui.launch +++ b/sr_ethercat_hand_config/launch/tools/lhand_tactile_gui.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/tools/rhand_gui.launch b/sr_ethercat_hand_config/launch/tools/rhand_gui.launch index 64c4894a..a94cdd9c 100644 --- a/sr_ethercat_hand_config/launch/tools/rhand_gui.launch +++ b/sr_ethercat_hand_config/launch/tools/rhand_gui.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/tools/rhand_robot_monitor.launch b/sr_ethercat_hand_config/launch/tools/rhand_robot_monitor.launch index 6858f375..4de1925f 100644 --- a/sr_ethercat_hand_config/launch/tools/rhand_robot_monitor.launch +++ b/sr_ethercat_hand_config/launch/tools/rhand_robot_monitor.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/launch/tools/rhand_tactile_gui.launch b/sr_ethercat_hand_config/launch/tools/rhand_tactile_gui.launch index b114b90f..96bf18d9 100644 --- a/sr_ethercat_hand_config/launch/tools/rhand_tactile_gui.launch +++ b/sr_ethercat_hand_config/launch/tools/rhand_tactile_gui.launch @@ -1,3 +1,15 @@ + diff --git a/sr_ethercat_hand_config/package.xml b/sr_ethercat_hand_config/package.xml index 8dca3ffa..8e10816b 100644 --- a/sr_ethercat_hand_config/package.xml +++ b/sr_ethercat_hand_config/package.xml @@ -1,3 +1,15 @@ + sr_ethercat_hand_config 1.4.0 diff --git a/sr_ethercat_hand_config/rates/motor_data_polling.yaml b/sr_ethercat_hand_config/rates/motor_data_polling.yaml index ae3447ec..02d7bc38 100644 --- a/sr_ethercat_hand_config/rates/motor_data_polling.yaml +++ b/sr_ethercat_hand_config/rates/motor_data_polling.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + motor_data_update_rate: { sgl: -1., sgr: -1., diff --git a/sr_ethercat_hand_config/rates/muscle_data_polling.yaml b/sr_ethercat_hand_config/rates/muscle_data_polling.yaml index daf89006..cb2a20dd 100644 --- a/sr_ethercat_hand_config/rates/muscle_data_polling.yaml +++ b/sr_ethercat_hand_config/rates/muscle_data_polling.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + muscle_data_update_rate: { muscle_data_pressure: -1., muscle_data_can_stats: 0.1, diff --git a/sr_ethercat_hand_config/rates/sensor_data_polling.yaml b/sr_ethercat_hand_config/rates/sensor_data_polling.yaml index 285b452e..950f54e6 100644 --- a/sr_ethercat_hand_config/rates/sensor_data_polling.yaml +++ b/sr_ethercat_hand_config/rates/sensor_data_polling.yaml @@ -1,3 +1,17 @@ +# Copyright 2022 Shadow Robot Company Ltd. +# +# This program is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License as published by the Free +# Software Foundation version 2 of the License. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or +# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for +# more details. +# +# You should have received a copy of the GNU General Public License along +# with this program. If not, see . + generic_sensor_data_update_rate: { TACTILE_SENSOR_TYPE_SAMPLE_FREQUENCY_HZ: -2., TACTILE_SENSOR_TYPE_MANUFACTURER: -2.,