reduce repo to just franka_description

CHANGELOG.md

-# CHANGELOG
-
-## 0.7.0 - UNRELEASED
-
-Requires `libfranka` >= 0.7.0
-
-  * **BREAKING** moved services and action from `franka_control` to `franka_msgs`.
-  * **BREAKING** moved Service container from `franka_control` to `franka_hw`.
-  * `franka_example_controllers` : Added example for dual-arm control based on franka_combinable_hw.
-  * `franka_description` :
-    - Added an example urdf with two panda arms.
-    - **BREAKING** Updated collision volumes.
-    - Removed invalid `axis` for `joint8`.
-  * `franka_hw`:
-    - Added hardware classes to support torque-controlling multiple robots from one controller.
-    - Refactored FrankaHW class to serve as base class (e.g. for FrankaCombinableHW).
-    - Added joint limits checking to FrankaHW which means parameterized warning prints when approaching limits.
-    - Made initial collision behavior a parameter.
-    - Added default constructor and init method to FrankaHW.
-    - **BREAKING** moved parsing of parameters from control node to FrankaHW::init.
-    - **BREAKING** made libfranka robot a member of FrankaHW.
-    - Added missing return value to `franka::ControllerMode` stream operator function.
-  * `franka_control`:
-    - Added control node that can runs a `FrankaCombinedHW` to control mulitple Pandas.
-    - Publish whole `libfranka` `franka::RobotState` in `franka_state_controller`.
-  * `franka_example_controllers`:
-    - Cartesian impedance example controller: Interpolate desired orientations with slerp and change orientation error
-      to quaternion.
-  * **BREAKING** Moved `panda_moveit_config` to [`ros-planning`](https://github.com/ros-planning/panda_moveit_config).
-  * Added support for ROS Melodic Morenia.
-  * Raised minimum CMake version to 3.4 to match `libfranka`.
-  * Add rosparam to choose value of `franka::RealtimeConfig`.
-  * Fix unused parameter bugs in `FrankaModelHandle` (#78).
-
-## 0.6.0 - 2018-08-08
-
-Requires `libfranka` >= 0.5.0
-
-  * **BREAKING** Fixes for MoveIt, improving robot performance:
-    * Fixed joint velocity and acceleration limits in `joint_limits.yaml`
-    * Use desired joint state for move group
-  * **BREAKING** Updated joint limits in URDF
-  * **BREAKING** Fixed velocity, acceleration and jerk limits in `franka_hw`
-  * **BREAKING** Start `franka_gripper_node` when giving `load_gripper:=true` to `franka_control.launch`
-  * Allow to configure rate limiting, filtering and internal controller in `franka_control_node`
-  * **BREAKING** `FrankaHW::FrankaHW` takes additional parameters.
-  * **BREAKING** Enabled rate limiting and low-pass filtering by default (`franka_control_node.yaml`)
-  * Publish desired joint state in `/joint_state_desired`
-  * Removed `effort_joint_trajectory_controller` from `default_controllers.yaml`
-  * Fixed a bug when switching between controllers using the same `libfranka` interface
-
-## 0.5.0 - 2018-06-28
-
-Requires `libfranka` >= 0.4.0
-
-  * **BREAKING** Updated URDF:
-    * Adjusted maximum joint velocity
-    * Updated axis 4 hard and soft limits
-
-## 0.4.1 - 2018-06-21
-
-Requires `libfranka` >= 0.3.0
-
-  * Added some missing includes to `franka_hw`
-  * Add support for commanding elbow in Cartesian pose and Cartesian velocity interfaces
-
-## 0.4.0 - 2018-03-26
-
-Requires `libfranka` >= 0.3.0
-
-  * **BREAKING** Removed `arm_id` and default `robot_ip` from launchfiles
-  * **BREAKING** Changed namespace of `franka_control` controller manager
-  * **BREAKING** Changed behavior of `gripper_action` for compatibility with MoveIt
-  * Changes in `panda_moveit_config`:
-    * Updated joint limits from URDF
-    * Removed `home` poses
-    * Fixed fake execution
-    * Add `load_gripper` argument (default: `true`) to `panda_moveit.launch`
-    * Conditionally load controllers/SRDFs based on `load_gripper`
-    * Add gripper controller configuration (requires running `franka_gripper_node`)
-  * Added `mimic` tag for gripper fingers to URDF and fixed velocity limits
-
-## 0.3.0 - 2018-02-22
-
-Requires `libfranka` >= 0.3.0
-
-  * **BREAKING** Changed signatures in `franka_hw::FrankaModelHandle`
-  * **BREAKING** Added epsilon parameters to `franka_gripper/Grasp` action
-  * Added Collada meshes for Panda and Hand
-  * Added missing dependencies to `panda_moveit_config` and `franka_example_controllers`
-  * Fixed linker errors when building with `-DFranka_DIR` while an older version of
-    `ros-kinetic-libfranka` is installed
-  * Added gripper joint state publisher to `franka_visualization`
-  * Moved `move_to_start.py` example script to `franka_example_controllers`
-
-## 0.2.2 - 2018-01-31
-
-Requires `libfranka` >= 0.2.0
-
-  * Catkin-related fixes for `franka_example_controllers`
-  * Added missing `<build_export_depend>` for `message_runtime`
-
-## 0.2.1 - 2018-01-30
-
-Requires `libfranka` >= 0.2.0
-
-  * Added missing dependency to `franka_example_controllers`
-  * Lowered rotational gains for Cartesian impedance example controller
-
-## 0.2.0 - 2018-01-29
-
-Requires `libfranka` >= 0.2.0
-
-  * Added missing run-time dependencies to `franka_description` and `franka_control`
-  * Added `tau_J_d`, `m_ee`, `F_x_Cee`, `I_ee`, `m_total`, `F_x_Ctotal`, `I_total`,
-    `theta` and `dtheta` to `franka_msgs/FrankaState`
-  * Added new errors to `franka_msgs/Errors`
-  * Updated and improved examples in `franka_example_controllers`
-  * Fixed includes for Eigen3 in `franka_example_controllers`
-  * Fixed gripper state publishing in `franka_gripper_node`
-
-## 0.1.2 - 2017-10-10
-
-  * Fixed out-of-workspace build
-
-## 0.1.1 - 2017-10-09
-
-  * Integrated `franka_description` as subdirectory
-  * Fixed dependencies on libfranka
-  * Fixed RViz config file paths
-  * Added missing `test_depend` to `franka_hw`
-  * Added missing CMake install rules
-
-## 0.1.0 - 2017-09-15
-
-  * Initial release

Jenkinsfile

-#!groovy
-
-buildResult = 'NOT_BUILT'
-
-def getStages(rosDistribution, ubuntuVersion) {
-  return {
-    node('docker') {
-      step([$class: 'StashNotifier'])
-
-      try {
-        dir('src/franka_ros') {
-          checkout scm
-        }
-
-        sh 'rm -rf dist'
-        dir('dist') {
-          try {
-            step([$class: 'CopyArtifact',
-                  filter: "libfranka-*-amd64-${ubuntuVersion}.tar.gz",
-                  fingerprintArtifacts: true,
-                  projectName: "SWDEV/libfranka/${java.net.URLEncoder.encode(env.BRANCH_NAME, "UTF-8")}",
-                  selector: [$class: 'StatusBuildSelector', stable: false]])
-          } catch (e) {
-            // Fall back to develop branch.
-            step([$class: 'CopyArtifact',
-                  filter: "libfranka-*-amd64-${ubuntuVersion}.tar.gz",
-                  fingerprintArtifacts: true,
-                  projectName: "SWDEV/libfranka/develop",
-                  selector: [$class: 'StatusBuildSelector', stable: false]])
-          }
-          sh """
-            tar xfz libfranka-*-amd64-${ubuntuVersion}.tar.gz
-            ln -sf libfranka-*-amd64 libfranka
-          """
-        }
-
-        docker.build("franka_ros-ci-worker:${rosDistribution}",
-                     "-f src/franka_ros/.ci/Dockerfile.${rosDistribution} src/franka_ros/.ci").inside('-e MAKEFLAGS') {
-          withEnv(["CMAKE_PREFIX_PATH+=${env.WORKSPACE}/dist/libfranka/lib/cmake/Franka",
-                   "ROS_HOME=${env.WORKSPACE}/ros-home"]) {
-            stage("${rosDistribution}: Build & Lint (Debug)") {
-              sh """
-                . /opt/ros/${rosDistribution}/setup.sh
-                src/franka_ros/.ci/debug.sh
-              """
-              junit 'build-debug/test_results/**/*.xml'
-            }
-          }
-        }
-
-        if (buildResult != 'FAILED') {
-          buildResult = 'SUCCESS'
-        }
-      } catch (e) {
-        buildResult = 'FAILED'
-      }
-    }
-  }
-}
-
-node {
-  step([$class: 'StashNotifier'])
-}
-
-parallel(
-  'kinetic': getStages('kinetic', 'xenial'),
-  'melodic': getStages('melodic', 'bionic'),
-)
-
-node {
-  currentBuild.result = buildResult
-  step([$class: 'StashNotifier'])
-}

README.md

 # ROS integration for Franka Emika research robots
 
-[![Build Status][travis-status]][travis]
-
 See the [Franka Control Interface (FCI) documentation][fci-docs] for more information.
 
 ## License

cmake/ClangTools.cmake

-include(CMakeParseArguments)
-
-find_program(CLANG_FORMAT_PROG clang-format-6.0 DOC "'clang-format' executable")
-if(CLANG_FORMAT_PROG AND NOT TARGET format)
-  add_custom_target(format)
-  add_custom_target(check-format)
-endif()
-find_program(CLANG_TIDY_PROG clang-tidy-6.0 DOC "'clang-tidy' executable")
-if(CLANG_TIDY_PROG AND NOT TARGET tidy)
-  if(NOT CMAKE_EXPORT_COMPILE_COMMANDS)
-    message(WARNING "Invoke Catkin/CMake with '-DCMAKE_EXPORT_COMPILE_COMMANDS=ON'
-                     to generate compilation database for 'clang-tidy'.")
-  endif()
-
-  add_custom_target(tidy)
-  add_custom_target(check-tidy)
-endif()
-
-function(add_format_target _target)
-  if(NOT CLANG_FORMAT_PROG)
-    return()
-  endif()
-  cmake_parse_arguments(ARG "" "" "FILES" ${ARGN})
-
-  add_custom_target(format-${_target}
-    COMMAND ${CLANG_FORMAT_PROG} -i ${ARG_FILES}
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
-    COMMENT "Formatting ${_target} source code with clang-format"
-    VERBATIM
-  )
-  add_dependencies(format format-${_target})
-
-  add_custom_target(check-format-${_target}
-    COMMAND ${CLANG_FORMAT_PROG} -output-replacements-xml ${ARG_FILES} | grep "<replacement " > /dev/null && exit 1 || exit 0
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
-    COMMENT "Checking ${_target} code formatting with clang-format"
-    VERBATIM
-  )
-  add_dependencies(check-format check-format-${_target})
-endfunction()
-
-function(add_tidy_target _target)
-  if(NOT CLANG_TIDY_PROG)
-    return()
-  endif()
-  cmake_parse_arguments(ARG "" "" "FILES;DEPENDS" ${ARGN})
-
-  add_custom_target(tidy-${_target}
-    COMMAND ${CLANG_TIDY_PROG} -fix -p=${CMAKE_BINARY_DIR} ${ARG_FILES}
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
-    DEPENDS ${ARG_DEPENDS}
-    COMMENT "Running clang-tidy for ${_target}"
-    VERBATIM
-  )
-  add_dependencies(tidy tidy-${_target})
-
-  add_custom_target(check-tidy-${_target}
-  COMMAND ${CLANG_TIDY_PROG} -p=${CMAKE_BINARY_DIR} ${ARG_FILES} | grep . && exit 1 || exit 0
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
-    DEPENDS ${ARG_DEPENDS}
-    COMMENT "Running clang-tidy for ${_target}"
-    VERBATIM
-  )
-  add_dependencies(check-tidy check-tidy-${_target})
-endfunction()

franka_control/CMakeLists.txt

-cmake_minimum_required(VERSION 3.4)
-project(franka_control)
-
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-find_package(catkin REQUIRED COMPONENTS
-  controller_interface
-  controller_manager
-  franka_hw
-  franka_msgs
-  geometry_msgs
-  message_generation
-  pluginlib
-  realtime_tools
-  roscpp
-  sensor_msgs
-  tf
-  tf2_msgs
-)
-
-find_package(Franka 0.7.0 REQUIRED)
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES franka_state_controller
-  CATKIN_DEPENDS
-    controller_interface
-    franka_hw
-    franka_msgs
-    geometry_msgs
-    pluginlib
-    realtime_tools
-    roscpp
-    sensor_msgs
-    tf2_msgs
-  DEPENDS Franka
-)
-
-## franka_state_controller
-add_library(franka_state_controller
-  src/franka_state_controller.cpp
-)
-
-add_dependencies(franka_state_controller
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-)
-
-target_link_libraries(franka_state_controller
-  ${Franka_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-
-target_include_directories(franka_state_controller SYSTEM PUBLIC
-  ${Franka_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
-)
-target_include_directories(franka_state_controller PUBLIC
-  include
-)
-
-## franka_control_node
-add_executable(franka_control_node
-  src/franka_control_node.cpp
-)
-
-add_dependencies(franka_control_node
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-)
-
-target_link_libraries(franka_control_node
-  ${Franka_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-
-target_include_directories(franka_control_node SYSTEM PUBLIC
-  ${Franka_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
-)
-
-add_executable(franka_combined_control_node
-    src/franka_combined_control_node.cpp
-)
-
-add_dependencies(franka_combined_control_node
-    ${catkin_EXPORTED_TARGETS}
-)
-
-target_link_libraries(franka_combined_control_node
-  ${catkin_LIBRARIES}
-)
-
-target_include_directories(franka_combined_control_node SYSTEM PUBLIC
-  ${catkin_INCLUDE_DIRS}
-)
-
-
-## Installation
-install(TARGETS franka_state_controller
-                franka_control_node
-                franka_combined_control_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
-install(DIRECTORY launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-install(DIRECTORY config
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-install(FILES franka_controller_plugins.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-## Tools
-include(${CMAKE_CURRENT_LIST_DIR}/../cmake/ClangTools.cmake OPTIONAL
-  RESULT_VARIABLE CLANG_TOOLS
-)
-if(CLANG_TOOLS)
-  file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
-  file(GLOB_RECURSE HEADERS
-    ${CMAKE_CURRENT_SOURCE_DIR}/include/*.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/*.h
-  )
-  add_format_target(franka_control FILES ${SOURCES} ${HEADERS})
-  add_tidy_target(franka_control
-    FILES ${SOURCES}
-    DEPENDS franka_control_node franka_combined_control_node franka_state_controller
-  )
-endif()

franka_control/config/default_combined_controllers.yaml

-effort_joint_trajectory_controller:
-  type: effort_controllers/JointTrajectoryController
-  joints:
-    - panda_2_joint1
-    - panda_2_joint2
-    - panda_2_joint3
-    - panda_2_joint4
-    - panda_2_joint5
-    - panda_2_joint6
-    - panda_2_joint7
-    - panda_1_joint1
-    - panda_1_joint2
-    - panda_1_joint3
-    - panda_1_joint4
-    - panda_1_joint5
-    - panda_1_joint6
-    - panda_1_joint7
-  constraints:
-    goal_time: 0.5
-    panda_2_joint1:
-      goal: 0.05
-    panda_2_joint2:
-      goal: 0.05
-    panda_2_joint3:
-      goal: 0.05
-    panda_2_joint4:
-      goal: 0.05
-    panda_2_joint5:
-      goal: 0.05
-    panda_2_joint6:
-      goal: 0.05
-    panda_2_joint7:
-      goal: 0.05
-    panda_1_joint1:
-      goal: 0.05
-    panda_1_joint2:
-      goal: 0.05
-    panda_1_joint3:
-      goal: 0.05
-    panda_1_joint4:
-      goal: 0.05
-    panda_1_joint5:
-      goal: 0.05
-    panda_1_joint6:
-      goal: 0.05
-    panda_1_joint7:
-      goal: 0.05
-  gains:
-    panda_1_joint1: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_1_joint2: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_1_joint3: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_1_joint4: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_1_joint5: {p: 250, d: 10, i: 0, i_clamp: 1}
-    panda_1_joint6: {p: 150, d: 10, i: 0, i_clamp: 1}
-    panda_1_joint7: {p: 50, d: 5, i: 0, i_clamp: 1}
-    panda_2_joint1: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_2_joint2: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_2_joint3: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_2_joint4: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_2_joint5: {p: 250, d: 10, i: 0, i_clamp: 1}
-    panda_2_joint6: {p: 150, d: 10, i: 0, i_clamp: 1}
-    panda_2_joint7: {p: 50, d: 5, i: 0, i_clamp: 1}
-
-panda_1_state_controller:
-  type: franka_control/FrankaStateController
-  arm_id: panda_1
-  joint_names:
-    - panda_1_joint1
-    - panda_1_joint2
-    - panda_1_joint3
-    - panda_1_joint4
-    - panda_1_joint5
-    - panda_1_joint6
-    - panda_1_joint7
-  publish_rate: 30  # [Hz]
-
-panda_2_state_controller:
-  type: franka_control/FrankaStateController
-  arm_id: panda_2
-  joint_names:
-    - panda_2_joint1
-    - panda_2_joint2
-    - panda_2_joint3
-    - panda_2_joint4
-    - panda_2_joint5
-    - panda_2_joint6
-    - panda_2_joint7
-  publish_rate: 30  # [Hz]

franka_control/config/default_controllers.yaml

-position_joint_trajectory_controller:
-  type: position_controllers/JointTrajectoryController
-  joints:
-    - panda_joint1
-    - panda_joint2
-    - panda_joint3
-    - panda_joint4
-    - panda_joint5
-    - panda_joint6
-    - panda_joint7
-  constraints:
-    goal_time: 0.5
-    panda_joint1:
-      goal: 0.05
-    panda_joint2:
-      goal: 0.05
-    panda_joint3:
-      goal: 0.05
-    panda_joint4:
-      goal: 0.05
-    panda_joint5:
-      goal: 0.05
-    panda_joint6:
-      goal: 0.05
-    panda_joint7:
-      goal: 0.05
-
-franka_state_controller:
-  type: franka_control/FrankaStateController
-  publish_rate: 30  # [Hz]
-  joint_names:
-    - panda_joint1
-    - panda_joint2
-    - panda_joint3
-    - panda_joint4
-    - panda_joint5
-    - panda_joint6
-    - panda_joint7
-  arm_id: panda

franka_control/config/franka_combined_control_node.yaml

-robot_hardware:
-  - panda_1
-  - panda_2
-
-panda_1:
-  type: franka_hw/FrankaCombinableHW
-  arm_id: panda_1
-  joint_names:
-    - panda_1_joint1
-    - panda_1_joint2
-    - panda_1_joint3
-    - panda_1_joint4
-    - panda_1_joint5
-    - panda_1_joint6
-    - panda_1_joint7
-  # Configure the threshold angle for printing joint limit warnings.
-  joint_limit_warning_threshold: 0.1 # [rad]
-  # Activate rate limiter? [true|false]
-  rate_limiting: true
-  # Cutoff frequency of the low-pass filter. Set to >= 1000 to deactivate.
-  cutoff_frequency: 1000
-  # Internal controller for motion generators [joint_impedance|cartesian_impedance]
-  internal_controller: joint_impedance
-  # Used to decide whether to enforce realtime mode [enforce|ignore]
-  realtime_config: enforce
-  # Configure the initial defaults for the collision behavior reflexes.
-  collision_config:
-    lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    lower_torque_thresholds_nominal: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    upper_torque_thresholds_nominal: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    lower_force_thresholds_acceleration: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-    upper_force_thresholds_acceleration: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-    lower_force_thresholds_nominal: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-    upper_force_thresholds_nominal: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-
-panda_2:
-  type: franka_hw/FrankaCombinableHW
-  arm_id: panda_2
-  joint_names:
-    - panda_2_joint1
-    - panda_2_joint2
-    - panda_2_joint3
-    - panda_2_joint4
-    - panda_2_joint5
-    - panda_2_joint6
-    - panda_2_joint7
-  # Configure the threshold angle for printing joint limit warnings.
-  joint_limit_warning_threshold: 0.1 # [rad]
-  # Activate rate limiter? [true|false]
-  rate_limiting: true
-  # Cutoff frequency of the low-pass filter. Set to >= 1000 to deactivate.
-  cutoff_frequency: 1000
-  # Internal controller for motion generators [joint_impedance|cartesian_impedance]
-  internal_controller: joint_impedance
-  # Used to decide whether to enforce realtime mode [enforce|ignore]
-  realtime_config: enforce
-  # Configure the initial defaults for the collision behavior reflexes.
-  collision_config:
-    lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    lower_torque_thresholds_nominal: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-