From 1d2cfeb60c64cd96bd2175c6ae4fcde004f570a1 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Fri, 29 May 2020 13:21:16 +0200
Subject: [PATCH] renamings and launch file fix
---
CMakeLists.txt | 9 +---
controller_plugins.xml | 3 --
launch/simulation_constraint.launch | 62 -------------------------
launch/simulation_rosrag.launch | 65 +++------------------------
launch/simulation_rosrag_test.launch | 67 +++-------------------------
package.xml | 11 ++---
6 files changed, 19 insertions(+), 198 deletions(-)
delete mode 100644 controller_plugins.xml
delete mode 100644 launch/simulation_constraint.launch
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7a6481f..7a09237 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.3)
-project(panda_simulation)
+project(panda_mqtt_connector)
add_compile_options(-std=c++14)
set(GCC_COVERAGE_COMPILE_FLAGS "-fpermissive")
@@ -49,7 +49,7 @@ message(${JSONCPP_LIBRARIES})
add_subdirectory(lib/paho.mqtt.c)
-set(PAHO_MQTT_C_LIBRARIES "${panda_simulation_BINARY_DIR}/lib/paho.mqtt.c/src/libpaho-mqtt3a.so")
+set(PAHO_MQTT_C_LIBRARIES "${panda_mqtt_connector_BINARY_DIR}/lib/paho.mqtt.c/src/libpaho-mqtt3a.so")
set(PAHO_MQTT_C_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/lib/paho.mqtt.c/src")
add_subdirectory(lib/paho.mqtt.cpp)
@@ -89,16 +89,12 @@ include_directories(
add_dependencies(paho-mqttpp3 paho-mqtt3c)
-# add custom controller as library
-add_library(${PROJECT_NAME}_controllers_lib src/joint_position_controller.cpp)
add_library(TrajectoryUtil src/util/TrajectoryUtil.cpp src/util/TrajectoryUtil.h)
# Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_controllers_lib ${catkin_LIBRARIES})
target_link_libraries(TrajectoryUtil ${catkin_LIBRARIES})
add_executable(robot_control_node src/robot_control_node.cpp)
-add_executable(robot_state_initializer_node src/robot_state_initializer.cpp)
add_executable(SafetyAwarePlanner src/SafetyAwarePlanner.cpp src/SafetyEnvironmentCreator.cpp)
add_executable(SampleConstraintPlanner src/samples/SampleConstraintPlanner.cpp)
add_executable(SampleTimedCartesianPlanner src/samples/SampleTimedCartesianPlanner.cpp)
@@ -108,7 +104,6 @@ add_executable(MqttToRosNode src/MqttToRosNode.cpp ${PROTO_SRCS} ${PROTO_HDRS})
add_executable(MqttRosConnectionTestNode src/MqttRosConnectionTestNode.cpp ${PROTO_SRCS} ${PROTO_HDRS})
target_link_libraries(robot_control_node ${catkin_LIBRARIES} boost_filesystem ${JSONCPP_LIBRARIES})
-target_link_libraries(robot_state_initializer_node ${catkin_LIBRARIES})
target_link_libraries(SafetyAwarePlanner ${catkin_LIBRARIES})
target_link_libraries(SampleConstraintPlanner ${catkin_LIBRARIES})
target_link_libraries(SampleTimedCartesianPlanner ${catkin_LIBRARIES})
diff --git a/controller_plugins.xml b/controller_plugins.xml
deleted file mode 100644
index c9462ee..0000000
--- a/controller_plugins.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<library path="lib/libpanda_simulation_controllers_lib">
- <class name="panda_simulation/JointPositionController" type="panda_simulation::JointPositionController" base_class_type="controller_interface::ControllerBase" />
-</library>
\ No newline at end of file
diff --git a/launch/simulation_constraint.launch b/launch/simulation_constraint.launch
deleted file mode 100644
index 1042803..0000000
--- a/launch/simulation_constraint.launch
+++ /dev/null
@@ -1,62 +0,0 @@
-<launch>
- <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
-
- <!-- GAZEBO arguments -->
- <arg name="paused" default="false" />
- <arg name="use_sim_time" default="true" />
- <arg name="gui" default="true" />
- <arg name="headless" default="false" />
- <arg name="debug" default="false" />
- <arg name="load_gripper" default="true" />
-
- <!--launch GAZEBO with own world configuration -->
- <include file="$(find gazebo_ros)/launch/empty_world.launch">
- <!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
- <arg name="debug" value="$(arg debug)" />
- <arg name="gui" value="$(arg gui)" />
- <arg name="paused" value="$(arg paused)" />
- <arg name="use_sim_time" value="$(arg use_sim_time)" />
- <arg name="headless" value="$(arg headless)" />
- </include>
-
- <node name="rqt_console" pkg="rqt_console" type="rqt_console" />
- <!-- <node name="rqt_logger_level" pkg="rqt_logger_level" type="rqt_logger_level" /> -->
-
- <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda" />
-
- <!-- Load joint controller configurations from YAML file to parameter server -->
- <rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />
-
- <!-- load the controllers -->
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller panda_arm_controller" />
- <node if="$(arg load_gripper)" name="controller_spawner_hand" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_hand_controller" />
-
-
- <!-- convert joint states to TF transforms for rviz, etc -->
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-
- <include file="$(find panda_moveit_config)/launch/planning_context.launch">
- <arg name="load_robot_description" value="true" />
- <arg name="load_gripper" value="$(arg load_gripper)" />
- </include>
- <include file="$(find panda_moveit_config)/launch/move_group.launch">
- <arg name="load_gripper" value="$(arg load_gripper)" />
- </include>
- <group if="$(arg gui)">
- <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
- </group>
-
- <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
-
- <!-- launch robot control node for moveit motion planning -->
- <node pkg="panda_simulation" type="robot_control_node" name="robot_control_node" output="screen" />
-
- <!-- load (not start!) custom joint position controller -->
- <node pkg="controller_manager" type="spawner" name="joint_position_launcher" args="--stopped joint_position_controller" />
-
- <!-- run custom node for automatic intialization -->
- <node pkg="panda_simulation" type="robot_state_initializer_node" name="robot_state_initializer_node" />
-
- <node name="SampleConstraintPlanner" pkg="panda_simulation" type="SampleConstraintPlanner" respawn="false" output="screen"/>
-
-</launch>
diff --git a/launch/simulation_rosrag.launch b/launch/simulation_rosrag.launch
index 7476a45..b662c1a 100644
--- a/launch/simulation_rosrag.launch
+++ b/launch/simulation_rosrag.launch
@@ -1,64 +1,9 @@
<launch>
- <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
-
- <!-- GAZEBO arguments -->
- <arg name="paused" default="false" />
- <arg name="use_sim_time" default="true" />
- <arg name="gui" default="true" />
- <arg name="headless" default="false" />
- <arg name="debug" default="false" />
- <arg name="load_gripper" default="true" />
-
- <!--launch GAZEBO with own world configuration -->
- <include file="$(find gazebo_ros)/launch/empty_world.launch">
- <!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
- <arg name="debug" value="$(arg debug)" />
- <arg name="gui" value="$(arg gui)" />
- <arg name="paused" value="$(arg paused)" />
- <arg name="use_sim_time" value="$(arg use_sim_time)" />
- <arg name="headless" value="$(arg headless)" />
- </include>
-
+ <include file="$(find panda_simulation)/launch/simulation.launch"/>
+ <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
<node name="rqt_console" pkg="rqt_console" type="rqt_console" />
- <!-- <node name="rqt_logger_level" pkg="rqt_logger_level" type="rqt_logger_level" /> -->
-
- <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda" />
-
- <!-- Load joint controller configurations from YAML file to parameter server -->
- <rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />
-
- <!-- load the controllers -->
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller panda_arm_controller" />
- <node if="$(arg load_gripper)" name="controller_spawner_hand" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_hand_controller" />
-
-
- <!-- convert joint states to TF transforms for rviz, etc -->
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-
- <include file="$(find panda_moveit_config)/launch/planning_context.launch">
- <arg name="load_robot_description" value="true" />
- <arg name="load_gripper" value="$(arg load_gripper)" />
- </include>
- <include file="$(find panda_moveit_config)/launch/move_group.launch">
- <arg name="load_gripper" value="$(arg load_gripper)" />
- </include>
- <group if="$(arg gui)">
- <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
- </group>
-
- <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
-
- <!-- launch robot control node for moveit motion planning -->
- <node pkg="panda_simulation" type="robot_control_node" name="robot_control_node" output="screen" />
-
- <!-- load (not start!) custom joint position controller -->
- <node pkg="controller_manager" type="spawner" name="joint_position_launcher" args="--stopped joint_position_controller" />
-
- <!-- run custom node for automatic intialization -->
- <node pkg="panda_simulation" type="robot_state_initializer_node" name="robot_state_initializer_node" />
-
- <node name="TimedPlanner" pkg="panda_simulation" type="TimedPlanner" respawn="false" output="screen"/>
- <node name="MqttToRosNode" pkg="panda_simulation" type="MqttToRosNode" respawn="false" output="screen"/>
- <node name="RobotStateProvider" pkg="panda_simulation" type="RobotStateProvider" respawn="false" output="screen"/>
+ <node name="TimedPlanner" pkg="panda_mqtt_connector" type="TimedPlanner" respawn="false" output="screen"/>
+ <node name="MqttToRosNode" pkg="panda_mqtt_connector" type="MqttToRosNode" respawn="false" output="screen"/>
+ <node name="RobotStateProvider" pkg="panda_mqtt_connector" type="RobotStateProvider" respawn="false" output="screen"/>
</launch>
diff --git a/launch/simulation_rosrag_test.launch b/launch/simulation_rosrag_test.launch
index d9e5a92..c1b2c2c 100644
--- a/launch/simulation_rosrag_test.launch
+++ b/launch/simulation_rosrag_test.launch
@@ -1,65 +1,10 @@
<launch>
- <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
-
- <!-- GAZEBO arguments -->
- <arg name="paused" default="false" />
- <arg name="use_sim_time" default="true" />
- <arg name="gui" default="true" />
- <arg name="headless" default="false" />
- <arg name="debug" default="false" />
- <arg name="load_gripper" default="true" />
-
- <!--launch GAZEBO with own world configuration -->
- <include file="$(find gazebo_ros)/launch/empty_world.launch">
- <!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
- <arg name="debug" value="$(arg debug)" />
- <arg name="gui" value="$(arg gui)" />
- <arg name="paused" value="$(arg paused)" />
- <arg name="use_sim_time" value="$(arg use_sim_time)" />
- <arg name="headless" value="$(arg headless)" />
- </include>
-
+ <include file="$(find panda_simulation)/launch/simulation.launch"/>
+ <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
<node name="rqt_console" pkg="rqt_console" type="rqt_console" />
- <!-- <node name="rqt_logger_level" pkg="rqt_logger_level" type="rqt_logger_level" /> -->
-
- <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda" />
-
- <!-- Load joint controller configurations from YAML file to parameter server -->
- <rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />
-
- <!-- load the controllers -->
- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller panda_arm_controller" />
- <node if="$(arg load_gripper)" name="controller_spawner_hand" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_hand_controller" />
-
-
- <!-- convert joint states to TF transforms for rviz, etc -->
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-
- <include file="$(find panda_moveit_config)/launch/planning_context.launch">
- <arg name="load_robot_description" value="true" />
- <arg name="load_gripper" value="$(arg load_gripper)" />
- </include>
- <include file="$(find panda_moveit_config)/launch/move_group.launch">
- <arg name="load_gripper" value="$(arg load_gripper)" />
- </include>
- <group if="$(arg gui)">
- <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
- </group>
-
- <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
-
- <!-- launch robot control node for moveit motion planning -->
- <node pkg="panda_simulation" type="robot_control_node" name="robot_control_node" output="screen" />
-
- <!-- load (not start!) custom joint position controller -->
- <node pkg="controller_manager" type="spawner" name="joint_position_launcher" args="--stopped joint_position_controller" />
-
- <!-- run custom node for automatic intialization -->
- <node pkg="panda_simulation" type="robot_state_initializer_node" name="robot_state_initializer_node" />
-
- <node name="TimedPlanner" pkg="panda_simulation" type="TimedPlanner" respawn="false" output="screen"/>
- <node name="MqttToRosNode" pkg="panda_simulation" type="MqttToRosNode" respawn="false" output="screen"/>
- <node name="MqttRosConnectionTestNode" pkg="panda_simulation" type="MqttRosConnectionTestNode" respawn="false" output="screen"/>
- <node name="RobotStateProvider" pkg="panda_simulation" type="RobotStateProvider" respawn="false" output="screen"/>
+ <node name="TimedPlanner" pkg="panda_mqtt_connector" type="TimedPlanner" respawn="false" output="screen"/>
+ <node name="MqttToRosNode" pkg="panda_mqtt_connector" type="MqttToRosNode" respawn="false" output="screen"/>
+ <node name="MqttRosConnectionTestNode" pkg="panda_mqtt_connector" type="MqttRosConnectionTestNode" respawn="false" output="screen"/>
+ <node name="RobotStateProvider" pkg="panda_mqtt_connector" type="RobotStateProvider" respawn="false" output="screen"/>
</launch>
diff --git a/package.xml b/package.xml
index af9830f..8a2ba17 100644
--- a/package.xml
+++ b/package.xml
@@ -1,19 +1,20 @@
<?xml version="1.0"?>
<package format="2">
- <name>panda_simulation</name>
- <version>0.2.0</version>
- <description>The panda_simulation package</description>
+ <name>panda_mqtt_connector</name>
+ <version>0.1.0</version>
+ <description>MQTT control interface for the Franka Emika Panda robot</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
- <maintainer email="erdal@todo.todo">erdal</maintainer>
+ <maintainer email="sebastian.ebert@tu-dresden.de">Sebastian Ebert</maintainer>
+ <maintainer email="johannes.mey@tu-dresden.de">Johannes Mey</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
- <license>TODO</license>
+ <license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
--
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