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Commit 1d2cfeb6 authored by Johannes Mey's avatar Johannes Mey
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renamings and launch file fix

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CMakeLists.txt
+ 2
− 7
View file @ 1d2cfeb6
cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 2.8.3)
project(panda_simulation) project(panda_mqtt_connector)
add_compile_options(-std=c++14) add_compile_options(-std=c++14)
set(GCC_COVERAGE_COMPILE_FLAGS "-fpermissive") set(GCC_COVERAGE_COMPILE_FLAGS "-fpermissive")
...@@ -49,7 +49,7 @@ message(${JSONCPP_LIBRARIES}) ...@@ -49,7 +49,7 @@ message(${JSONCPP_LIBRARIES})
add_subdirectory(lib/paho.mqtt.c) 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 "${PROJECT_SOURCE_DIR}/lib/paho.mqtt.c/src") set(PAHO_MQTT_C_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/lib/paho.mqtt.c/src")
add_subdirectory(lib/paho.mqtt.cpp) add_subdirectory(lib/paho.mqtt.cpp)
...@@ -89,16 +89,12 @@ include_directories( ...@@ -89,16 +89,12 @@ include_directories(
add_dependencies(paho-mqttpp3 paho-mqtt3c) add_dependencies(paho-mqttpp3 paho-mqtt3c)
# add custom controller as library
add_library(${PROJECT_NAME}_controllers_lib src/joint_position_controller.cpp)
add_library(TrajectoryUtil src/util/TrajectoryUtil.cpp src/util/TrajectoryUtil.h) add_library(TrajectoryUtil src/util/TrajectoryUtil.cpp src/util/TrajectoryUtil.h)
# Specify libraries to link a library or executable target against # Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_controllers_lib ${catkin_LIBRARIES})
target_link_libraries(TrajectoryUtil ${catkin_LIBRARIES}) target_link_libraries(TrajectoryUtil ${catkin_LIBRARIES})
add_executable(robot_control_node src/robot_control_node.cpp) 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(SafetyAwarePlanner src/SafetyAwarePlanner.cpp src/SafetyEnvironmentCreator.cpp)
add_executable(SampleConstraintPlanner src/samples/SampleConstraintPlanner.cpp) add_executable(SampleConstraintPlanner src/samples/SampleConstraintPlanner.cpp)
add_executable(SampleTimedCartesianPlanner src/samples/SampleTimedCartesianPlanner.cpp) add_executable(SampleTimedCartesianPlanner src/samples/SampleTimedCartesianPlanner.cpp)
...@@ -108,7 +104,6 @@ add_executable(MqttToRosNode src/MqttToRosNode.cpp ${PROTO_SRCS} ${PROTO_HDRS}) ...@@ -108,7 +104,6 @@ add_executable(MqttToRosNode src/MqttToRosNode.cpp ${PROTO_SRCS} ${PROTO_HDRS})
add_executable(MqttRosConnectionTestNode src/MqttRosConnectionTestNode.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_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(SafetyAwarePlanner ${catkin_LIBRARIES})
target_link_libraries(SampleConstraintPlanner ${catkin_LIBRARIES}) target_link_libraries(SampleConstraintPlanner ${catkin_LIBRARIES})
target_link_libraries(SampleTimedCartesianPlanner ${catkin_LIBRARIES}) target_link_libraries(SampleTimedCartesianPlanner ${catkin_LIBRARIES})
......
controller_plugins.xml deleted 100644 → 0
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<library path="lib/libpanda_simulation_controllers_lib">
<class name="panda_simulation/JointPositionController" type="panda_simulation::JointPositionController" base_class_type="controller_interface::ControllerBase" />
</library>
\ No newline at end of file
launch/simulation_constraint.launch deleted 100644 → 0
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<launch>
<param name="robot_description" command="$(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>
launch/simulation_rosrag.launch
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<launch> <launch>
<param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" /> <include file="$(find panda_simulation)/launch/simulation.launch"/>
<!-- 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="$(find panda_moveit_config)/launch/moveit_rviz.launch" /> <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
</group> <node name="rqt_console" pkg="rqt_console" type="rqt_console" />
<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> </launch>
launch/simulation_rosrag_test.launch
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<launch> <launch>
<param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" /> <include file="$(find panda_simulation)/launch/simulation.launch"/>
<!-- 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="$(find panda_moveit_config)/launch/moveit_rviz.launch" /> <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
</group> <node name="rqt_console" pkg="rqt_console" type="rqt_console" />
<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> </launch>
package.xml
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View file @ 1d2cfeb6
<?xml version="1.0"?> <?xml version="1.0"?>
<package format="2"> <package format="2">
<name>panda_simulation</name> <name>panda_mqtt_connector</name>
<version>0.2.0</version> <version>0.1.0</version>
<description>The panda_simulation package</description> <description>MQTT control interface for the Franka Emika Panda robot</description>
<!-- One maintainer tag required, multiple allowed, one person per tag --> <!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: --> <!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> <!-- <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 --> <!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: --> <!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license> <license>BSD</license>
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
......
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