Revert "Merge pull request #13 from kth-ros-pkg/egm_modifications"

revertin merge into master. PR is now in branch feature-egm (hopefully) This reverts commit e3b71a8, reversing changes made to f4a6680.
OrebroUniversity · Jul 7, 2017 · 21833bb · 21833bb
1 parent e3b71a8
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diff --git a/.gitignore b/.gitignore
@@ -38,7 +38,7 @@ build
 *.urdf
 *.dae
 .stl
-# *.zip
+*.zip
 *.a
 *.dll
 *.lib
@@ -67,9 +67,6 @@ CVS/*
 
 # Other files
 working/
-
-yumi_hw/docs/
-
 Status API Training Shop Blog About
 © 2014 GitHub, Inc. Terms Privacy Security Contact
 
diff --git a/gazebo_mimic/CHANGELOG.rst b/gazebo_mimic/CHANGELOG.rst
@@ -0,0 +1,12 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package gazebo_mimic
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.4 (2017-01-12)
+------------------
+
+0.0.2 (2017-01-10)
+------------------
+* fix for backcompatibility with gazebo
+* the mimic plugin that we probably forgot to commit long time ago
+* Contributors: Todor Stoyanov
diff --git a/gazebo_mimic/package.xml b/gazebo_mimic/package.xml
@@ -4,11 +4,11 @@
   <version>0.0.4</version>
   <description>The gazebo_mimic package</description>
 
-  <maintainer email="yoshua.nava@kth.se">Yoshua Nava</maintainer>
+  <maintainer email="robert.krug@oru.se">Robert Krug</maintainer>
 
   <license>BSD</license>
 
-  <author email="yoshua.nava@kth.se">Yoshua Nava</author>
+  <author email="robert.krug@oru.se">Robert Krug</author>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>gazebo_ros</build_depend>

diff --git a/yumi_control/config/traj_controllers.yaml → yumi_control/config/controllers.yaml b/yumi_control/config/traj_controllers.yaml → yumi_control/config/controllers.yaml
@@ -3,30 +3,8 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 500
 
-  # Motivation for the extra joints added to the joint_state_controller: https://github.com/ros-controls/ros_controllers/issues/87
-  extra_joints:
-    - name: gripper_r_joint
-      position: 0.0
-    - name: gripper_l_joint
-      position: 0.0
-
-
-# Effort gripper position controllers ---------------------------------------
-gripper_effort_pos_controller_r:
-  type: effort_controllers/JointPositionController
-  joint: gripper_r_joint
-  pid: {p: 0.1, i: 0.01, d: 0.1, i_clamp_min: -1, i_clamp_max: 1}
-
-gripper_effort_pos_controller_l:
-  type: effort_controllers/JointPositionController
-  joint: gripper_l_joint
-  pid: {p: 0.1, i: 0.01, d: 0.1, i_clamp_min: -1, i_clamp_max: 1}
-
-
-
-
-# Joint Trajectory Position Controlles ----------------------------------------
-joint_traj_pos_controller_l:
+# Joint Trajectory Position Controller ----------------------------------------
+joint_trajectory_pos_controller:
   type: "position_controllers/JointTrajectoryController"
   joints:
     - yumi_joint_1_l
@@ -36,10 +14,6 @@ joint_traj_pos_controller_l:
     - yumi_joint_4_l
     - yumi_joint_5_l
     - yumi_joint_6_l
-
-joint_traj_pos_controller_r:
-  type: "position_controllers/JointTrajectoryController"
-  joints:
     - yumi_joint_1_r
     - yumi_joint_2_r
     - yumi_joint_7_r
@@ -48,9 +22,8 @@ joint_traj_pos_controller_r:
     - yumi_joint_5_r
     - yumi_joint_6_r
 
-
 # Joint Trajectory Velocity Controller ----------------------------------------
-joint_traj_vel_controller_l:
+joint_trajectory_vel_controller:
   type: "velocity_controllers/JointTrajectoryController"
   joints:
     - yumi_joint_1_l
@@ -60,20 +33,6 @@ joint_traj_vel_controller_l:
     - yumi_joint_4_l
     - yumi_joint_5_l
     - yumi_joint_6_l
-  gains:
-    yumi_joint_1_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
-    yumi_joint_2_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
-    yumi_joint_7_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
-    yumi_joint_3_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
-    yumi_joint_4_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
-    yumi_joint_5_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
-    yumi_joint_6_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
-
-
-
-joint_traj_vel_controller_r:
-  type: "velocity_controllers/JointTrajectoryController"
-  joints:
     - yumi_joint_1_r
     - yumi_joint_2_r
     - yumi_joint_7_r
@@ -82,6 +41,13 @@ joint_traj_vel_controller_r:
     - yumi_joint_5_r
     - yumi_joint_6_r
   gains:
+    yumi_joint_1_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_2_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_7_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_3_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_4_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_5_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
+    yumi_joint_6_l: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
     yumi_joint_1_r: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
     yumi_joint_2_r: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}
     yumi_joint_7_r: {p: 1.5,  d: 0, i: 0.002, i_clamp: 0.1}

diff --git a/yumi_control/config/gripper_controllers.yaml b/yumi_control/config/gripper_controllers.yaml
diff --git a/yumi_control/config/velocity_controllers.yaml b/yumi_control/config/velocity_controllers.yaml
diff --git a/yumi_control/package.xml b/yumi_control/package.xml
@@ -4,11 +4,11 @@
   <version>0.0.4</version>
   <description>The yumi_control package</description>
 
-  <maintainer email="yoshua.nava@kth.se">Yoshua Nava</maintainer>
+  <maintainer email="robert.krug@oru.se">Robert Krug</maintainer>
 
   <license>BSD</license>
 
-  <author email="yoshua.nava@kth.se">Yoshua Nava</author>
+  <author email="robert.krug@oru.se">Robert Krug</author>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>gazebo_ros</build_depend>

diff --git a/yumi_description/CHANGELOG.rst b/yumi_description/CHANGELOG.rst
@@ -0,0 +1,13 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package yumi_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.4 (2017-01-12)
+------------------
+
+0.0.2 (2017-01-10)
+------------------
+* Add coarser meshes.
+* Add exec_depend on xacro.
+* skeleton of the yumi_description package
+* Contributors: Maarten de Vries, Robert Krug, Todor Stoyanov 
diff --git a/...description/urdf/Gazebo/gazebo.urdf.xacro → yumi_description/gazebo/gazebo.urdf.xacro b/...description/urdf/Gazebo/gazebo.urdf.xacro → yumi_description/gazebo/gazebo.urdf.xacro
diff --git a/yumi_description/yumi.rviz → yumi_description/launch/yumi.rviz b/yumi_description/yumi.rviz → yumi_description/launch/yumi.rviz
diff --git a/yumi_description/launch/yumi_description.launch b/yumi_description/launch/yumi_description.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- this argument you can pass this launch file-->
+  <arg name="hardware_interface" default="PositionJointInterface"/>
+
+ <!-- Load the URDF with the given hardware interface into the ROS Parameter Server -->
+  <param name="robot_description"
+	 command="$(find xacro)/xacro.py '$(find yumi_description)/urdf/yumi.urdf.xacro' prefix:=$(arg hardware_interface)" />
+
+  <!-- send fake joint values -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="TRUE"/>
+  </node>
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+
+  <!-- Show in Rviz   -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find yumi_description)/launch/yumi.rviz"/>
+
+</launch>
diff --git a/yumi_description/launch/yumi_rviz.launch b/yumi_description/launch/yumi_rviz.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- this argument you can pass this launch file-->
+  <arg name="hardware_interface" default="EffortJointInterface"/>
+
+ <!-- Load the URDF with the given hardware interface into the ROS Parameter Server -->
+  <param name="robot_description"
+	 command="$(find xacro)/xacro.py '$(find yumi_description)/urdf/yumi.urdf.xacro' prefix:=$(arg hardware_interface)" />
+
+  <!-- send fake joint values -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="TRUE"/>
+  </node>
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+
+  <!-- Show in Rviz   -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find yumi_description)/launch/yumi.rviz"/>
+
+</launch>
diff --git a/yumi_description/package.xml b/yumi_description/package.xml
@@ -4,11 +4,11 @@
   <version>0.0.4</version>
   <description>The yumi_description package</description>
 
-  <maintainer email="yoshua.nava@kth.se">Yoshua Nava</maintainer>
+  <maintainer email="robert.krug@oru.se">Robert Krug</maintainer>
 
   <license>BSD</license>
 
-  <author email="yoshua.nava@kth.se">Yoshua Nava</author>
+  <author email="robert.krug@oru.se">Robert Krug</author>
 
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>xacro</exec_depend>

diff --git a/yumi_description/urdf/Util/materials.xacro → yumi_description/urdf/materials.xacro b/yumi_description/urdf/Util/materials.xacro → yumi_description/urdf/materials.xacro
diff --git a/yumi_description/urdf/Util/utilities.xacro → yumi_description/urdf/utilities.xacro b/yumi_description/urdf/Util/utilities.xacro → yumi_description/urdf/utilities.xacro
diff --git a/...description/urdf/Gazebo/yumi.gazebo.xacro → yumi_description/urdf/yumi.gazebo.xacro b/...description/urdf/Gazebo/yumi.gazebo.xacro → yumi_description/urdf/yumi.gazebo.xacro
@@ -4,7 +4,7 @@
 
   <xacro:macro name="yumi_gazebo" params="name">
 
-    <!-- Gazebo reference frame -->
+    <!-- body -->
     <gazebo reference="${name}_body">
       <material>Gazebo/Ivory</material>
       <mu1>0.2</mu1>

diff --git a/yumi_description/urdf/yumi.urdf.xacro b/yumi_description/urdf/yumi.urdf.xacro
@@ -1,31 +1,31 @@
 <?xml version="1.0"?>
 <robot name="yumi" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <!-- Import Rviz colors -->
-  <xacro:include filename="$(find yumi_description)/urdf/Util/materials.xacro" />
+  <xacro:include filename="$(find yumi_description)/urdf/materials.xacro" />
   <!-- Import utilities -->
-  <xacro:include filename="$(find yumi_description)/urdf/Util/utilities.xacro" />
+  <xacro:include filename="$(find yumi_description)/urdf/utilities.xacro" />
   <!--Import the yumi macro -->
   <xacro:include filename="$(find yumi_description)/urdf/yumi.xacro"/>
   <!--Import the yumi servo gripper macro -->
-  <xacro:include filename="$(find yumi_description)/urdf/Grippers/yumi_servo_gripper.xacro"/>
-  <!-- Import Gazebo plugins -->
-  <xacro:include filename="$(find yumi_description)/urdf/Gazebo/gazebo.urdf.xacro"/>
+  <xacro:include filename="$(find yumi_description)/urdf/yumi_servo_gripper.xacro"/>
+ <!-- Import Gazebo plugins -->
+  <xacro:include filename="$(find yumi_description)/gazebo/gazebo.urdf.xacro"/>
 
   <!-- Fix to world just for testing -->
   <link name="world"/>
 
   <!--yumi-->
-  <xacro:yumi name="yumi" hardware_interface="hardware_interface/$(arg arms_interface)" parent="world">
+  <xacro:yumi name="yumi" hardware_interface="$(arg prefix)" parent="world">
     <origin xyz="0 0 0.1" rpy="0 0 0" />
   </xacro:yumi>
 
   <!--right gripper-->
-  <xacro:yumi_servo_gripper name="gripper_r" hardware_interface="hardware_interface/$(arg grippers_interface)" parent="yumi_link_7_r">
+  <xacro:yumi_servo_gripper name="gripper_r" hardware_interface="$(arg prefix)" parent="yumi_link_7_r">
     <origin xyz="0 0 0.007" rpy="0 0 ${PI}" />
   </xacro:yumi_servo_gripper>
 
   <!--left gripper-->
-  <xacro:yumi_servo_gripper name="gripper_l" hardware_interface="hardware_interface/$(arg grippers_interface)" parent="yumi_link_7_l">
+  <xacro:yumi_servo_gripper name="gripper_l" hardware_interface="$(arg prefix)" parent="yumi_link_7_l">
     <origin xyz="0 0 0.007" rpy="0 0 ${PI}" />
   </xacro:yumi_servo_gripper>