Changes to support virtual reality

README.md

@@ -1,3 +1,13 @@
+# Added ROS Driver for Arm
+
+Services added to control joints of the arm and the gripper.
+https://github.com/estherRay/spot_ros/blob/master/spot_arm.mp4
+
+# URDF and MoveIt simulation of Spot's arm
+
+Available in other repo: https://github.com/estherRay/Spot-Arm
+
+
 # Spot ROS Driver
 
 ![CP Spot](cp_spot.jpg)

Spot-Arm/README.md

@@ -0,0 +1,17 @@
+This repository was developed and tested on Ubuntu 18.04 with ROS Melodic.
+
+
+spot_arm_description:
+
+  Hardware description of spot arm (stl, urdf, ...)
+  ![alt text](https://github.com/estherRay/Spot-Arm/blob/main/ArmDescription.png)
+
+
+spot_moveit_config:
+
+  Moveit controller for motion planning
+
+  Control of the arm using Rviz
+
+  Gazebo simulation
+  ![alt text](https://github.com/estherRay/Spot-Arm/blob/main/ArmMoveIt.png)

Spot-Arm/spot_arm_description/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(spot_arm_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-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 exec_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 exec_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 exec_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 your 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 spot_arm_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
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/spot_arm_description.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/spot_arm_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
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_spot_arm_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)

Spot-Arm/spot_arm_description/launch/controller.launch

@@ -0,0 +1,9 @@
+<launch>
+
+<rosparam file="$(find spot_arm_description)/launch/controller.yaml" command="load"/>
+<node args="Joint1_position_controller Joint2_position_controller Joint3_position_controller Joint4_position_controller Joint5_position_controller Joint6_position_controller Joint7_position_controller joint_state_controller " name="controller_spawner" ns="spot_arm" output="screen" pkg="controller_manager" respawn="false" type="spawner"
+<node name="robot_state_publisher" output="screen" pkg="robot_state_publisher" respawn="false" type="robot_state_publisher">
+  <remap from="/joint_states" to="/spot_arm/joint_states"/>
+</node>
+
+</launch>

Spot-Arm/spot_arm_description/launch/controller.yaml

@@ -0,0 +1,35 @@
+spot_arm_controller:
+  # Publish all joint states -----------------------------------
+  joint_state_controller:
+    type: joint_state_controller/JointStateController
+    publish_rate: 50
+
+  # Position Controllers --------------------------------------
+ Joint1_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Joint1
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Joint2_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Joint2
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Joint3_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Joint3
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Joint4_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Joint4
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Joint5_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Joint5
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Joint6_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev6
+    pid: {p: 100.0, i: 0.01, d: 10.0}
+  Joint7_position_controller:
+    type: effort_controllers/JointPositionController
+    joint: Rev7
+    pid: {p: 100.0, i: 0.01, d: 10.0}

Spot-Arm/spot_arm_description/launch/display.launch

@@ -0,0 +1,10 @@
+<launch>
+  <arg default="$(find spot_arm_description)/urdf/spot_arm.xacro" name="model"/>
+  <arg default="true" name="gui"/>
+  <arg default="$(find spot_arm_description)/launch/urdf.rviz" name="rvizconfig"/>
+  <param command="$(find xacro)/xacro $(arg model)" name="robot_description"/>
+  <param name="use_gui" value="$(arg gui)"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/>
+</launch>

Spot-Arm/spot_arm_description/launch/gazebo.launch

@@ -0,0 +1,11 @@
+<launch>
+  <param command="$(find xacro)/xacro $(find spot_arm_description)/urdf/spot_arm.xacro" name="robot_description"/>
+  <node args="-param robot_description -urdf -model spot_arm" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/>
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="paused" value="true"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+</launch>