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Merge remote-tracking branch 'junichiro/develop/Ninja' into develop/N…
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…inja
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@sugihara-16
sugihara-16 committed Nov 18, 2024
2 parents 1a69cde + 5c2366e commit fca4767
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Showing 7 changed files with 402 additions and 295 deletions.
11 changes: 7 additions & 4 deletions robots/ninja/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,10 @@ catkin_package(
INCLUDE_DIRS include
LIBRARIES ninja_robot_model ninja_controller ninja_navigation
CATKIN_DEPENDS aerial_robot_control aerial_robot_model aerial_robot_msgs pluginlib roscpp gimbalrotor diagnostic_msgs std_msgs geometry_msgs message_runtime beetle
)
)

configure_file(script/roslaunch ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_BIN_DESTINATION}/roslaunch COPYONLY)


include_directories(
include
Expand Down Expand Up @@ -67,6 +70,6 @@ install(DIRECTORY script
USE_SOURCE_PERMISSIONS
)

# catkin_install_python(PROGRAMS script/ninja/kondo_control.py
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
catkin_install_python(PROGRAMS script/roslaunch
DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
288 changes: 79 additions & 209 deletions robots/ninja/config/rviz_config
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,10 @@ Panels:
- /RobotModel3
- /RobotModel3/Links1
- /RobotModel4
Splitter Ratio: 0.6529411673545837
- /WrenchStamped1
- /WrenchStamped2
- /WrenchStamped3
Splitter Ratio: 0.6541849970817566
Tree Height: 740
- Class: rviz/Selection
Name: Selection
Expand Down Expand Up @@ -237,6 +240,10 @@ Visualization Manager:
Value: false
ninja1/rotor_parent3:
Value: false
ninja1/target_cog_pose:
Value: true
ninja1/target_com_pose:
Value: true
ninja1/thrust1:
Value: false
ninja1/thrust2:
Expand Down Expand Up @@ -287,6 +294,10 @@ Visualization Manager:
Value: false
ninja2/rotor_parent3:
Value: false
ninja2/target_cog_pose:
Value: true
ninja2/target_com_pose:
Value: true
ninja2/thrust1:
Value: false
ninja2/thrust2:
Expand Down Expand Up @@ -337,6 +348,10 @@ Visualization Manager:
Value: false
ninja3/rotor_parent3:
Value: false
ninja3/target_cog_pose:
Value: true
ninja3/target_com_pose:
Value: true
ninja3/thrust1:
Value: false
ninja3/thrust2:
Expand All @@ -347,56 +362,6 @@ Visualization Manager:
Value: false
ninja3/yaw_dock_link:
Value: false
ninja4/battery_1:
Value: false
ninja4/battery_2:
Value: false
ninja4/center_of_moving:
Value: false
ninja4/cog:
Value: true
ninja4/contact_point:
Value: false
ninja4/dummy_arm:
Value: false
ninja4/fc:
Value: false
ninja4/gimbal_link1:
Value: false
ninja4/gimbal_link2:
Value: false
ninja4/gimbal_link3:
Value: false
ninja4/main_body:
Value: false
ninja4/pitch_connect_point:
Value: false
ninja4/pitch_dock_link:
Value: false
ninja4/root:
Value: false
ninja4/rotor_arm1:
Value: false
ninja4/rotor_arm2:
Value: false
ninja4/rotor_arm3:
Value: false
ninja4/rotor_parent1:
Value: false
ninja4/rotor_parent2:
Value: false
ninja4/rotor_parent3:
Value: false
ninja4/thrust1:
Value: false
ninja4/thrust2:
Value: false
ninja4/thrust3:
Value: false
ninja4/yaw_connect_point:
Value: false
ninja4/yaw_dock_link:
Value: false
world:
Value: false
Marker Alpha: 1
Expand Down Expand Up @@ -443,6 +408,10 @@ Visualization Manager:
{}
ninja1/yaw_connect_point:
{}
ninja1/target_cog_pose:
{}
ninja1/target_com_pose:
{}
ninja2/root:
ninja2/cog:
ninja2/center_of_moving:
Expand Down Expand Up @@ -479,6 +448,10 @@ Visualization Manager:
{}
ninja2/yaw_connect_point:
{}
ninja2/target_cog_pose:
{}
ninja2/target_com_pose:
{}
ninja3/root:
ninja3/cog:
ninja3/center_of_moving:
Expand Down Expand Up @@ -515,42 +488,10 @@ Visualization Manager:
{}
ninja3/yaw_connect_point:
{}
ninja4/root:
ninja4/cog:
ninja4/center_of_moving:
{}
ninja4/contact_point:
{}
ninja4/main_body:
ninja4/battery_1:
{}
ninja4/battery_2:
{}
ninja4/fc:
{}
ninja4/pitch_dock_link:
ninja4/pitch_connect_point:
{}
ninja4/rotor_arm1:
ninja4/gimbal_link1:
ninja4/rotor_parent1:
ninja4/thrust1:
{}
ninja4/rotor_arm2:
ninja4/gimbal_link2:
ninja4/rotor_parent2:
ninja4/thrust2:
{}
ninja4/rotor_arm3:
ninja4/gimbal_link3:
ninja4/rotor_parent3:
ninja4/thrust3:
{}
ninja4/yaw_dock_link:
ninja4/dummy_arm:
{}
ninja4/yaw_connect_point:
{}
ninja3/target_cog_pose:
{}
ninja3/target_com_pose:
{}
Update Interval: 0
Value: true
- Alpha: 1
Expand Down Expand Up @@ -827,128 +768,57 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
battery_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
battery_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
contact_point:
Alpha: 1
Show Axes: false
Show Trail: false
dummy_arm:
Alpha: 1
Show Axes: false
Show Trail: false
dummy_gripper:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
dummy_palm:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fc:
Alpha: 1
Show Axes: false
Show Trail: false
gimbal_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gimbal_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gimbal_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
main_body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pitch_connect_point:
Alpha: 1
Show Axes: false
Show Trail: false
pitch_dock_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
root:
Alpha: 1
Show Axes: false
Show Trail: false
rotor_arm1:
Alpha: 1
Show Axes: false
Show Trail: false
rotor_arm2:
Alpha: 1
Show Axes: false
Show Trail: false
rotor_arm3:
Alpha: 1
Show Axes: false
Show Trail: false
rotor_parent1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rotor_parent2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rotor_parent3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
thrust1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
thrust2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
thrust3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
yaw_connect_point:
Alpha: 1
Show Axes: false
Show Trail: false
yaw_dock_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: ninja4/robot_description
TF Prefix: ninja4
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 0.5
Arrow Width: 0.30000001192092896
Class: rviz/WrenchStamped
Enabled: true
Force Arrow Scale: 0.5
Force Color: 204; 51; 51
Hide Small Values: true
History Length: 1
Name: WrenchStamped
Queue Size: 10
Topic: /ninja1/internal_wrench
Torque Arrow Scale: 1
Torque Color: 204; 204; 51
Unreliable: true
Value: true
- Alpha: 0.5
Arrow Width: 0.30000001192092896
Class: rviz/WrenchStamped
Enabled: true
Force Arrow Scale: 0.5
Force Color: 204; 51; 51
Hide Small Values: true
History Length: 1
Name: WrenchStamped
Queue Size: 10
Topic: /ninja2/internal_wrench
Torque Arrow Scale: 1
Torque Color: 204; 204; 51
Unreliable: false
Value: true
- Alpha: 0.5
Arrow Width: 0.30000001192092896
Class: rviz/WrenchStamped
Enabled: true
Force Arrow Scale: 0.5
Force Color: 204; 51; 51
Hide Small Values: true
History Length: 1
Name: WrenchStamped
Queue Size: 10
Topic: /ninja3/internal_wrench
Torque Arrow Scale: 1
Torque Color: 204; 204; 51
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down Expand Up @@ -977,25 +847,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 2.9822680950164795
Distance: 2.723729372024536
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -0.0981794074177742
Y: 0.19234484434127808
Z: 1.15351140499115
X: -0.09440077841281891
Y: -0.12096423655748367
Z: 0.8789822459220886
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.380398154258728
Pitch: 0.17039868235588074
Target Frame: <Fixed Frame>
Yaw: 4.798608779907227
Yaw: 4.708604335784912
Saved: ~
Window Geometry:
Displays:
Expand Down
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