rework of master

.devcontainer/Dockerfile

-FROM osrf/ros:melodic-desktop-full-bionic
-
-RUN apt-get update && apt-get install -q -y \
-    openssh-client
-
-RUN echo 'source /opt/ros/melodic/setup.bash' >> /root/.bashrc
\ No newline at end of file

.devcontainer/devcontainer.json

-{
-    "name": "panda_simulation-dev",
-    "dockerFile": "Dockerfile",
-    "extensions": [
-        "ms-vscode.cpptools",
-        "ms-iot.vscode-ros"
-    ],
-    "runArgs": [
-        "--cap-add=SYS_PTRACE",
-        "--security-opt",
-        "seccomp=unconfined",
-        "-v",
-        "${env:HOME}${env:USERPROFILE}/.ssh:/root/.ssh"
-    ],
-    "settings": {
-        "terminal.integrated.shell.linux": "/bin/bash"
-    },
-    "postCreateCommand": "bash /catkin_ws/src/panda_simulation/scripts/docker-setup.sh",
-    "workspaceMount": "src=/Users/pekel/code/ros/panda_simulation,dst=/catkin_ws/src/panda_simulation,type=bind,consistency=cached",
-    "workspaceFolder": "/catkin_ws"
-}
\ No newline at end of file

README.md

@@ -2,60 +2,9 @@
 
 ![Panda in Gazebo](assets/panda-in-gazebo.png?raw=true "Panda in Gazebo")
 
-This package was written for ROS melodic running under Ubuntu 18.04. Run the following commands to make sure that all additional packages are installed:
-
-```
-mkdir -p catkin_ws/src
-cd catkin_ws/src
-git clone https://github.com/erdalpekel/panda_simulation.git
-git clone https://github.com/erdalpekel/panda_moveit_config.git
-git clone --branch simulation https://github.com/erdalpekel/franka_ros.git
-cd ..
-sudo apt-get install libboost-filesystem-dev
-rosdep install --from-paths src --ignore-src -y --skip-keys libfranka
-cd ..
-```
-It is also important that you build the *libfranka* library from source and pass its directory to *catkin_make*  when building this ROS package as described in [this tutorial](https://frankaemika.github.io/docs/installation.html#building-from-source).
-
-Currently it includes a controller parameter config file and a launch file to launch the [Gazebo](http://gazebosim.org) simulation environment and the Panda robot from FRANKA EMIKA in it with the necessary controllers.
-
-Build the catkin workspace and run the simulation:
-```
-catkin_make -j4 -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=/path/to/libfranka/build
-source devel/setup.bash
-roslaunch panda_simulation simulation.launch
-```
-
-Depending on your operating systems language you might need to export the numeric type so that rviz can read the floating point numbers in the robot model correctly:
+This package was written for ROS melodic running under Ubuntu 18.04. Depending on your operating systems language you might need to export the numeric type so that rviz can read the floating point numbers in the robot model correctly:
 
 ```
 export LC_NUMERIC="en_US.UTF-8"
 ```
 Otherwise, the robot will appear in rviz in a collapsed state.
\ No newline at end of file
-
-
-You can see the full explanation in my [blog post](https://erdalpekel.de/?p=55).
-
-## Changelog:
-
-   [_MoveIt!_ constraint-aware planning](https://erdalpekel.de/?p=123)
-
-   This repository was extended with a ROS node that communicates with the _MoveIt!_ Planning Scene API. It makes sure that the motion planning pipeline avoids collision objects in the environment specified by the user in a separate directory (`~/.panda_simulation`) as _json_ files.
-
-   [Publishing a box at Panda's hand in _Gazebo_](https://erdalpekel.de/?p=123)
-
-   This repository was extended with a node that publishes a simple box object in the _Gazebo_ simulation at the hand of the robot. The position of this box will get updated as soon as the robot moves.
-
-   [Visual Studio Code Remote Docker](https://erdalpekel.de/?p=123)
-
-   I have added configuration files and additional setup scripts for developing and using this ROS package within a *Docker* container. Currently user interfaces for Gazebo and RViz are not supported.
-
-   [Position based trajectory execution](https://erdalpekel.de/?p=285)
-
-   The joint specifications in Gazebo were changed from an effort interface to position based interface. Furthermore, the PID controller was substituted with the simple gazebo internal position based control mechanism for a more stable movement profile of the robot. A custom joint position based controller was implemented in order to set the initial joint states of the robot to a valid configuration.
-
-   [Automatic robot state initialization](https://erdalpekel.de/?p=314)
-
-   A separate ROS node was implemented that starts a custom joint position controller and initializes the robot with a specific configuration. It switches back to the default controllers after the robot reaches the desired state.
-
-![Panda state initialization in Gazebo](assets/robot-state-initializer.gif?raw=true "Panda state initialization in Gazebo")
\ No newline at end of file

package.xml

@@ -7,7 +7,7 @@
   <!-- 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="st@todo.todo">ST-Chair</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->

scripts/docker-setup.sh

-#!/bin/bash
-
-REPOSITORY_DIR=$(pwd)
-WORKSPACE_DIR=/catkin_ws
-DEPENDENCIES_DIR=$WORKSPACE_DIR/dependencies
-APP_DIR=/root/.panda_simulation
-
-# Install libfranka
-mkdir $DEPENDENCIES_DIR && cd $DEPENDENCIES_DIR
-git clone --recursive https://github.com/frankaemika/libfranka
-cd libfranka
-git checkout 0.5.0
-git submodule update
-mkdir build && cd build
-cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=0 ..
-cmake --build . -- -j$(nproc)
-
-# Clone the franka_ros and panda_moveit_config repositories for simulating Panda robot
-cd $WORKSPACE_DIR/src
-git clone https://github.com/erdalpekel/panda_moveit_config.git
-git clone --branch simulation https://github.com/erdalpekel/franka_ros.git
-
-# Install package dependencies with rosdep
-cd $WORKSPACE_DIR
-rosdep install --from-paths src --ignore-src -y --skip-keys libfranka --skip-keys moveit_perception
-
-# Clone the Visual-Studio-Code-ROS repository into the workspace directory /catkin_ws
-cd $WORKSPACE_DIR
-git clone git@github.com:erdalpekel/Visual-Studio-Code-ROS.git
-mv Visual-Studio-Code-ROS .vscode
-
-# create app directory for config files
-mkdir $APP_DIR
\ No newline at end of file