initial commit

.gitignore

+cmake-build-debug
+.catkin_tools/
+.catkin_workspace
+build/
+devel/
+logs/
+src/.idea
+src/CMakeLists.txt

README.md

+# A Complete Panda Gazebo Workspace
+
+## Requirements
+
+- Ubuntu 18.4
+- ROS Melodic
+
+## Installation
+
+- clone the repo `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git`
+- change into the workspace `cd panda_gazebo_workspace`
+- install ROS package dependencies `rosdep install --from-paths .`
+- build the workspace `catkin build`
+- source the config: depending on your shell
+    - `source devel/setup.bash` (default)
+    - `source devel/setup.sh`
+    - `source devel/setup.zsh`
+- run the simulation `roslaunch panda_simulation simulation.launch`
+
+
+

src/franka_description/.ci/Dockerfile.kinetic

+FROM osrf/ros:kinetic-desktop-xenial
+RUN apt-get update && apt-get install -y \
+    clang-6.0 \
+    clang-format-6.0 \
+    clang-tidy-6.0 \
+    ros-kinetic-ros-control \
+    && rm -rf /var/lib/apt/lists/*

src/franka_description/.ci/Dockerfile.melodic

+FROM osrf/ros:melodic-desktop-bionic
+RUN apt-get update && apt-get install -y \
+    clang-6.0 \
+    clang-format-6.0 \
+    clang-tidy-6.0 \
+    ros-melodic-ros-control \
+    && rm -rf /var/lib/apt/lists/*

src/franka_description/.ci/debug.sh

+#!/bin/sh
+
+set -e
+set -x
+
+rm -f src/CMakeLists.txt
+catkin_init_workspace src
+
+rm -rf build-debug
+mkdir build-debug
+cd build-debug
+
+cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ../src
+. devel/setup.sh
+
+cmake --build .
+cmake --build . --target tests
+ctest -V
+
+cmake --build . --target check-format
+cmake --build . --target check-tidy

src/franka_description/.clang-format

+BasedOnStyle: Chromium
+Standard: Cpp11
+SortIncludes: true
+ColumnLimit: 100

src/franka_description/.clang-tidy

+Checks: 'clang-diagnostic-*,clang-analyzer-*,-clang-analyzer-optin.cplusplus.VirtualCall,-clang-analyzer-alpha*,google-*,misc-*,readability-*,modernize-*,performance-*,-clang-diagnostic-deprecated-declarations,-modernize-pass-by-value,-clang-diagnostic-reinterpret-base-class,-clang-diagnostic-return-type,-clang-diagnostic-switch'
+HeaderFilterRegex: '^franka_.*'
+CheckOptions:
+# Classes, structs, ...
+  - key:    readability-identifier-naming.NamespaceCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ClassCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.StructCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.EnumCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.UnionCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.TypedefCase
+    value:  CamelCase
+
+# Variables, member variables, ...
+  - key:    readability-identifier-naming.ParameterCase
+    value:  lower_case
+  - key:    readability-identifier-naming.VariableCase
+    value:  lower_case
+  - key:    readability-identifier-naming.MemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.PublicMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ProtectedMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.PrivateMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.PrivateMemberSuffix
+    value:  _
+
+# Functions, methods, ...
+  - key:    readability-identifier-naming.FunctionCase
+    value:  camelBack
+  - key:    readability-identifier-naming.MethodCase
+    value:  camelBack
+
+# Constants
+  - key:    readability-identifier-naming.ConstantPrefix
+    value:  k
+  - key:    readability-identifier-naming.ConstantCase
+    value:  CamelCase
+  - key:    readability-identifier-naming.ConstantMemberPrefix
+    value:  ''
+  - key:    readability-identifier-naming.ConstantMemberCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ConstantParameterCase
+    value:  lower_case
+  - key:    readability-identifier-naming.ConstantParameterPrefix
+    value:  ''

src/franka_description/.gitignore

+.idea/

src/franka_description/.travis.yml

+sudo: required
+language: none
+
+services:
+  - docker
+
+matrix:
+  include:
+    - env: CI_ROS=kinetic
+    - env: CI_ROS=melodic
+
+before_script:
+  - mkdir -p ~/workspace/catkin_ws/src
+  - |
+    cd ~/workspace
+    git clone https://github.com/frankaemika/libfranka.git
+    cd libfranka
+    git checkout ${TRAVIS_PULL_REQUEST_BRANCH:-${TRAVIS_BRANCH}} || git checkout develop
+    git submodule update --init --recursive
+  - |
+    cd ~/workspace
+    docker build -t worker -f $TRAVIS_BUILD_DIR/.ci/Dockerfile.$CI_ROS $TRAVIS_BUILD_DIR/.ci
+    ln -sf $TRAVIS_BUILD_DIR catkin_ws/src/franka_ros
+
+script:
+  - docker run
+    -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR
+    -v ~/workspace:/workspace
+    worker /bin/sh -c '
+      cd /workspace/libfranka &&
+      .ci/libonly.sh &&
+      export CMAKE_PREFIX_PATH="/workspace/libfranka/build-libonly:$CMAKE_PREFIX_PATH" &&
+      cd /workspace/catkin_ws &&
+      src/franka_ros/.ci/debug.sh
+    '

src/franka_description/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(franka_description)
+
+find_package(catkin REQUIRED)
+catkin_package(CATKIN_DEPENDS xacro)
+
+install(DIRECTORY meshes
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY robots
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

src/franka_description/LICENSE

+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
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+      Work and such Derivative Works in Source or Object form.
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+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS

src/franka_description/NOTICE

+franka_ros
+
+Copyright 2017 Franka Emika GmbH
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

src/franka_description/README.md

+# ROS integration for Franka Emika research robots
+
+See the [Franka Control Interface (FCI) documentation][fci-docs] for more information.
+
+## License
+
+All packages of `franka_ros` are licensed under the [Apache 2.0 license][apache-2.0].
+
+[apache-2.0]: https://www.apache.org/licenses/LICENSE-2.0.html
+[fci-docs]: https://frankaemika.github.io/docs
+[travis-status]: https://travis-ci.org/frankaemika/franka_ros.svg?branch=kinetic-devel
+[travis]: https://travis-ci.org/frankaemika/franka_ros

src/franka_description/mainpage.dox

+/**
+ * @mainpage
+ * @htmlinclude "manifest.html"
+ *
+ * Overview page for Franka Emika research robots: https://frankaemika.github.io
+ */