From 1413afdec9ff58cd3120e162eff8566976dd43e0 Mon Sep 17 00:00:00 2001 From: srd-rd Date: Sat, 10 Mar 2018 12:40:48 +0100 Subject: [PATCH 01/10] Added several features needed for multi-robot scenarios, mostly args and if clauses. --- cob_bringup/components/cob4_base.launch | 3 ++- cob_bringup/components/raw3_base.launch | 2 ++ cob_bringup/components/ros_control_base.launch | 16 +++++++++++++--- cob_bringup/robot.launch | 4 +++- cob_bringup/robots/cob4-18.launch | 5 ++++- cob_bringup/robots/cob4-18.xml | 3 ++- cob_bringup/robots/raw3-3.launch | 4 +++- .../robots/cob4-18/config/base_controller.yaml | 1 + .../robots/raw3-3/config/base_controller.yaml | 1 + cob_hardware_config/upload_robot.launch | 3 ++- 10 files changed, 33 insertions(+), 9 deletions(-) create mode 120000 cob_hardware_config/robots/cob4-18/config/base_controller.yaml create mode 120000 cob_hardware_config/robots/raw3-3/config/base_controller.yaml diff --git a/cob_bringup/components/cob4_base.launch b/cob_bringup/components/cob4_base.launch index cbb0d89a9..30b0e56b8 100644 --- a/cob_bringup/components/cob4_base.launch +++ b/cob_bringup/components/cob4_base.launch @@ -5,6 +5,7 @@ + @@ -14,9 +15,9 @@ - + diff --git a/cob_bringup/components/raw3_base.launch b/cob_bringup/components/raw3_base.launch index 97f205ee5..6bb4573ea 100644 --- a/cob_bringup/components/raw3_base.launch +++ b/cob_bringup/components/raw3_base.launch @@ -5,6 +5,7 @@ + @@ -19,6 +20,7 @@ + diff --git a/cob_bringup/components/ros_control_base.launch b/cob_bringup/components/ros_control_base.launch index 36ada43dd..ba8d37a57 100644 --- a/cob_bringup/components/ros_control_base.launch +++ b/cob_bringup/components/ros_control_base.launch @@ -3,6 +3,7 @@ + @@ -37,9 +38,18 @@ - - - + + + + + + + + + + + + diff --git a/cob_bringup/robot.launch b/cob_bringup/robot.launch index 0e911fcee..99d2c2d44 100644 --- a/cob_bringup/robot.launch +++ b/cob_bringup/robot.launch @@ -1,12 +1,14 @@ - + + + diff --git a/cob_bringup/robots/cob4-18.launch b/cob_bringup/robots/cob4-18.launch index 0bbd51ca3..9a241b6e6 100644 --- a/cob_bringup/robots/cob4-18.launch +++ b/cob_bringup/robots/cob4-18.launch @@ -1,11 +1,14 @@ + - + + + diff --git a/cob_bringup/robots/cob4-18.xml b/cob_bringup/robots/cob4-18.xml index eb72aa1a9..842b824c8 100644 --- a/cob_bringup/robots/cob4-18.xml +++ b/cob_bringup/robots/cob4-18.xml @@ -1,11 +1,11 @@ - + @@ -55,6 +55,7 @@ + diff --git a/cob_bringup/robots/raw3-3.launch b/cob_bringup/robots/raw3-3.launch index b22fe8e53..b13e884e0 100644 --- a/cob_bringup/robots/raw3-3.launch +++ b/cob_bringup/robots/raw3-3.launch @@ -1,10 +1,12 @@ + + - + \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-18/config/base_controller.yaml b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml new file mode 120000 index 000000000..e3ab0fce0 --- /dev/null +++ b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml @@ -0,0 +1 @@ +/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/cob4_base_controller.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/raw3-3/config/base_controller.yaml b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml new file mode 120000 index 000000000..fdbaccdfa --- /dev/null +++ b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml @@ -0,0 +1 @@ +/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/raw3_base_controller.yaml \ No newline at end of file diff --git a/cob_hardware_config/upload_robot.launch b/cob_hardware_config/upload_robot.launch index f8f79aa36..8f81dc75b 100644 --- a/cob_hardware_config/upload_robot.launch +++ b/cob_hardware_config/upload_robot.launch @@ -2,9 +2,10 @@ + - + From e20725fb62fc114c87ade074a1987a69db4848a2 Mon Sep 17 00:00:00 2001 From: srd-rd Date: Sat, 10 Mar 2018 12:42:14 +0100 Subject: [PATCH 02/10] Changed absolut topic definitions in yamls to relative ones. --- cob_bringup/drivers/scan_unifier.launch | 1 - cob_bringup/tools/base_collision_observer.launch | 10 +++++----- cob_bringup/tools/battery_monitor.launch | 1 - .../robots/cob4-3/config/joint_state_publisher.yaml | 2 +- .../robots/raw3-3/config/joint_state_publisher.yaml | 2 +- 5 files changed, 7 insertions(+), 9 deletions(-) diff --git a/cob_bringup/drivers/scan_unifier.launch b/cob_bringup/drivers/scan_unifier.launch index f5fc1cbaf..e5306dfb9 100644 --- a/cob_bringup/drivers/scan_unifier.launch +++ b/cob_bringup/drivers/scan_unifier.launch @@ -8,7 +8,6 @@ - diff --git a/cob_bringup/tools/base_collision_observer.launch b/cob_bringup/tools/base_collision_observer.launch index 401858529..9fdb78692 100644 --- a/cob_bringup/tools/base_collision_observer.launch +++ b/cob_bringup/tools/base_collision_observer.launch @@ -7,14 +7,14 @@ - + - - + + - - + + diff --git a/cob_bringup/tools/battery_monitor.launch b/cob_bringup/tools/battery_monitor.launch index 20e49a83b..850d3bfc4 100644 --- a/cob_bringup/tools/battery_monitor.launch +++ b/cob_bringup/tools/battery_monitor.launch @@ -7,7 +7,6 @@ - diff --git a/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml index 7323d80b6..3b430422c 100644 --- a/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml +++ b/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml @@ -1,2 +1,2 @@ rate: 100 #Hz -source_list: [/base/joint_states] +source_list: [base/joint_states] diff --git a/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml b/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml index 7323d80b6..3b430422c 100644 --- a/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml +++ b/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml @@ -1,2 +1,2 @@ rate: 100 #Hz -source_list: [/base/joint_states] +source_list: [base/joint_states] From 5b51608964c50f1ca17746d38db15a51d8781313 Mon Sep 17 00:00:00 2001 From: srd-rd Date: Mon, 12 Mar 2018 16:34:41 +0100 Subject: [PATCH 03/10] Added multi-robot arg for missing launch files. --- cob_bringup/robot.launch | 2 ++ cob_bringup/robots/cob4-18.launch | 3 +++ cob_bringup/robots/raw3-3.launch | 2 ++ cob_bringup/robots/raw3-3.xml | 2 ++ 4 files changed, 9 insertions(+) diff --git a/cob_bringup/robot.launch b/cob_bringup/robot.launch index 99d2c2d44..2c3c12a6e 100644 --- a/cob_bringup/robot.launch +++ b/cob_bringup/robot.launch @@ -5,10 +5,12 @@ + + diff --git a/cob_bringup/robots/cob4-18.launch b/cob_bringup/robots/cob4-18.launch index 9a241b6e6..671d45d5e 100644 --- a/cob_bringup/robots/cob4-18.launch +++ b/cob_bringup/robots/cob4-18.launch @@ -3,12 +3,15 @@ + + + diff --git a/cob_bringup/robots/raw3-3.launch b/cob_bringup/robots/raw3-3.launch index b13e884e0..712de5669 100644 --- a/cob_bringup/robots/raw3-3.launch +++ b/cob_bringup/robots/raw3-3.launch @@ -3,10 +3,12 @@ + + \ No newline at end of file diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml index 1d15e92b1..a967a8123 100644 --- a/cob_bringup/robots/raw3-3.xml +++ b/cob_bringup/robots/raw3-3.xml @@ -8,6 +8,7 @@ + @@ -54,6 +55,7 @@ + From b444342a27c3ae1a83f522fec13e5c50139c964a Mon Sep 17 00:00:00 2001 From: srd-rd Date: Mon, 12 Mar 2018 16:36:00 +0100 Subject: [PATCH 04/10] Changed max laser scan values to actual values. --- .../robots/cob4-18/config/base_laser_filter.yaml | 6 +++--- .../robots/raw3-3/config/base_laser_filter.yaml | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml index 3ac10129f..bd5152b72 100644 --- a/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml +++ b/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml @@ -2,6 +2,6 @@ scan_filter_chain: - name: range type: LaserScanRangeFilter params: - use_message_range_limits: false - upper_threshold: 10.0 - upper_replacement_value: 10.0 + use_message_range_limits: true + upper_threshold: 29.5 + upper_replacement_value: 29.5 diff --git a/cob_hardware_config/robots/raw3-3/config/base_laser_filter.yaml b/cob_hardware_config/robots/raw3-3/config/base_laser_filter.yaml index 3ac10129f..bd5152b72 100644 --- a/cob_hardware_config/robots/raw3-3/config/base_laser_filter.yaml +++ b/cob_hardware_config/robots/raw3-3/config/base_laser_filter.yaml @@ -2,6 +2,6 @@ scan_filter_chain: - name: range type: LaserScanRangeFilter params: - use_message_range_limits: false - upper_threshold: 10.0 - upper_replacement_value: 10.0 + use_message_range_limits: true + upper_threshold: 29.5 + upper_replacement_value: 29.5 From 73efc7326c81e70d3b58a67b1776ed38eaeac8e6 Mon Sep 17 00:00:00 2001 From: srd-rd Date: Thu, 31 May 2018 21:32:38 +0200 Subject: [PATCH 05/10] Changed height of laser scanner for raw3-3. --- .../robots/raw3-3/urdf/calibration_default.urdf.xacro | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro index a23375242..88e9f0633 100644 --- a/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro +++ b/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro @@ -6,7 +6,7 @@ - + @@ -14,7 +14,7 @@ - + From 2c045a448560cac9d3b4ff91cf8204f420620f78 Mon Sep 17 00:00:00 2001 From: srd-rd Date: Wed, 13 Jun 2018 21:49:55 +0200 Subject: [PATCH 06/10] Updated stuff for raw3-1 and ipp. --- cob_bringup/robots/raw3-1.launch | 7 +++--- cob_bringup/robots/raw3-1.xml | 2 ++ .../robots/raw3-1/config/base_controller.yaml | 1 + .../raw3-1/config/base_laser_filter.yaml | 6 ++--- .../raw3-1/config/joint_state_publisher.yaml | 2 +- .../urdf/calibration_default.urdf.xacro | 4 ++-- .../robots/raw3-1/urdf/raw3-1.urdf.xacro | 24 +++++++++---------- 7 files changed, 25 insertions(+), 21 deletions(-) create mode 120000 cob_hardware_config/robots/raw3-1/config/base_controller.yaml diff --git a/cob_bringup/robots/raw3-1.launch b/cob_bringup/robots/raw3-1.launch index 120c73ba7..40d20e556 100644 --- a/cob_bringup/robots/raw3-1.launch +++ b/cob_bringup/robots/raw3-1.launch @@ -1,13 +1,14 @@ + + - - - + + diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml index a2bb1f4ac..ce15abef7 100644 --- a/cob_bringup/robots/raw3-1.xml +++ b/cob_bringup/robots/raw3-1.xml @@ -8,6 +8,7 @@ + @@ -50,6 +51,7 @@ + diff --git a/cob_hardware_config/robots/raw3-1/config/base_controller.yaml b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml new file mode 120000 index 000000000..fdbaccdfa --- /dev/null +++ b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml @@ -0,0 +1 @@ +/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/raw3_base_controller.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml index 3ac10129f..bd5152b72 100644 --- a/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml +++ b/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml @@ -2,6 +2,6 @@ scan_filter_chain: - name: range type: LaserScanRangeFilter params: - use_message_range_limits: false - upper_threshold: 10.0 - upper_replacement_value: 10.0 + use_message_range_limits: true + upper_threshold: 29.5 + upper_replacement_value: 29.5 diff --git a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml index a13950e1e..db139f369 100644 --- a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml +++ b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml @@ -1,2 +1,2 @@ rate: 100 #Hz -source_list: [/base/joint_states, /arm/joint_states, /torso/joint_states] +source_list: [base/joint_states, arm/joint_states, torso/joint_states] diff --git a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro index 8ddffadc7..3895af3b4 100644 --- a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro +++ b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro @@ -6,7 +6,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro index 2362e469a..3ba0b091d 100644 --- a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro +++ b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro @@ -38,20 +38,20 @@ - - - + + + - - - + + + - - - + + + - - - + + + From d9745cb6b001635429d3c651d0d78bd1eb6f506d Mon Sep 17 00:00:00 2001 From: dietriro Date: Mon, 30 Jul 2018 15:38:40 +0200 Subject: [PATCH 07/10] Enbled tf prefix. --- .../tools/robot_state_publisher.launch | 9 +- .../cob4-18/config/joint_state_publisher.yaml | 2 +- .../robots/cob4-19/cob4-19.rviz | 1 + .../cob4-19/config/base_controller.yaml | 1 + .../robots/cob4-19/config/base_driver.yaml | 12 + .../cob4-19/config/base_laser_filter.yaml | 7 + .../cob4-19/config/base_laser_front.xml | 1 + .../cob4-19/config/base_laser_front.yaml | 1 + .../robots/cob4-19/config/base_laser_left.xml | 1 + .../cob4-19/config/base_laser_left.yaml | 1 + .../cob4-19/config/base_laser_right.xml | 1 + .../cob4-19/config/base_laser_right.yaml | 1 + .../cob4-19/config/battery_monitor.yaml | 7 + .../robots/cob4-19/config/bms.yaml | 1 + .../collision_velocity_filter_params.yaml | 1 + .../cob4-19/config/diagnostics_analyzers.yaml | 64 + .../cob4-19/config/docking_laser_filter.yaml | 1 + .../cob4-19/config/docking_linear_nav.yaml | 1 + .../cob4-19/config/docking_stations.yaml | 1 + .../config/emergency_stop_monitor.yaml | 9 + .../robots/cob4-19/config/flexisoft.yaml | 14 + .../config/footprint_observer_params.yaml | 1 + .../cob4-19/config/joint_state_publisher.yaml | 2 + .../robots/cob4-19/config/joy.yaml | 1 + .../robots/cob4-19/config/light_base.yaml | 1 + .../cob4-19/config/local_costmap_params.yaml | 1 + .../robots/cob4-19/config/ntp_monitor.yaml | 1 + .../cob4-19/config/pc_monitor_cob4-18-b1.yaml | 1 + .../cob4-19/config/pc_monitor_localhost.yaml | 1 + .../cob4-19/config/scan_unifier_filter.yaml | 1 + .../robots/cob4-19/config/teleop.yaml | 39 + .../cob4-19/config/twist_mux_locks.yaml | 1 + .../cob4-19/config/twist_mux_topics.yaml | 1 + .../cob4-19/config/velocity_smoother.yaml | 1 + .../urdf/calibration_default.urdf.xacro | 30 + .../robots/cob4-19/urdf/cob4-19.urdf.xacro | 32 + .../robots/cob4-19/urdf/properties.urdf.xacro | 33 + .../robots/cob4-19_tmp/cob4-19.rviz | 807 ++ .../cob4-19_tmp/config/base_driver.yaml | 12 + .../cob4-19_tmp/config/base_laser_filter.yaml | 7 + .../cob4-19_tmp/config/base_laser_front.xml | 6390 ++++++++++++++++ .../cob4-19_tmp/config/base_laser_front.yaml | 9 + .../cob4-19_tmp/config/base_laser_left.xml | 6522 +++++++++++++++++ .../cob4-19_tmp/config/base_laser_left.yaml | 9 + .../cob4-19_tmp/config/base_laser_right.xml | 6473 ++++++++++++++++ .../cob4-19_tmp/config/base_laser_right.yaml | 9 + .../cob4-19_tmp/config/battery_monitor.yaml | 13 + .../robots/cob4-19_tmp/config/bms.yaml | 119 + .../collision_velocity_filter_params.yaml | 19 + .../config/diagnostics_analyzers.yaml | 116 + .../config/docking_laser_filter.yaml | 12 + .../config/docking_linear_nav.yaml | 23 + .../cob4-19_tmp/config/docking_stations.yaml | 21 + .../config/emergency_stop_monitor.yaml | 19 + .../robots/cob4-19_tmp/config/flexisoft.yaml | 16 + .../config/footprint_observer_params.yaml | 8 + .../robots/cob4-19_tmp/config/head_cam.yaml | 5 + .../config/hz_monitor_head_cam.yaml | 4 + .../config/hz_monitor_sensorring_cam3d.yaml | 4 + .../config/hz_monitor_torso_cam3d_down.yaml | 4 + .../config/hz_monitor_torso_cam3d_left.yaml | 4 + .../config/hz_monitor_torso_cam3d_right.yaml | 4 + .../config/image_flip_params_head_cam.yaml | 23 + .../image_flip_params_sensorring_cam3d.yaml | 23 + .../image_flip_params_torso_cam3d_down.yaml | 23 + .../image_flip_params_torso_cam3d_left.yaml | 23 + .../image_flip_params_torso_cam3d_right.yaml | 23 + .../config/joint_state_publisher.yaml | 2 + .../robots/cob4-19_tmp/config/joy.yaml | 2 + .../robots/cob4-19_tmp/config/light_base.yaml | 9 + .../cob4-19_tmp/config/light_torso.yaml | 10 + .../config/local_costmap_params.yaml | 65 + .../cob4-19_tmp/config/ntp_monitor.yaml | 2 + .../cob4-19_tmp/config/pc_monitor_b1.yaml | 6 + .../cob4-19_tmp/config/pc_monitor_h1.yaml | 6 + .../config/pc_monitor_localhost.yaml | 3 + .../cob4-19_tmp/config/pc_monitor_s1.yaml | 6 + .../cob4-19_tmp/config/pc_monitor_t1.yaml | 6 + .../cob4-19_tmp/config/pc_monitor_t2.yaml | 6 + .../cob4-19_tmp/config/pc_monitor_t3.yaml | 6 + .../config/scan_unifier_config.yaml | 3 + .../config/sensorring_controller.yaml | 51 + .../cob4-19_tmp/config/sensorring_driver.yaml | 22 + .../robots/cob4-19_tmp/config/sound.yaml | 6 + .../robots/cob4-19_tmp/config/teleop.yaml | 59 + .../cob4-19_tmp/config/twist_mux_locks.yaml | 26 + .../cob4-19_tmp/config/twist_mux_topics.yaml | 43 + .../cob4-19_tmp/config/velocity_smoother.yaml | 23 + .../urdf/calibration_default.urdf.xacro | 99 + .../cob4-19_tmp/urdf/cob4-19.urdf.xacro | 91 + .../cob4-19_tmp/urdf/properties.urdf.xacro | 102 + .../raw3-1/config/joint_state_publisher.yaml | 2 +- 92 files changed, 21679 insertions(+), 5 deletions(-) create mode 120000 cob_hardware_config/robots/cob4-19/cob4-19.rviz create mode 120000 cob_hardware_config/robots/cob4-19/config/base_controller.yaml create mode 100644 cob_hardware_config/robots/cob4-19/config/base_driver.yaml create mode 100644 cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_front.xml create mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_left.xml create mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_right.xml create mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml create mode 100644 cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/bms.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml create mode 100644 cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/docking_stations.yaml create mode 100644 cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml create mode 100644 cob_hardware_config/robots/cob4-19/config/flexisoft.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml create mode 100644 cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/joy.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/light_base.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml create mode 100644 cob_hardware_config/robots/cob4-19/config/teleop.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml create mode 120000 cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml create mode 100644 cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro create mode 100644 cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro create mode 100644 cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro create mode 100644 cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_driver.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_filter.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.xml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_left.xml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_left.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.xml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml create mode 100644 cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro create mode 100644 cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro create mode 100644 cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro diff --git a/cob_bringup/tools/robot_state_publisher.launch b/cob_bringup/tools/robot_state_publisher.launch index 0773a17eb..00ce6cb11 100644 --- a/cob_bringup/tools/robot_state_publisher.launch +++ b/cob_bringup/tools/robot_state_publisher.launch @@ -3,12 +3,15 @@ + - + + + - - + + diff --git a/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml index 3b850eaab..9fb44b5de 100644 --- a/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml +++ b/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml @@ -1,2 +1,2 @@ rate: 100 #Hz -source_list: [/base/joint_states] \ No newline at end of file +source_list: [base/joint_states] \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/cob4-19.rviz b/cob_hardware_config/robots/cob4-19/cob4-19.rviz new file mode 120000 index 000000000..d27113391 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/cob4-19.rviz @@ -0,0 +1 @@ +../cob4/cob4_base.rviz \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_controller.yaml b/cob_hardware_config/robots/cob4-19/config/base_controller.yaml new file mode 120000 index 000000000..e3ab0fce0 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/base_controller.yaml @@ -0,0 +1 @@ +/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/cob4_base_controller.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_driver.yaml b/cob_hardware_config/robots/cob4-19/config/base_driver.yaml new file mode 100644 index 000000000..69bc1b0b9 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/base_driver.yaml @@ -0,0 +1,12 @@ +nodes: + fl_caster_rotation_joint: + dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) + "607C": "127621.5" # home offset + + b_caster_rotation_joint: + dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) + "607C": "9528.0" # home offset + + fr_caster_rotation_joint: + dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) + "607C": "-108166.0" # home offset diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml new file mode 100644 index 000000000..bd5152b72 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml @@ -0,0 +1,7 @@ +scan_filter_chain: + - name: range + type: LaserScanRangeFilter + params: + use_message_range_limits: true + upper_threshold: 29.5 + upper_replacement_value: 29.5 diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml new file mode 120000 index 000000000..f9704b51d --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml @@ -0,0 +1 @@ +../../cob4/config/base_laser_front.xml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml new file mode 120000 index 000000000..6312c8e47 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml @@ -0,0 +1 @@ +../../cob4/config/base_laser_front.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml new file mode 120000 index 000000000..c2d18d531 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml @@ -0,0 +1 @@ +../../cob4/config/base_laser_left.xml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml new file mode 120000 index 000000000..04690a3f0 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml @@ -0,0 +1 @@ +../../cob4/config/base_laser_left.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml new file mode 120000 index 000000000..4ad4535b7 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml @@ -0,0 +1 @@ +../../cob4/config/base_laser_right.xml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml new file mode 120000 index 000000000..dde5468a4 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml @@ -0,0 +1 @@ +../../cob4/config/base_laser_right.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml new file mode 100644 index 000000000..dc3b9085f --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml @@ -0,0 +1,7 @@ +threshold_warning: 20 # % of battery level +threshold_error: 10 # % of battery level +threshold_critical: 5 # % of battery level + +enable_light: false +enable_sound: false + diff --git a/cob_hardware_config/robots/cob4-19/config/bms.yaml b/cob_hardware_config/robots/cob4-19/config/bms.yaml new file mode 120000 index 000000000..f487e3f3d --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/bms.yaml @@ -0,0 +1 @@ +../../cob4/config/bms.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml b/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml new file mode 120000 index 000000000..3ec452ae8 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml @@ -0,0 +1 @@ +../../cob4/config/collision_velocity_filter_params.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml b/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml new file mode 100644 index 000000000..98138bf80 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml @@ -0,0 +1,64 @@ +pub_rate: 1.0 # Optional +base_path: '' # Optional, prepended to all diagnostic output +analyzers: + computers: + type: diagnostic_aggregator/AnalyzerGroup + path: Computers + analyzers: + b1: + type: diagnostic_aggregator/GenericAnalyzer + path: b1 + contains: '-b1' +# network: +# type: diagnostic_aggregator/AnalyzerGroup +# path: Network +# analyzers: +# wifi: +# type: diagnostic_aggregator/GenericAnalyzer +# path: wifi +# num_items: 1 +# expected: ['Wifi Status (ddwrt)'] + + io: + type: diagnostic_aggregator/AnalyzerGroup + path: IO + analyzers: + joystick: + type: diagnostic_aggregator/GenericAnalyzer + path: Joystick + contains: 'joy' + + sensors: + type: diagnostic_aggregator/AnalyzerGroup + path: Sensors + analyzers: + laser_top: + type: diagnostic_aggregator/GenericAnalyzer + path: Scan Front + contains: 'laser_front' + laser_rear: + type: diagnostic_aggregator/GenericAnalyzer + path: Scan Right + contains: 'laser_right' + laser_front: + type: diagnostic_aggregator/GenericAnalyzer + path: Scan Left + contains: 'laser_left' + battery: + type: diagnostic_aggregator/GenericAnalyzer + path: Battery Status + contains: 'bms' + + motors: + type: diagnostic_aggregator/AnalyzerGroup + path: Actuators + analyzers: + base: + type: diagnostic_aggregator/GenericAnalyzer + path: Base + contains: 'base/' + + safety: + type: diagnostic_aggregator/GenericAnalyzer + path: Safety + contains: 'safety' diff --git a/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml b/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml new file mode 120000 index 000000000..e17f566f0 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml @@ -0,0 +1 @@ +../../cob4/config/docking_laser_filter.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml b/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml new file mode 120000 index 000000000..c2da1fcdc --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml @@ -0,0 +1 @@ +../../cob4/config/docking_linear_nav.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml b/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml new file mode 120000 index 000000000..1ef4f7b97 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml @@ -0,0 +1 @@ +../../cob4/config/docking_stations.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml new file mode 100644 index 000000000..9ffab126a --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml @@ -0,0 +1,9 @@ +enable_light: true +light_components: ['light_base'] +color_ok: cyan + +enable_sound: false +sound_components: ['sound'] + +diagnostics_based: true +motion_based: true diff --git a/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml b/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml new file mode 100644 index 000000000..3c702c522 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml @@ -0,0 +1,14 @@ +port: "9100" # alternative syntax: !!str 9100 +odometry_timeout: 1.0 +threshold_linear_slow: 0.4 +threshold_linear_fast: 0.9 +threshold_angular_fast: 1.0 +marker_type: 11 # http://www.ros.org/wiki/rviz/DisplayTypes/Marker, not all are supported +scale_x: 1.0 +scale_y: 1.0 +scale_z: 1.0 +footprint_angular_slow: [[0.4,0.4], [-0.4,0.4], [-0.4,-0.4], [0.4,-0.4]] +footprint_angular_fast: [[0.5,0.5], [-0.5,0.5], [-0.5,-0.5], [0.5,-0.5]] +footprint_linear_slow: [[0.6,0.4], [-0.4,0.4], [-0.4,-0.4], [0.6,-0.4]] +footprint_linear_fast: [[0.8,0.4], [-0.4,0.4], [-0.4,-0.4], [0.8,-0.4]] + diff --git a/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml b/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml new file mode 120000 index 000000000..eb83c5a07 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml @@ -0,0 +1 @@ +../../cob4/config/footprint_observer_params.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml new file mode 100644 index 000000000..9fb44b5de --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml @@ -0,0 +1,2 @@ +rate: 100 #Hz +source_list: [base/joint_states] \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/joy.yaml b/cob_hardware_config/robots/cob4-19/config/joy.yaml new file mode 120000 index 000000000..cf1fd4981 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/joy.yaml @@ -0,0 +1 @@ +../../cob4/config/joy.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/light_base.yaml b/cob_hardware_config/robots/cob4-19/config/light_base.yaml new file mode 120000 index 000000000..1f02f87cb --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/light_base.yaml @@ -0,0 +1 @@ +../../cob4/config/light_base.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml b/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml new file mode 120000 index 000000000..a440aedc7 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml @@ -0,0 +1 @@ +../../cob4/config/local_costmap_params.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml new file mode 120000 index 000000000..41b6c297d --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml @@ -0,0 +1 @@ +../../cob4/config/ntp_monitor.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml b/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml new file mode 120000 index 000000000..43d2ce8dd --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml @@ -0,0 +1 @@ +../../cob4/config/pc_monitor_cob4-b1.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml b/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml new file mode 120000 index 000000000..2c1d202cf --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml @@ -0,0 +1 @@ +../../cob4/config/pc_monitor_localhost.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml b/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml new file mode 120000 index 000000000..4e20cd0c3 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml @@ -0,0 +1 @@ +../../cob4/config/scan_unifier_filter.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/teleop.yaml b/cob_hardware_config/robots/cob4-19/config/teleop.yaml new file mode 100644 index 000000000..70d7ca64c --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/teleop.yaml @@ -0,0 +1,39 @@ +#cob4-19 +########## +# common params +run_factor: 2.0 +apply_ramp: false +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 4 +mode_switch_button: 8 + +enable_light: false +light_action_name: /light_torso/set_light +enable_sound: false +sound_action_name: /sound/say + +# axes +axis_vx: 1 +axis_vy: 0 +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base +run_button: 7 + +components: { + base: { + twist_topic_name: '/base/twist_mux/command_teleop_joy', + twist_safety_topic_name: '/base/collision_velocity_filter/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] + } +} diff --git a/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml new file mode 120000 index 000000000..5a4acfd28 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml @@ -0,0 +1 @@ +../../cob4/config/twist_mux_locks.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml new file mode 120000 index 000000000..28072f136 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml @@ -0,0 +1 @@ +../../cob4/config/twist_mux_topics.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml b/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml new file mode 120000 index 000000000..5ce45e5b1 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml @@ -0,0 +1 @@ +../../cob4/config/velocity_smoother.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro new file mode 100644 index 000000000..aec33c740 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro new file mode 100644 index 000000000..b0c72b6e7 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro new file mode 100644 index 000000000..bbbc362c1 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz b/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz new file mode 100644 index 000000000..bfad9e9c9 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz @@ -0,0 +1,807 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + Splitter Ratio: 0.804714 + Tree Height: 843 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan Left +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + arm_left_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_6_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_7_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_6_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_7_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + arm_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_laser_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_finger_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_finger_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_grasp_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_finger_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_finger_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_grasp_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_center_link: + Alpha: 1 + Show Axes: false + Show Trail: false + sensorring_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensorring_cam3d_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + sensorring_cam3d_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensorring_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_cam3d_down_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_cam3d_down_link: + Alpha: 1 + Show Axes: false + Show Trail: false + torso_cam3d_down_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + torso_cam3d_left_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + torso_cam3d_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_cam3d_right_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + torso_cam3d_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_center_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: x + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 0; 255; 0 + Max Intensity: 10.454 + Min Color: 0; 255; 0 + Min Intensity: 0.227896 + Name: LaserScan Front + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.025 + Style: Spheres + Topic: /base_laser_front/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 255; 0 + Min Intensity: 0 + Name: LaserScan Left + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.025 + Style: Spheres + Topic: /base_laser_left/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan Right + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.025 + Style: Spheres + Topic: /base_laser_right/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Arrow Length: 0.3 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Name: PoseArray + Topic: /particlecloud + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Path dwa global + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/global_plan + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 255 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Path dwa local + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/local_plan + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 255; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Path tr global + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/TrajectoryPlannerROS/global_plan + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 255 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Path tr local + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/TrajectoryPlannerROS/local_plan + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /sound/marker + Name: SoundMarker + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /light_base/marker + Name: LightBaseMarker + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /light_torso/marker + Name: LightTorsoMarker + Namespaces: + color: true + Queue Size: 100 + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /torso_cam3d_down/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: TorsoCam3dDownImage + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /torso_cam3d_left_upright/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: TorsoCam3dLeftImage + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /torso_cam3d_right_upright/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: TorsoCam3dRightImage + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /sensorring_cam3d_upright/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: SensorringCam3dImage + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: TorsoCam3dDownPointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /torso_cam3d_down/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: TorsoCam3dLeftPointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /torso_cam3d_left/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: TorsoCam3dRightPointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /torso_cam3d_right/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: SensorringCam3dPointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /sensorring_cam3d/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/InteractiveMarkers + Enable Transparency: true + Enabled: false + Name: InteractiveTeleop + Show Axes: false + Show Descriptions: true + Show Visual Aids: false + Update Topic: /cob_interactive_teleop/update + Value: false + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Map + Topic: /map + Value: false + - Alpha: 1 + Class: rviz/GridCells + Color: 255; 0; 0 + Enabled: false + Name: Obstacles + Topic: /move_base/local_costmap/obstacles + Value: false + - Alpha: 1 + Class: rviz/GridCells + Color: 0; 0; 255 + Enabled: false + Name: Inflated Obstacles + Topic: /move_base/local_costmap/inflated_obstacles + Value: false + - Class: rviz/Axes + Enabled: false + Length: 1 + Name: Axes map origin + Radius: 0.1 + Reference Frame: map + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 19.5897 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.891724 + Y: -0.865633 + Z: 1.0872 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.509797 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.28313 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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about that in SICK-docu, but 0.025 is believable and looks good in rviz +scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms +inverted: false +scan_id: 8 +frame_id: /base_laser_right_link +publish_frequency: 12 +scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml new file mode 100644 index 000000000..74692decd --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml @@ -0,0 +1,13 @@ +threshold_warning: 20 # % of battery level +threshold_error: 10 # % of battery level +threshold_critical: 5 # % of battery level + +enable_light: true +num_leds: 72 +light_components: ['light_torso'] + +enable_sound: false +sound_components: [''] # use odp to verbalize + +sound_critical: "Meine Batterie ist leer. Bitte lade mich wieder auf." +sound_warning: "Meine Batterie is fast leer. Ich sollte demnächst wieder aufladen." diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml new file mode 100644 index 000000000..08c1aa632 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml @@ -0,0 +1,119 @@ +diagnostics: + - id: 0x01 + fields: + - name: "battery_empty" + offset: 0 + len: 2 + bit_mask: 0x01 + - name: "battery_almost_empty" + offset: 0 + len: 2 + bit_mask: 0x02 + - name: "charging_fet_active" + offset: 0 + len: 2 + bit_mask: 0x04 + - name: "discharging_fet_active" + offset: 0 + len: 2 + bit_mask: 0x08 + - name: "battery_learning" + offset: 0 + len: 2 + bit_mask: 0x10 + - name: "battery_discharging" + offset: 0 + len: 2 + bit_mask: 0x20 + - name: "battery_full" + offset: 0 + len: 2 + bit_mask: 0x40 + - name: "battery_charging" + offset: 0 + len: 2 + bit_mask: 0x80 + - id: 0x02 + fields: + - name: "current" + offset: 0 + len: 2 + is_signed: true + factor: 0.01 + unit: "A" + + - id: 0x03 + fields: + - name: "voltage" + offset: 0 + len: 2 + is_signed: false + factor: 0.01 + unit: "V" + + - id: 0x06 + fields: + - name: "remaining_capacity" + offset: 0 + len: 2 + is_signed: false + factor: 0.001 + unit: "Ah" + - name: "full_charge_capacity" + offset: 2 + len: 2 + is_signed: false + factor: 0.001 + unit: "Ah" + + - id: 0x04 + fields: + - name: "temperature" + offset: 0 + len: 2 + is_signed: true + factor: 0.1 + unit: "Celsius" + + - name: "temperature_cell_1" + offset: 2 + len: 2 + is_signed: true + factor: 0.1 + unit: "Celsius" + + - name: "temperature_cell_2" + offset: 4 + len: 2 + is_signed: true + factor: 0.1 + unit: "Celsius" + + - id: 0x05 + fields: + - name: "temperature_cell_3" + offset: 0 + len: 2 + is_signed: true + factor: 0.1 + unit: "Celsius" + + - name: "temperature_cell_4" + offset: 2 + len: 2 + is_signed: true + factor: 0.1 + unit: "Celsius" + + - name: "temperature_cell_5" + offset: 4 + len: 2 + is_signed: true + factor: 0.1 + unit: "Celsius" + +topics: ["current", "voltage", "remaining_capacity", "full_charge_capacity", "temperature", "battery_charging", "battery_full", "battery_learning", "battery_almost_empty"] + +can_device: "can1" +bms_id_to_poll: 0x200 +poll_frequency_hz: 20 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml new file mode 100644 index 000000000..eec43f73a --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml @@ -0,0 +1,19 @@ +#where to look for costmap parameters +costmap_parameter_source: "/local_costmap_node/costmap" #default "/local_costmap_node/costmap" + +#frequency at which the get_footprint service should be called +footprint_update_frequency: 0.5 + +#Parameters specifying slow down behaviour +pot_ctrl_vmax: 0.6 #default: 0.6 +pot_ctrl_vtheta_max: 0.6 #default: 0.8 +pot_ctrl_kv: 2.5 #damping default: 1.0 +pot_ctrl_kp: 3.0 #stiffness default: 2.0 +pot_ctrl_virt_mass: 0.5 #default: 0.8 +max_acceleration: [0.5, 0.5, 0.7] + +#Parameters specifying collision velocity filter +influence_radius: 2.0 #[m] distance from robot_center +obstacle_damping_dist: 1.0 # used as slow-down dist +stop_threshold: 0.1 #[m] +use_circumscribed_threshold: 0.5 #[rad/s] scan for obstacles in circumscribed radius of robot even when tube filter is enabled during fast rotations diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml new file mode 100644 index 000000000..3a3828e25 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml @@ -0,0 +1,116 @@ +pub_rate: 1.0 # Optional +base_path: '' # Optional, prepended to all diagnostic output +analyzers: + computers: + type: diagnostic_aggregator/AnalyzerGroup + path: Computers + analyzers: + b1: + type: diagnostic_aggregator/GenericAnalyzer + path: b1 + contains: '-b1' + t1: + type: diagnostic_aggregator/GenericAnalyzer + path: t1 + contains: '-t1' + t2: + type: diagnostic_aggregator/GenericAnalyzer + path: t2 + contains: '-t2' + t3: + type: diagnostic_aggregator/GenericAnalyzer + path: t3 + contains: '-t3' + s1: + type: diagnostic_aggregator/GenericAnalyzer + path: s1 + contains: '-s1' + h1: + type: diagnostic_aggregator/GenericAnalyzer + path: h1 + contains: '-h1' +# network: +# type: diagnostic_aggregator/AnalyzerGroup +# path: Network +# analyzers: +# wifi: +# type: diagnostic_aggregator/GenericAnalyzer +# path: wifi +# num_items: 1 +# expected: ['Wifi Status (ddwrt)'] + + io: + type: diagnostic_aggregator/AnalyzerGroup + path: IO + analyzers: + joystick: + type: diagnostic_aggregator/GenericAnalyzer + path: Joystick + contains: 'joy' + sound: + type: diagnostic_aggregator/GenericAnalyzer + path: Sound + contains: 'sound' + light: + type: diagnostic_aggregator/GenericAnalyzer + path: Light + contains: 'light' + + sensors: + type: diagnostic_aggregator/AnalyzerGroup + path: Sensors + analyzers: + laser_top: + type: diagnostic_aggregator/GenericAnalyzer + path: Scan Front + contains: 'laser_front' + laser_rear: + type: diagnostic_aggregator/GenericAnalyzer + path: Scan Right + contains: 'laser_right' + laser_front: + type: diagnostic_aggregator/GenericAnalyzer + path: Scan Left + contains: 'laser_left' + torso_cam3d_left: + type: diagnostic_aggregator/GenericAnalyzer + path: Torso Cam3d Left + contains: 'torso_cam3d_left' + torso_cam3d_right: + type: diagnostic_aggregator/GenericAnalyzer + path: Torso Cam3d Right + contains: 'torso_cam3d_right' + torso_cam3d_down: + type: diagnostic_aggregator/GenericAnalyzer + path: Torso Cam3d Down + contains: 'torso_cam3d_down' + sensorring_cam3d: + type: diagnostic_aggregator/GenericAnalyzer + path: Sensorring Cam3d + contains: 'sensorring_cam3d' + head_cam: + type: diagnostic_aggregator/GenericAnalyzer + path: Head Cam + contains: 'head_cam' + battery: + type: diagnostic_aggregator/GenericAnalyzer + path: Battery Status + contains: 'bms' + + motors: + type: diagnostic_aggregator/AnalyzerGroup + path: Actuators + analyzers: + base: + type: diagnostic_aggregator/GenericAnalyzer + path: Base + contains: 'base/' + sensorring: + type: diagnostic_aggregator/GenericAnalyzer + path: Torso + contains: 'sensorring/' + + safety: + type: diagnostic_aggregator/GenericAnalyzer + path: Safety + contains: 'safety' diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml new file mode 100644 index 000000000..2eefb887c --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml @@ -0,0 +1,12 @@ +scan_filter_chain: +- name: range + type: LaserScanRangeFilter + params: + lower_threshold: 0.005 + upper_threshold: 3.0 +- name: intensity + type: LaserScanIntensityFilter + params: + lower_threshold: 100 + upper_threshold: 100000 + disp_histogram: 0 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml new file mode 100644 index 000000000..7a457e21d --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml @@ -0,0 +1,23 @@ +#Parameters designing the potential field controller +#Translational part +kv: 2.50 #damping 2.50 +kp: 3.00 #stiffness 3.0 +virt_mass: 0.50 #0.50 +vmax: 0.09 #0.3 +goal_threshold: 0.02 #0.03 +speed_threshold: 0.02 #0.08 + +#Rotational part +kv_rot: 2.0 #damping 2.0 +kp_rot: 2.0 #stiffness 2.0 +virt_mass_rot: 0.50 #0.5 +vtheta_max: 0.3 # 0.3 +goal_threshold_rot: 0.06 #0.08 +speed_threshold_rot: 0.02 #0.08 + +#tf parameters +global_frame: odom_combined #/map +robot_frame: base_link #/base_link + +slow_down_distance: 0.25 #0.5[m] distance from robot_center to goal at which robot starts slowing down +goal_abortion_time: 5.0 #5.0[s] time until robot aborts goal due to obstacle diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml new file mode 100644 index 000000000..f4c0dd3a5 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml @@ -0,0 +1,21 @@ +stations: +- frame_id: station_charger + reflector_distance: 0.28 + approach_poses: [[-0.76, 0.0, 0.0], [-0.56, 0.0, 0.0], [-0.47, 0.0, -0.02]] # in frame_id coords + departure_poses: [[-0.8, 0.0, 0.0]] + stop_condition: + topic: '/power_state' + message_field: 'charging' + compare_value: True + +- frame_id: station_travel_box + reflector_distance: 0.95 + approach_poses: [[-2.20, 0.0, 0.0], [-0.6, 0.0, -0.035], [-0.38, 0.0, -0.035], [-0.312, 0.0, -0.035]] # in frame_id coords + departure_poses: [[-0.38, 0.0, -0.035], [-0.6, 0.0, -0.035], [-2.20, 0.0, 0.0]] # in frame_id coords + +distance_tolerance: 0.1 +intensity_lower_threshold: 200 +intensity_upper_threshold: 10000 +update_rate: 0.25 +dock_dist_threshold: 0.15 +undock_dist_threshold: 1.0 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml new file mode 100644 index 000000000..00e960e8b --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml @@ -0,0 +1,19 @@ +enable_light: true +light_components: ['light_base'] +color_ok: cyan + +enable_sound: true +sound_components: [''] # use odp to verbalize + +sound_em_ready_laser_released: "" +sound_em_ready_button_released: "Danke. Jetzt kann es weiter gehen." +sound_em_acknowledged: "" +sound_em_stop_laser_released: "" +sound_em_stop_button_released: "Danke. Jetzt kann es weiter gehen." +sound_em_stop_laser_issued: "" +sound_em_stop_button_issued: "Notausknopf gedrueckt. Bitte loese den Knopf wieder durch leichtes Drehen, falls keine Notsituation mehr besteht." +sound_em_stop_issued: "" +sound_em_unknown_issued: "" + +diagnostics_based: true +motion_based: true diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml new file mode 100644 index 000000000..651911d79 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml @@ -0,0 +1,16 @@ +port: "9100" # alternative syntax: !!str 9100 +odometry_timeout: 1.0 +threshold_linear_slow: 0.4 +threshold_linear_fast: 0.9 +threshold_angular_fast: 1.0 +marker_type: 11 # http://www.ros.org/wiki/rviz/DisplayTypes/Marker, not all are supported +scale_x: 1.0 +scale_y: 1.0 +scale_z: 1.0 +footprint_angular_slow: [[0.4,0.4], [-0.4,0.4], [-0.4,-0.4], [0.4,-0.4]] +footprint_angular_fast: [[0.5,0.5], [-0.5,0.5], [-0.5,-0.5], [0.5,-0.5]] +footprint_linear_slow: [[0.6,0.4], [-0.4,0.4], [-0.4,-0.4], [0.6,-0.4]] +footprint_linear_fast: [[0.8,0.4], [-0.4,0.4], [-0.4,-0.4], [0.8,-0.4]] +has_wireless_emstop: true +warn_for_wireless_bridged: false +warn_for_laser_bridged: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml new file mode 100644 index 000000000..c6ccb5d87 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml @@ -0,0 +1,8 @@ +# node from which initial footprint is read +footprint_source: /local_costmap_node/costmap + +# +robot_base_frame: /base_link +# frames to check for footprint adjustment +frames_to_check: /base_laser_front_link /base_laser_left_link /base_laser_right_link +epsilon: 0.01 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml new file mode 100644 index 000000000..d5871dadc --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml @@ -0,0 +1,5 @@ +video_device: "/dev/video0" +image_width: 2048 +image_height: 1536 +pixel_format: yuyv +framerate: 3.5 #at 2048x1536 3.6hz is maximum on hw diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml new file mode 100644 index 000000000..049433f55 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml @@ -0,0 +1,4 @@ +diagnostics_name: head_cam +topics: [/head_cam/camera_info] +hz: 3.5 +hzerror: 1 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml new file mode 100644 index 000000000..780d23e60 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml @@ -0,0 +1,4 @@ +diagnostics_name: sensorring_cam3d +topics: [/sensorring_cam3d/rgb/camera_info] +hz: 30 +hzerror: 5 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml new file mode 100644 index 000000000..f967de71e --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml @@ -0,0 +1,4 @@ +diagnostics_name: torso_cam3d_down +topics: [/torso_cam3d_down/rgb/camera_info] +hz: 30 +hzerror: 5 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml new file mode 100644 index 000000000..e6170fdc3 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml @@ -0,0 +1,4 @@ +diagnostics_name: torso_cam3d_left +topics: [/torso_cam3d_left/rgb/camera_info] +hz: 30 +hzerror: 5 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml new file mode 100644 index 000000000..a507b6d0a --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml @@ -0,0 +1,4 @@ +diagnostics_name: torso_cam3d_right +topics: [/torso_cam3d_right/rgb/camera_info] +hz: 30 +hzerror: 5 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml new file mode 100644 index 000000000..a8bed5e19 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml @@ -0,0 +1,23 @@ +# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) +# int +rotation_mode: 1 + +# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) +# double +rotation_angle: 0 + +# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) +# string +reference_frame: base_link + +# flip color image +# bool +flip_color_image: true + +# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) +# bool +flip_pointcloud: false + +# display warning if transformation not available +# bool +display_warnings: true diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml new file mode 100644 index 000000000..a9fcb8619 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml @@ -0,0 +1,23 @@ +# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) +# int +rotation_mode: 1 + +# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) +# double +rotation_angle: 0 + +# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) +# string +reference_frame: base_link + +# flip color image +# bool +flip_color_image: true + +# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) +# bool +flip_pointcloud: true + +# display warning if transformation not available +# bool +display_warnings: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml new file mode 100644 index 000000000..a9fcb8619 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml @@ -0,0 +1,23 @@ +# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) +# int +rotation_mode: 1 + +# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) +# double +rotation_angle: 0 + +# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) +# string +reference_frame: base_link + +# flip color image +# bool +flip_color_image: true + +# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) +# bool +flip_pointcloud: true + +# display warning if transformation not available +# bool +display_warnings: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml new file mode 100644 index 000000000..a9fcb8619 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml @@ -0,0 +1,23 @@ +# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) +# int +rotation_mode: 1 + +# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) +# double +rotation_angle: 0 + +# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) +# string +reference_frame: base_link + +# flip color image +# bool +flip_color_image: true + +# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) +# bool +flip_pointcloud: true + +# display warning if transformation not available +# bool +display_warnings: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml new file mode 100644 index 000000000..a9fcb8619 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml @@ -0,0 +1,23 @@ +# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) +# int +rotation_mode: 1 + +# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) +# double +rotation_angle: 0 + +# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) +# string +reference_frame: base_link + +# flip color image +# bool +flip_color_image: true + +# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) +# bool +flip_pointcloud: true + +# display warning if transformation not available +# bool +display_warnings: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml new file mode 100644 index 000000000..337d64a5c --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml @@ -0,0 +1,2 @@ +rate: 100 #Hz +source_list: [/base/joint_states, /sensorring/joint_states] diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml new file mode 100644 index 000000000..f07d1f5a0 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml @@ -0,0 +1,2 @@ +dev: /dev/joypad +deadzone: 0.12 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml new file mode 100644 index 000000000..e3806035b --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml @@ -0,0 +1,9 @@ +devicestring: /dev/ttyLED +devicedriver: stageprofi +baudrate: 38400 +num_leds: 3 +invert_output: false +pubmarker: true +marker_frame: /torso_base_link # marker will be publised at [0.5,0,0] with respect to marker_frame +startup_color: [0.0, 1.0, 0.5, 0.4] #rgba value +startup_mode: Static #possible values: None, Static, Breath, BreathColor, Flash, FadeColor diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml new file mode 100644 index 000000000..32950a61f --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml @@ -0,0 +1,10 @@ +devicestring: /dev/ttyLED +devicedriver: stageprofi +baudrate: 38400 +num_leds: 72 +led_offset: 5 +invert_output: false +pubmarker: true +marker_frame: /torso_center_link # marker will be publised at [0.5,0,0] with respect to marker_frame +startup_color: [0.0, 1.0, 0.5, 0.4] #rgba value +startup_mode: Breath #possible values: None, Static, Breath, BreathColor, Flash, FadeColor diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml new file mode 100644 index 000000000..3739a6259 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml @@ -0,0 +1,65 @@ +# global information +global_frame: /base_link +robot_base_frame: /base_footprint +update_frequency: 5.0 +publish_frequency: 5.0 + +# local map settings +static_map: false +rolling_window: true +width: 5.0 +height: 5.0 +resolution: 0.07 + +# footprint and range +footprint: [[0.43, 0.35], [0.43, -0.35], [-0.43, -0.35],[-0.43, 0.35]] #[m] +footprint_padding: 0.02 #[m] + +#layers +plugins: + +# The obstacle layer tracks the obstacles as read by the sensor data. The ObstacleCostmapPlugin marks and +# raytraces obstacles in two dimensions, while the VoxelCostmapPlugin does so in three dimensions. +- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} + + +obstacle_layer: + + # Definition of the sensors/observation sources + observation_sources: laser_scan_front laser_scan_left laser_scan_right + + # Parameters of the source: laser_scan_front + laser_scan_front: + sensor_frame: base_laser_front_link # The frame of the origin of the sensor, default: "" + topic: /base_laser_front/scan # The topic on which sensor data comes in for this source, default: source_name + data_type: LaserScan # The data type associated with the topic, default: "PointCloud" + marking: true # Whether or not this observation is used to mark obstacles, default: true + clearing: true # Whether or not this observation is used to clear out freespace, default: false + + # Parameters of the source: laser_scan_rear + laser_scan_left: + sensor_frame: base_laser_left_link # The frame of the origin of the sensor, default: "" + topic: /base_laser_left/scan # The topic on which sensor data comes in for this source, default: source_name + data_type: LaserScan # The data type associated with the topic, default: "PointCloud" + marking: true # Whether or not this observation is used to mark obstacles, default: true + clearing: true # Whether or not this observation is used to clear out freespace, default: false + + # Parameters of the source: laser_scan_front + laser_scan_right: + sensor_frame: base_laser_right_link # The frame of the origin of the sensor, default: "" + topic: /base_laser_right/scan # The topic on which sensor data comes in for this source, default: source_name + data_type: LaserScan # The data type associated with the topic, default: "PointCloud" + marking: true # Whether or not this observation is used to mark obstacles, default: true + clearing: true # Whether or not this observation is used to clear out freespace, default: false + + # The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters + obstacle_range: 3.0 + + # The default range in meters at which to raytrace out obstacles from the map using sensor data + raytrace_range: 3.0 + + # What map type to use. "voxel" or "costmap" are the supported types, with the difference between them being a 3D-view of the world vs. a 2D-view of the world + map_type: costmap + + # The maximum height in meters of a sensor reading considered valid. + max_obstacle_height: 2.0 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml new file mode 100644 index 000000000..4ada7cf49 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml @@ -0,0 +1,2 @@ +offset: 5000 #us +error_offset: 25000 #us diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml new file mode 100644 index 000000000..cf87289cb --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml @@ -0,0 +1,6 @@ +check_core_temps: False +check_ipmi_tool: False +enforce_clock_speed: False +num_cores: 4 +load1_threshold: 10 +load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml new file mode 100644 index 000000000..cf87289cb --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml @@ -0,0 +1,6 @@ +check_core_temps: False +check_ipmi_tool: False +enforce_clock_speed: False +num_cores: 4 +load1_threshold: 10 +load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml new file mode 100644 index 000000000..78df36053 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml @@ -0,0 +1,3 @@ +check_core_temps: False +check_ipmi_tool: False +enforce_clock_speed: False \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml new file mode 100644 index 000000000..cf87289cb --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml @@ -0,0 +1,6 @@ +check_core_temps: False +check_ipmi_tool: False +enforce_clock_speed: False +num_cores: 4 +load1_threshold: 10 +load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml new file mode 100644 index 000000000..cf87289cb --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml @@ -0,0 +1,6 @@ +check_core_temps: False +check_ipmi_tool: False +enforce_clock_speed: False +num_cores: 4 +load1_threshold: 10 +load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml new file mode 100644 index 000000000..cf87289cb --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml @@ -0,0 +1,6 @@ +check_core_temps: False +check_ipmi_tool: False +enforce_clock_speed: False +num_cores: 4 +load1_threshold: 10 +load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml new file mode 100644 index 000000000..cf87289cb --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml @@ -0,0 +1,6 @@ +check_core_temps: False +check_ipmi_tool: False +enforce_clock_speed: False +num_cores: 4 +load1_threshold: 10 +load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml new file mode 100644 index 000000000..be78cb830 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml @@ -0,0 +1,3 @@ +#Scan_unifier_config-parameters + +input_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"] diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml new file mode 100644 index 000000000..fa89d541a --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml @@ -0,0 +1,51 @@ +#all +joint_names: [sensorring_joint] + +## control_mode_adapter +max_command_silence: 0.5 + +## joint_state_controller +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +## joint trajectory controller +joint_trajectory_controller: + type: position_controllers/JointTrajectoryController + joints: + - sensorring_joint + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + sensorring_joint: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 + required_drive_mode: 7 + + +## position controller +joint_group_position_controller: + type: position_controllers/JointGroupPositionController + joints: + - sensorring_joint + required_drive_mode: 1 + +sensorring_joint_position_controller: + type: position_controllers/JointPositionController + joint: sensorring_joint + required_drive_mode: 1 + + +### velocity controller +### velicty controllers are not to be used with Elmo Devices as JointLimits are not considered! +#joint_group_velocity_controller: +# type: velocity_controllers/JointGroupVelocityController +# joints: +# - sensorring_joint +# required_drive_mode: 3 +# +#sensorring_joint_velocity_controller: +# type: velocity_controllers/JointVelocityController +# joint: sensorring_joint +# required_drive_mode: 3 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml new file mode 100644 index 000000000..604d329f5 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml @@ -0,0 +1,22 @@ +sync: + interval_ms: 10 + overflow: 0 + +defaults: + eds_pkg: unity_hardware_config + eds_file: "robots/common/Elmo.dcf" + vel_from_device: "v != v ? v=0 : v=smooth(deg2rad(obj606c/1000.0),v,0.3)" # for smoother current velocity in joint_states + motor_layer: + switching_state: 4 # switched on - stop controller before switching modes + +nodes: + - name: sensorring_joint + id: 73 + #publish: ["60C1sub1"] #trajectory + #publish: ["60FF"] #velocity + dcf_overlay: # "ObjectID": "ParameterValue" (both as strings) + "6083": "300000" # profile acceleration, mgrad/sec^2 + "6084": "300000" # profile deceleration, mgrad/sec^2 + "60C5": "300000" # max acceleration, mgrad/sec^2 + "60C6": "1000000" # max deceleration, mgrad/sec^2 + diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml new file mode 100644 index 000000000..6321ef27e --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml @@ -0,0 +1,6 @@ +mode: "cepstral" +cepstral_voice: "David" +cepstral_settings: "\"speech/rate=170\"" +fade_volume: true #fade volume on play and on track transition +fade_duration: 1.0 #time till full volume or mute is reached + #(complete fade time between two tracks = 2*fade_duration) diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml new file mode 100644 index 000000000..711456352 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml @@ -0,0 +1,59 @@ +########## +# common params +run_factor: 2.0 +apply_ramp: false +joy_num_buttons: 12 +joy_num_axes: 6 +joy_num_modes: 4 +mode_switch_button: 8 + +enable_light: true +light_action_name: /light_torso/set_light +enable_sound: true +sound_action_name: /sound/say + +# axes +axis_vx: 1 +axis_vy: 0 +axis_vz: 5 +axis_roll: 4 +axis_pitch: 3 +axis_yaw: 2 + +# buttons +deadman_button: 5 +safety_button: 4 +init_button: 9 + +#mode1: Base +run_button: 7 + +#mode2: Trajectory controller +torso_sss_default_target_button: 1 + +#mode3: Velocity group controller +torso_joint1_button: 0 + +right_indicator_button: 7 +left_indicator_button: 6 +up_down_button: 5 +right_left_button: 4 + +#mode4: Twist controller +torso_twist_button: 1 + +components: { + base: { + twist_topic_name: '/base/twist_mux/command_teleop_joy', + twist_safety_topic_name: '/base/collision_velocity_filter/command', + twist_max_velocity: [0.3, 0.2, 0.3], + twist_max_acc: [0.5, 0.5, 0.7] + }, + sensorring: { + sss_default_target: "home", + velocity_topic_name: "/sensorring/joint_group_velocity_controller/command", + joint_velocity: [0.05, 0.05], + twist_topic_name: '/sensorring/twist_controller/command_twist', + twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] + } +} diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml new file mode 100644 index 000000000..d61b1da58 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml @@ -0,0 +1,26 @@ +# Locks to stop the twist inputs. +# For each lock: +# - topic : input topic that provides the lock; it must be of type std_msgs::Bool?!!! +# - timeout : == 0.0 -> not used +# > 0.0 -> the lock is supposed to published at a certain frequency in order +# to detect that the publisher is alive; the timeout in seconds allows +# to detect that, and if the publisher dies we will enable the lock +# - priority: priority in the range [0, 255], so all the topics with priority lower than it +# will be stopped/disabled + +locks: +- + name : pause_navigation + topic : twist_mux/locks/pause_navigation + timeout : 0.0 + priority: 21 +- + name : pause_teleop + topic : twist_mux/locks/pause_teleop + timeout : 0.0 + priority: 101 +- + name : pause_all + topic : twist_mux/locks/pause_all + timeout : 0.0 + priority: 255 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml new file mode 100644 index 000000000..9704c12c7 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml @@ -0,0 +1,43 @@ +# Input topics handled/muxed. +# For each topic: +# - name : name identifier to select the topic +# - topic : input topic of geometry_msgs::Twist type +# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead +# - priority: priority in the range [0, 255]; the higher the more priority over other topics + +topics: +- + name : collision_velocity_filter + topic : twist_mux/command_safe + timeout : 0.25 + priority: 10 +- + name : navigation + topic : twist_mux/command_navigation + timeout : 0.25 + priority: 20 +- + name : syncmm # cob_twist_controller + topic : twist_mux/command_syncmm + timeout : 0.5 + priority: 60 +- + name : script_server + topic : twist_mux/command_script_server + timeout : 0.5 + priority: 70 +- + name : teleop_keyboard + topic : twist_mux/command_teleop_keyboard + timeout : 0.5 + priority: 80 +- + name : teleop_android + topic : twist_mux/command_teleop_android + timeout : 0.5 + priority: 90 +- + name : teleop_joystick + topic : twist_mux/command_teleop_joy + timeout : 0.25 + priority: 100 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml new file mode 100644 index 000000000..8a0ff137b --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml @@ -0,0 +1,23 @@ +# Example configuration: +# - velocity limits are around a 10% above the physical limits +# - acceleration limits are just low enough to avoid jerking + +# Mandatory parameters +speed_lim_vx: 1.2 +speed_lim_vy: 1.0 +speed_lim_w: 1.2 + +accel_lim_vx: 0.5 +accel_lim_vy: 0.5 +accel_lim_w: 0.5 + +# Optional parameters +frequency: 50.0 +decel_factor: 1.5 #used if zero velocity is received or goal velocity is far away from current velocity +decel_factor_safe: 2.5 #used if no velocity commands received (eg. no deadman on joystick) + +# Robot velocity feedback type: +# 0 - none +# 1 - odometry +# 2 - end robot commands +robot_feedback: 1 diff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro new file mode 100644 index 000000000..8f90da0c6 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro @@ -0,0 +1,99 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro new file mode 100644 index 000000000..a14f580b5 --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro @@ -0,0 +1,91 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro new file mode 100644 index 000000000..74d9423ad --- /dev/null +++ b/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro @@ -0,0 +1,102 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml index a13950e1e..db139f369 100644 --- a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml +++ b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml @@ -1,2 +1,2 @@ rate: 100 #Hz -source_list: [/base/joint_states, /arm/joint_states, /torso/joint_states] +source_list: [base/joint_states, arm/joint_states, torso/joint_states] From 67f3a97658958e01a22a5aacddcef96c31ef6fdf Mon Sep 17 00:00:00 2001 From: srd-rd Date: Tue, 31 Jul 2018 12:16:59 +0200 Subject: [PATCH 08/10] Fixed errors after merge. --- cob_bringup/robots/raw3-1.xml | 1 - cob_hardware_config/robots/cob4-18/config/base_controller.yaml | 2 +- cob_hardware_config/robots/raw3-1/config/base_controller.yaml | 2 +- cob_hardware_config/robots/raw3-3/config/base_controller.yaml | 2 +- 4 files changed, 3 insertions(+), 4 deletions(-) diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml index 6ba900c9e..b323896be 100644 --- a/cob_bringup/robots/raw3-1.xml +++ b/cob_bringup/robots/raw3-1.xml @@ -62,7 +62,6 @@ - diff --git a/cob_hardware_config/robots/cob4-18/config/base_controller.yaml b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml index e3ab0fce0..6fec99be8 120000 --- a/cob_hardware_config/robots/cob4-18/config/base_controller.yaml +++ b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml @@ -1 +1 @@ -/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/cob4_base_controller.yaml \ No newline at end of file +../../cob4/config/cob4_base_controller.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/raw3-1/config/base_controller.yaml b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml index fdbaccdfa..89a0739ee 120000 --- a/cob_hardware_config/robots/raw3-1/config/base_controller.yaml +++ b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml @@ -1 +1 @@ -/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/raw3_base_controller.yaml \ No newline at end of file +../../raw3/config/raw3_base_controller.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/raw3-3/config/base_controller.yaml b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml index fdbaccdfa..89a0739ee 120000 --- a/cob_hardware_config/robots/raw3-3/config/base_controller.yaml +++ b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml @@ -1 +1 @@ -/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/raw3_base_controller.yaml \ No newline at end of file +../../raw3/config/raw3_base_controller.yaml \ No newline at end of file From cbb42af229cbf713a9c7637fc27b6f185001e848 Mon Sep 17 00:00:00 2001 From: srd-rd Date: Mon, 24 Sep 2018 17:34:18 +0200 Subject: [PATCH 09/10] Removed cob4-19 --- can_filter_chain: | 22718 ++++++++++++++++ .../robots/cob4-19/cob4-19.rviz | 1 - .../cob4-19/config/base_controller.yaml | 1 - .../robots/cob4-19/config/base_driver.yaml | 12 - .../cob4-19/config/base_laser_filter.yaml | 7 - .../cob4-19/config/base_laser_front.xml | 1 - .../cob4-19/config/base_laser_front.yaml | 1 - .../robots/cob4-19/config/base_laser_left.xml | 1 - .../cob4-19/config/base_laser_left.yaml | 1 - .../cob4-19/config/base_laser_right.xml | 1 - .../cob4-19/config/base_laser_right.yaml | 1 - .../cob4-19/config/battery_monitor.yaml | 7 - .../robots/cob4-19/config/bms.yaml | 1 - .../collision_velocity_filter_params.yaml | 1 - .../cob4-19/config/diagnostics_analyzers.yaml | 64 - .../cob4-19/config/docking_laser_filter.yaml | 1 - .../cob4-19/config/docking_linear_nav.yaml | 1 - .../cob4-19/config/docking_stations.yaml | 1 - .../config/emergency_stop_monitor.yaml | 9 - .../robots/cob4-19/config/flexisoft.yaml | 14 - .../config/footprint_observer_params.yaml | 1 - .../cob4-19/config/joint_state_publisher.yaml | 2 - .../robots/cob4-19/config/joy.yaml | 1 - .../robots/cob4-19/config/light_base.yaml | 1 - .../cob4-19/config/local_costmap_params.yaml | 1 - .../robots/cob4-19/config/ntp_monitor.yaml | 1 - .../cob4-19/config/pc_monitor_cob4-18-b1.yaml | 1 - .../cob4-19/config/pc_monitor_localhost.yaml | 1 - .../cob4-19/config/scan_unifier_filter.yaml | 1 - .../robots/cob4-19/config/teleop.yaml | 39 - .../cob4-19/config/twist_mux_locks.yaml | 1 - .../cob4-19/config/twist_mux_topics.yaml | 1 - .../cob4-19/config/velocity_smoother.yaml | 1 - .../urdf/calibration_default.urdf.xacro | 30 - .../robots/cob4-19/urdf/cob4-19.urdf.xacro | 32 - .../robots/cob4-19/urdf/properties.urdf.xacro | 33 - .../robots/cob4-19_tmp/cob4-19.rviz | 807 - .../cob4-19_tmp/config/base_driver.yaml | 12 - .../cob4-19_tmp/config/base_laser_filter.yaml | 7 - .../cob4-19_tmp/config/base_laser_front.xml | 6390 ----- .../cob4-19_tmp/config/base_laser_front.yaml | 9 - .../cob4-19_tmp/config/base_laser_left.xml | 6522 ----- .../cob4-19_tmp/config/base_laser_left.yaml | 9 - .../cob4-19_tmp/config/base_laser_right.xml | 6473 ----- .../cob4-19_tmp/config/base_laser_right.yaml | 9 - .../cob4-19_tmp/config/battery_monitor.yaml | 13 - .../robots/cob4-19_tmp/config/bms.yaml | 119 - .../collision_velocity_filter_params.yaml | 19 - .../config/diagnostics_analyzers.yaml | 116 - .../config/docking_laser_filter.yaml | 12 - .../config/docking_linear_nav.yaml | 23 - .../cob4-19_tmp/config/docking_stations.yaml | 21 - .../config/emergency_stop_monitor.yaml | 19 - .../robots/cob4-19_tmp/config/flexisoft.yaml | 16 - .../config/footprint_observer_params.yaml | 8 - .../robots/cob4-19_tmp/config/head_cam.yaml | 5 - .../config/hz_monitor_head_cam.yaml | 4 - .../config/hz_monitor_sensorring_cam3d.yaml | 4 - .../config/hz_monitor_torso_cam3d_down.yaml | 4 - .../config/hz_monitor_torso_cam3d_left.yaml | 4 - .../config/hz_monitor_torso_cam3d_right.yaml | 4 - .../config/image_flip_params_head_cam.yaml | 23 - .../image_flip_params_sensorring_cam3d.yaml | 23 - .../image_flip_params_torso_cam3d_down.yaml | 23 - .../image_flip_params_torso_cam3d_left.yaml | 23 - .../image_flip_params_torso_cam3d_right.yaml | 23 - .../config/joint_state_publisher.yaml | 2 - .../robots/cob4-19_tmp/config/joy.yaml | 2 - .../robots/cob4-19_tmp/config/light_base.yaml | 9 - .../cob4-19_tmp/config/light_torso.yaml | 10 - .../config/local_costmap_params.yaml | 65 - .../cob4-19_tmp/config/ntp_monitor.yaml | 2 - .../cob4-19_tmp/config/pc_monitor_b1.yaml | 6 - .../cob4-19_tmp/config/pc_monitor_h1.yaml | 6 - .../config/pc_monitor_localhost.yaml | 3 - .../cob4-19_tmp/config/pc_monitor_s1.yaml | 6 - .../cob4-19_tmp/config/pc_monitor_t1.yaml | 6 - .../cob4-19_tmp/config/pc_monitor_t2.yaml | 6 - .../cob4-19_tmp/config/pc_monitor_t3.yaml | 6 - .../config/scan_unifier_config.yaml | 3 - .../config/sensorring_controller.yaml | 51 - .../cob4-19_tmp/config/sensorring_driver.yaml | 22 - .../robots/cob4-19_tmp/config/sound.yaml | 6 - .../robots/cob4-19_tmp/config/teleop.yaml | 59 - .../cob4-19_tmp/config/twist_mux_locks.yaml | 26 - .../cob4-19_tmp/config/twist_mux_topics.yaml | 43 - .../cob4-19_tmp/config/velocity_smoother.yaml | 23 - .../urdf/calibration_default.urdf.xacro | 99 - .../cob4-19_tmp/urdf/cob4-19.urdf.xacro | 91 - .../cob4-19_tmp/urdf/properties.urdf.xacro | 102 - hold: 10.0 | 233 + 91 files changed, 22951 insertions(+), 21671 deletions(-) create mode 100644 can_filter_chain: delete mode 120000 cob_hardware_config/robots/cob4-19/cob4-19.rviz delete mode 120000 cob_hardware_config/robots/cob4-19/config/base_controller.yaml delete mode 100644 cob_hardware_config/robots/cob4-19/config/base_driver.yaml delete mode 100644 cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_front.xml delete mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_left.xml delete mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_right.xml delete mode 120000 cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml delete mode 100644 cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/bms.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml delete mode 100644 cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/docking_stations.yaml delete mode 100644 cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml delete mode 100644 cob_hardware_config/robots/cob4-19/config/flexisoft.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml delete mode 100644 cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/joy.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/light_base.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml delete mode 100644 cob_hardware_config/robots/cob4-19/config/teleop.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml delete mode 120000 cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml delete mode 100644 cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro delete mode 100644 cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro delete mode 100644 cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_driver.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_filter.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.xml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_left.xml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_left.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.xml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro delete mode 100644 cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro create mode 100644 hold: 10.0 diff --git a/can_filter_chain: b/can_filter_chain: new file mode 100644 index 000000000..c7a7a1ac9 --- /dev/null +++ b/can_filter_chain: @@ -0,0 +1,22718 @@ +diff --git a/cob_bringup/components/cob4_base.launch b/cob_bringup/components/cob4_base.launch +index bedfbac..d496dc1 100644 +--- a/cob_bringup/components/cob4_base.launch ++++ b/cob_bringup/components/cob4_base.launch +@@ -5,6 +5,7 @@ +  +  +  ++  +  +  +  +@@ -14,9 +15,9 @@ +  +  +  +- +  +  ++  +  +  +  +diff --git a/cob_bringup/components/raw3_base.launch b/cob_bringup/components/raw3_base.launch +index 65ea310..2808b69 100644 +--- a/cob_bringup/components/raw3_base.launch ++++ b/cob_bringup/components/raw3_base.launch +@@ -5,6 +5,7 @@ +  +  +  ++  +  +  +  +@@ -19,6 +20,7 @@ +  +  +  ++  +  +  +  +diff --git a/cob_bringup/components/ros_control_base.launch b/cob_bringup/components/ros_control_base.launch +index 36ada43..ba8d37a 100644 +--- a/cob_bringup/components/ros_control_base.launch ++++ b/cob_bringup/components/ros_control_base.launch +@@ -3,6 +3,7 @@ +  +  +  ++  +  +  +  +@@ -37,9 +38,18 @@ +  +  +  +-  +-  +-  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  +  +  +  +diff --git a/cob_bringup/robot.launch b/cob_bringup/robot.launch +index 0e911fc..2c3c12a 100644 +--- a/cob_bringup/robot.launch ++++ b/cob_bringup/robot.launch +@@ -1,12 +1,16 @@ +  +  +  +-  ++  ++  +  +  ++  +  +  +  ++  ++  +  +  +  +diff --git a/cob_bringup/robots/cob4-18.launch b/cob_bringup/robots/cob4-18.launch +index 0bbd51c..671d45d 100644 +--- a/cob_bringup/robots/cob4-18.launch ++++ b/cob_bringup/robots/cob4-18.launch +@@ -1,11 +1,17 @@ +  +  +  ++  +  ++  +  +  +-  ++  ++  +  ++  ++  ++ +  +  +  +diff --git a/cob_bringup/robots/cob4-18.xml b/cob_bringup/robots/cob4-18.xml +index d4242f2..ee89854 100644 +--- a/cob_bringup/robots/cob4-18.xml ++++ b/cob_bringup/robots/cob4-18.xml +@@ -1,11 +1,11 @@ +  +  +- +  +  +  +  +  ++  +  +  +  +@@ -56,6 +56,7 @@ +  +  +  ++  +  +  +  +diff --git a/cob_bringup/robots/raw3-1.launch b/cob_bringup/robots/raw3-1.launch +index 120c73b..40d20e5 100644 +--- a/cob_bringup/robots/raw3-1.launch ++++ b/cob_bringup/robots/raw3-1.launch +@@ -1,13 +1,14 @@ +  +  +  ++  +  ++  +  +  +-  +-  +-  +  ++  ++  +  +  +  +diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml +index 0dff155..b323896 100644 +--- a/cob_bringup/robots/raw3-1.xml ++++ b/cob_bringup/robots/raw3-1.xml +@@ -8,7 +8,7 @@ +  +  +  +-  ++  +  +  +  +@@ -51,6 +51,7 @@ +  +  +  ++  +  +  +  +@@ -61,7 +62,6 @@ +  +  +  +-  +  +  +  +diff --git a/cob_bringup/robots/raw3-3.launch b/cob_bringup/robots/raw3-3.launch +index b22fe8e..712de56 100644 +--- a/cob_bringup/robots/raw3-3.launch ++++ b/cob_bringup/robots/raw3-3.launch +@@ -1,10 +1,14 @@ +  +  +  ++  +  ++  +  +  +  ++  ++  +  +  +- ++ +\ No newline at end of file +diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml +index 68fe058..d4e4449 100644 +--- a/cob_bringup/robots/raw3-3.xml ++++ b/cob_bringup/robots/raw3-3.xml +@@ -8,6 +8,7 @@ +  +  +  ++  +  +  +  +@@ -54,6 +55,7 @@ +  +  +  ++  +  +  +  +diff --git a/cob_bringup/tools/base_collision_observer.launch b/cob_bringup/tools/base_collision_observer.launch +index 96b7658..735228c 100644 +--- a/cob_bringup/tools/base_collision_observer.launch ++++ b/cob_bringup/tools/base_collision_observer.launch +@@ -7,10 +7,10 @@ +  +  +  +-  ++  +  +-  +-  ++  ++  +  +  +  +diff --git a/cob_bringup/tools/battery_monitor.launch b/cob_bringup/tools/battery_monitor.launch +index 20e49a8..850d3bf 100644 +--- a/cob_bringup/tools/battery_monitor.launch ++++ b/cob_bringup/tools/battery_monitor.launch +@@ -7,7 +7,6 @@ +  +  +  +-  +  +  +  +diff --git a/cob_bringup/tools/robot_state_publisher.launch b/cob_bringup/tools/robot_state_publisher.launch +index 0773a17..00ce6cb 100644 +--- a/cob_bringup/tools/robot_state_publisher.launch ++++ b/cob_bringup/tools/robot_state_publisher.launch +@@ -3,12 +3,15 @@ +  +  +  ++  +  +-  ++  ++  ++  +  +  +-  +-  ++  ++  +  +  +  +diff --git a/cob_hardware_config/robots/cob4-18/config/base_controller.yaml b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml +new file mode 120000 +index 0000000..6fec99b +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml +@@ -0,0 +1 @@ ++../../cob4/config/cob4_base_controller.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml +new file mode 100644 +index 0000000..bd5152b +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml +@@ -0,0 +1,7 @@ ++scan_filter_chain: ++ - name: range ++ type: LaserScanRangeFilter ++ params: ++ use_message_range_limits: true ++ upper_threshold: 29.5 ++ upper_replacement_value: 29.5 +diff --git a/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml +index 3b850ea..9fb44b5 100644 +--- a/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml ++++ b/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml +@@ -1,2 +1,2 @@ + rate: 100 #Hz +-source_list: [/base/joint_states] +\ No newline at end of file ++source_list: [base/joint_states] +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/cob4-19.rviz b/cob_hardware_config/robots/cob4-19/cob4-19.rviz +new file mode 120000 +index 0000000..d271133 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/cob4-19.rviz +@@ -0,0 +1 @@ ++../cob4/cob4_base.rviz +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/base_controller.yaml b/cob_hardware_config/robots/cob4-19/config/base_controller.yaml +new file mode 120000 +index 0000000..e3ab0fc +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/base_controller.yaml +@@ -0,0 +1 @@ ++/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/cob4_base_controller.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/base_driver.yaml b/cob_hardware_config/robots/cob4-19/config/base_driver.yaml +new file mode 100644 +index 0000000..69bc1b0 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/base_driver.yaml +@@ -0,0 +1,12 @@ ++nodes: ++ fl_caster_rotation_joint: ++ dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) ++ "607C": "127621.5" # home offset ++ ++ b_caster_rotation_joint: ++ dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) ++ "607C": "9528.0" # home offset ++ ++ fr_caster_rotation_joint: ++ dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) ++ "607C": "-108166.0" # home offset +diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml +new file mode 100644 +index 0000000..bd5152b +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml +@@ -0,0 +1,7 @@ ++scan_filter_chain: ++ - name: range ++ type: LaserScanRangeFilter ++ params: ++ use_message_range_limits: true ++ upper_threshold: 29.5 ++ upper_replacement_value: 29.5 +diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml +new file mode 120000 +index 0000000..f9704b5 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml +@@ -0,0 +1 @@ ++../../cob4/config/base_laser_front.xml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml +new file mode 120000 +index 0000000..6312c8e +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml +@@ -0,0 +1 @@ ++../../cob4/config/base_laser_front.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml +new file mode 120000 +index 0000000..c2d18d5 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml +@@ -0,0 +1 @@ ++../../cob4/config/base_laser_left.xml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml +new file mode 120000 +index 0000000..04690a3 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml +@@ -0,0 +1 @@ ++../../cob4/config/base_laser_left.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml +new file mode 120000 +index 0000000..4ad4535 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml +@@ -0,0 +1 @@ ++../../cob4/config/base_laser_right.xml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml +new file mode 120000 +index 0000000..dde5468 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml +@@ -0,0 +1 @@ ++../../cob4/config/base_laser_right.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml +new file mode 100644 +index 0000000..dc3b908 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml +@@ -0,0 +1,7 @@ ++threshold_warning: 20 # % of battery level ++threshold_error: 10 # % of battery level ++threshold_critical: 5 # % of battery level ++ ++enable_light: false ++enable_sound: false ++ +diff --git a/cob_hardware_config/robots/cob4-19/config/bms.yaml b/cob_hardware_config/robots/cob4-19/config/bms.yaml +new file mode 120000 +index 0000000..f487e3f +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/bms.yaml +@@ -0,0 +1 @@ ++../../cob4/config/bms.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml b/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml +new file mode 120000 +index 0000000..3ec452a +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml +@@ -0,0 +1 @@ ++../../cob4/config/collision_velocity_filter_params.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml b/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml +new file mode 100644 +index 0000000..98138bf +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml +@@ -0,0 +1,64 @@ ++pub_rate: 1.0 # Optional ++base_path: '' # Optional, prepended to all diagnostic output ++analyzers: ++ computers: ++ type: diagnostic_aggregator/AnalyzerGroup ++ path: Computers ++ analyzers: ++ b1: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: b1 ++ contains: '-b1' ++# network: ++# type: diagnostic_aggregator/AnalyzerGroup ++# path: Network ++# analyzers: ++# wifi: ++# type: diagnostic_aggregator/GenericAnalyzer ++# path: wifi ++# num_items: 1 ++# expected: ['Wifi Status (ddwrt)'] ++ ++ io: ++ type: diagnostic_aggregator/AnalyzerGroup ++ path: IO ++ analyzers: ++ joystick: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Joystick ++ contains: 'joy' ++ ++ sensors: ++ type: diagnostic_aggregator/AnalyzerGroup ++ path: Sensors ++ analyzers: ++ laser_top: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Scan Front ++ contains: 'laser_front' ++ laser_rear: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Scan Right ++ contains: 'laser_right' ++ laser_front: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Scan Left ++ contains: 'laser_left' ++ battery: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Battery Status ++ contains: 'bms' ++ ++ motors: ++ type: diagnostic_aggregator/AnalyzerGroup ++ path: Actuators ++ analyzers: ++ base: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Base ++ contains: 'base/' ++ ++ safety: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Safety ++ contains: 'safety' +diff --git a/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml b/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml +new file mode 120000 +index 0000000..e17f566 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml +@@ -0,0 +1 @@ ++../../cob4/config/docking_laser_filter.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml b/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml +new file mode 120000 +index 0000000..c2da1fc +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml +@@ -0,0 +1 @@ ++../../cob4/config/docking_linear_nav.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml b/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml +new file mode 120000 +index 0000000..1ef4f7b +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml +@@ -0,0 +1 @@ ++../../cob4/config/docking_stations.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml +new file mode 100644 +index 0000000..9ffab12 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml +@@ -0,0 +1,9 @@ ++enable_light: true ++light_components: ['light_base'] ++color_ok: cyan ++ ++enable_sound: false ++sound_components: ['sound'] ++ ++diagnostics_based: true ++motion_based: true +diff --git a/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml b/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml +new file mode 100644 +index 0000000..3c702c5 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml +@@ -0,0 +1,14 @@ ++port: "9100" # alternative syntax: !!str 9100 ++odometry_timeout: 1.0 ++threshold_linear_slow: 0.4 ++threshold_linear_fast: 0.9 ++threshold_angular_fast: 1.0 ++marker_type: 11 # http://www.ros.org/wiki/rviz/DisplayTypes/Marker, not all are supported ++scale_x: 1.0 ++scale_y: 1.0 ++scale_z: 1.0 ++footprint_angular_slow: [[0.4,0.4], [-0.4,0.4], [-0.4,-0.4], [0.4,-0.4]] ++footprint_angular_fast: [[0.5,0.5], [-0.5,0.5], [-0.5,-0.5], [0.5,-0.5]] ++footprint_linear_slow: [[0.6,0.4], [-0.4,0.4], [-0.4,-0.4], [0.6,-0.4]] ++footprint_linear_fast: [[0.8,0.4], [-0.4,0.4], [-0.4,-0.4], [0.8,-0.4]] ++ +diff --git a/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml b/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml +new file mode 120000 +index 0000000..eb83c5a +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml +@@ -0,0 +1 @@ ++../../cob4/config/footprint_observer_params.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml +new file mode 100644 +index 0000000..9fb44b5 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml +@@ -0,0 +1,2 @@ ++rate: 100 #Hz ++source_list: [base/joint_states] +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/joy.yaml b/cob_hardware_config/robots/cob4-19/config/joy.yaml +new file mode 120000 +index 0000000..cf1fd49 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/joy.yaml +@@ -0,0 +1 @@ ++../../cob4/config/joy.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/light_base.yaml b/cob_hardware_config/robots/cob4-19/config/light_base.yaml +new file mode 120000 +index 0000000..1f02f87 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/light_base.yaml +@@ -0,0 +1 @@ ++../../cob4/config/light_base.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml b/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml +new file mode 120000 +index 0000000..a440aed +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml +@@ -0,0 +1 @@ ++../../cob4/config/local_costmap_params.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml +new file mode 120000 +index 0000000..41b6c29 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml +@@ -0,0 +1 @@ ++../../cob4/config/ntp_monitor.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml b/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml +new file mode 120000 +index 0000000..43d2ce8 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml +@@ -0,0 +1 @@ ++../../cob4/config/pc_monitor_cob4-b1.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml b/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml +new file mode 120000 +index 0000000..2c1d202 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml +@@ -0,0 +1 @@ ++../../cob4/config/pc_monitor_localhost.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml b/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml +new file mode 120000 +index 0000000..4e20cd0 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml +@@ -0,0 +1 @@ ++../../cob4/config/scan_unifier_filter.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/teleop.yaml b/cob_hardware_config/robots/cob4-19/config/teleop.yaml +new file mode 100644 +index 0000000..70d7ca6 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/teleop.yaml +@@ -0,0 +1,39 @@ ++#cob4-19 ++########## ++# common params ++run_factor: 2.0 ++apply_ramp: false ++joy_num_buttons: 12 ++joy_num_axes: 6 ++joy_num_modes: 4 ++mode_switch_button: 8 ++ ++enable_light: false ++light_action_name: /light_torso/set_light ++enable_sound: false ++sound_action_name: /sound/say ++ ++# axes ++axis_vx: 1 ++axis_vy: 0 ++axis_vz: 5 ++axis_roll: 4 ++axis_pitch: 3 ++axis_yaw: 2 ++ ++# buttons ++deadman_button: 5 ++safety_button: 4 ++init_button: 9 ++ ++#mode1: Base ++run_button: 7 ++ ++components: { ++ base: { ++ twist_topic_name: '/base/twist_mux/command_teleop_joy', ++ twist_safety_topic_name: '/base/collision_velocity_filter/command', ++ twist_max_velocity: [0.3, 0.2, 0.3], ++ twist_max_acc: [0.5, 0.5, 0.7] ++ } ++} +diff --git a/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml +new file mode 120000 +index 0000000..5a4acfd +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml +@@ -0,0 +1 @@ ++../../cob4/config/twist_mux_locks.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml +new file mode 120000 +index 0000000..28072f1 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml +@@ -0,0 +1 @@ ++../../cob4/config/twist_mux_topics.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml b/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml +new file mode 120000 +index 0000000..5ce45e5 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml +@@ -0,0 +1 @@ ++../../cob4/config/velocity_smoother.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro +new file mode 100644 +index 0000000..aec33c7 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro +@@ -0,0 +1,30 @@ ++ ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++ +diff --git a/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro +new file mode 100644 +index 0000000..b0c72b6 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro +@@ -0,0 +1,32 @@ ++ ++ ++ ++  ++  ++  ++ ++  ++  ++ ++  ++  ++ ++  ++  ++ ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++ +diff --git a/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro +new file mode 100644 +index 0000000..bbbc362 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro +@@ -0,0 +1,33 @@ ++ ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++ +diff --git a/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz b/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz +new file mode 100644 +index 0000000..bfad9e9 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz +@@ -0,0 +1,807 @@ ++Panels: ++ - Class: rviz/Displays ++ Help Height: 78 ++ Name: Displays ++ Property Tree Widget: ++ Expanded: ++ - /Global Options1 ++ - /TF1/Frames1 ++ Splitter Ratio: 0.804714 ++ Tree Height: 843 ++ - Class: rviz/Selection ++ Name: Selection ++ - Class: rviz/Tool Properties ++ Expanded: ++ - /2D Pose Estimate1 ++ - /2D Nav Goal1 ++ Name: Tool Properties ++ Splitter Ratio: 0.588679 ++ - Class: rviz/Views ++ Expanded: ++ - /Current View1 ++ Name: Views ++ Splitter Ratio: 0.5 ++ - Class: rviz/Time ++ Experimental: false ++ Name: Time ++ SyncMode: 0 ++ SyncSource: LaserScan Left ++Visualization Manager: ++ Class: "" ++ Displays: ++ - Alpha: 0.5 ++ Cell Size: 1 ++ Class: rviz/Grid ++ Color: 160; 160; 164 ++ Enabled: true ++ Line Style: ++ Line Width: 0.03 ++ Value: Lines ++ Name: Grid ++ Normal Cell Count: 0 ++ Offset: ++ X: 0 ++ Y: 0 ++ Z: 0 ++ Plane: XY ++ Plane Cell Count: 10 ++ Reference Frame:  ++ Value: true ++ - Alpha: 1 ++ Class: rviz/RobotModel ++ Collision Enabled: false ++ Enabled: true ++ Links: ++ All Links Enabled: true ++ Expand Joint Details: false ++ Expand Link Details: false ++ Expand Tree: false ++ Link Tree Style: Links in Alphabetic Order ++ arm_left_1_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_left_2_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_left_3_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_left_4_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_left_5_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_left_6_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_left_7_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_left_base_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_right_1_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_right_2_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_right_3_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_right_4_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_right_5_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_right_6_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_right_7_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ arm_right_base_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ base_footprint: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ base_laser_front_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ base_laser_left_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ base_laser_right_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ base_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ bl_caster_r_wheel_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ bl_caster_rotation_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ br_caster_r_wheel_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ br_caster_rotation_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ fl_caster_r_wheel_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ fl_caster_rotation_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_left_base_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_left_camera_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_left_finger_1_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_left_finger_2_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_left_grasp_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_left_palm_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_right_base_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_right_camera_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_right_finger_1_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_right_finger_2_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_right_grasp_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ gripper_right_palm_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ head_1_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ head_2_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ head_3_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ head_base_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ head_center_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ sensorring_base_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ sensorring_cam3d_frame: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ sensorring_cam3d_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ sensorring_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ torso_1_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ torso_2_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ torso_3_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ torso_base_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ torso_cam3d_down_frame: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ torso_cam3d_down_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ torso_cam3d_down_optical_frame: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ torso_cam3d_left_frame: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ torso_cam3d_left_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ torso_cam3d_right_frame: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ torso_cam3d_right_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ torso_center_link: ++ Alpha: 1 ++ Show Axes: false ++ Show Trail: false ++ Value: true ++ Name: RobotModel ++ Robot Description: robot_description ++ TF Prefix: "" ++ Update Interval: 0 ++ Value: true ++ Visual Enabled: true ++ - Class: rviz/TF ++ Enabled: false ++ Frame Timeout: 15 ++ Frames: ++ All Enabled: false ++ Marker Scale: 1 ++ Name: TF ++ Show Arrows: true ++ Show Axes: true ++ Show Names: true ++ Tree: ++ {} ++ Update Interval: 0 ++ Value: false ++ - Alpha: 1 ++ Autocompute Intensity Bounds: true ++ Autocompute Value Bounds: ++ Max Value: 10 ++ Min Value: -10 ++ Value: true ++ Axis: Z ++ Channel Name: x ++ Class: rviz/LaserScan ++ Color: 0; 255; 0 ++ Color Transformer: FlatColor ++ Decay Time: 0 ++ Enabled: true ++ Invert Rainbow: false ++ Max Color: 0; 255; 0 ++ Max Intensity: 10.454 ++ Min Color: 0; 255; 0 ++ Min Intensity: 0.227896 ++ Name: LaserScan Front ++ Position Transformer: XYZ ++ Queue Size: 10 ++ Selectable: true ++ Size (Pixels): 3 ++ Size (m): 0.025 ++ Style: Spheres ++ Topic: /base_laser_front/scan ++ Use Fixed Frame: true ++ Use rainbow: true ++ Value: true ++ - Alpha: 1 ++ Autocompute Intensity Bounds: true ++ Autocompute Value Bounds: ++ Max Value: 10 ++ Min Value: -10 ++ Value: true ++ Axis: Z ++ Channel Name: intensity ++ Class: rviz/LaserScan ++ Color: 0; 255; 0 ++ Color Transformer: FlatColor ++ Decay Time: 0 ++ Enabled: true ++ Invert Rainbow: false ++ Max Color: 255; 255; 255 ++ Max Intensity: 0 ++ Min Color: 0; 255; 0 ++ Min Intensity: 0 ++ Name: LaserScan Left ++ Position Transformer: XYZ ++ Queue Size: 10 ++ Selectable: true ++ Size (Pixels): 3 ++ Size (m): 0.025 ++ Style: Spheres ++ Topic: /base_laser_left/scan ++ Use Fixed Frame: true ++ Use rainbow: true ++ Value: true ++ - Alpha: 1 ++ Autocompute Intensity Bounds: true ++ Autocompute Value Bounds: ++ Max Value: 10 ++ Min Value: -10 ++ Value: true ++ Axis: Z ++ Channel Name: intensity ++ Class: rviz/LaserScan ++ Color: 0; 255; 0 ++ Color Transformer: FlatColor ++ Decay Time: 0 ++ Enabled: true ++ Invert Rainbow: false ++ Max Color: 255; 255; 255 ++ Max Intensity: 4096 ++ Min Color: 0; 0; 0 ++ Min Intensity: 0 ++ Name: LaserScan Right ++ Position Transformer: XYZ ++ Queue Size: 10 ++ Selectable: true ++ Size (Pixels): 3 ++ Size (m): 0.025 ++ Style: Spheres ++ Topic: /base_laser_right/scan ++ Use Fixed Frame: true ++ Use rainbow: true ++ Value: true ++ - Arrow Length: 0.3 ++ Class: rviz/PoseArray ++ Color: 255; 25; 0 ++ Enabled: true ++ Name: PoseArray ++ Topic: /particlecloud ++ Value: true ++ - Alpha: 1 ++ Buffer Length: 1 ++ Class: rviz/Path ++ Color: 0; 255; 0 ++ Enabled: true ++ Line Style: Lines ++ Line Width: 0.03 ++ Name: Path dwa global ++ Offset: ++ X: 0 ++ Y: 0 ++ Z: 0 ++ Topic: /move_base/DWAPlannerROS/global_plan ++ Value: true ++ - Alpha: 1 ++ Buffer Length: 1 ++ Class: rviz/Path ++ Color: 0; 0; 255 ++ Enabled: true ++ Line Style: Lines ++ Line Width: 0.03 ++ Name: Path dwa local ++ Offset: ++ X: 0 ++ Y: 0 ++ Z: 0 ++ Topic: /move_base/DWAPlannerROS/local_plan ++ Value: true ++ - Alpha: 1 ++ Buffer Length: 1 ++ Class: rviz/Path ++ Color: 0; 255; 0 ++ Enabled: true ++ Line Style: Lines ++ Line Width: 0.03 ++ Name: Path tr global ++ Offset: ++ X: 0 ++ Y: 0 ++ Z: 0 ++ Topic: /move_base/TrajectoryPlannerROS/global_plan ++ Value: true ++ - Alpha: 1 ++ Buffer Length: 1 ++ Class: rviz/Path ++ Color: 0; 0; 255 ++ Enabled: true ++ Line Style: Lines ++ Line Width: 0.03 ++ Name: Path tr local ++ Offset: ++ X: 0 ++ Y: 0 ++ Z: 0 ++ Topic: /move_base/TrajectoryPlannerROS/local_plan ++ Value: true ++ - Class: rviz/Marker ++ Enabled: true ++ Marker Topic: /sound/marker ++ Name: SoundMarker ++ Namespaces: ++ {} ++ Queue Size: 100 ++ Value: true ++ - Class: rviz/Marker ++ Enabled: true ++ Marker Topic: /light_base/marker ++ Name: LightBaseMarker ++ Namespaces: ++ {} ++ Queue Size: 100 ++ Value: true ++ - Class: rviz/Marker ++ Enabled: true ++ Marker Topic: /light_torso/marker ++ Name: LightTorsoMarker ++ Namespaces: ++ color: true ++ Queue Size: 100 ++ Value: true ++ - Class: rviz/Image ++ Enabled: false ++ Image Topic: /torso_cam3d_down/rgb/image_raw ++ Max Value: 1 ++ Median window: 5 ++ Min Value: 0 ++ Name: TorsoCam3dDownImage ++ Normalize Range: true ++ Queue Size: 2 ++ Transport Hint: raw ++ Value: false ++ - Class: rviz/Image ++ Enabled: false ++ Image Topic: /torso_cam3d_left_upright/rgb/image_raw ++ Max Value: 1 ++ Median window: 5 ++ Min Value: 0 ++ Name: TorsoCam3dLeftImage ++ Normalize Range: true ++ Queue Size: 2 ++ Transport Hint: raw ++ Value: false ++ - Class: rviz/Image ++ Enabled: false ++ Image Topic: /torso_cam3d_right_upright/rgb/image_raw ++ Max Value: 1 ++ Median window: 5 ++ Min Value: 0 ++ Name: TorsoCam3dRightImage ++ Normalize Range: true ++ Queue Size: 2 ++ Transport Hint: raw ++ Value: false ++ - Class: rviz/Image ++ Enabled: false ++ Image Topic: /sensorring_cam3d_upright/rgb/image_raw ++ Max Value: 1 ++ Median window: 5 ++ Min Value: 0 ++ Name: SensorringCam3dImage ++ Normalize Range: true ++ Queue Size: 2 ++ Transport Hint: raw ++ Value: false ++ - Alpha: 1 ++ Autocompute Intensity Bounds: true ++ Autocompute Value Bounds: ++ Max Value: 10 ++ Min Value: -10 ++ Value: true ++ Axis: Z ++ Channel Name: intensity ++ Class: rviz/PointCloud2 ++ Color: 255; 255; 255 ++ Color Transformer: RGB8 ++ Decay Time: 0 ++ Enabled: false ++ Invert Rainbow: false ++ Max Color: 255; 255; 255 ++ Max Intensity: 4096 ++ Min Color: 0; 0; 0 ++ Min Intensity: 0 ++ Name: TorsoCam3dDownPointCloud2 ++ Position Transformer: XYZ ++ Queue Size: 10 ++ Selectable: true ++ Size (Pixels): 3 ++ Size (m): 0.01 ++ Style: Flat Squares ++ Topic: /torso_cam3d_down/depth/points ++ Use Fixed Frame: true ++ Use rainbow: true ++ Value: false ++ - Alpha: 1 ++ Autocompute Intensity Bounds: true ++ Autocompute Value Bounds: ++ Max Value: 10 ++ Min Value: -10 ++ Value: true ++ Axis: Z ++ Channel Name: intensity ++ Class: rviz/PointCloud2 ++ Color: 255; 255; 255 ++ Color Transformer: RGB8 ++ Decay Time: 0 ++ Enabled: false ++ Invert Rainbow: false ++ Max Color: 255; 255; 255 ++ Max Intensity: 4096 ++ Min Color: 0; 0; 0 ++ Min Intensity: 0 ++ Name: TorsoCam3dLeftPointCloud2 ++ Position Transformer: XYZ ++ Queue Size: 10 ++ Selectable: true ++ Size (Pixels): 3 ++ Size (m): 0.01 ++ Style: Flat Squares ++ Topic: /torso_cam3d_left/depth/points ++ Use Fixed Frame: true ++ Use rainbow: true ++ Value: false ++ - Alpha: 1 ++ Autocompute Intensity Bounds: true ++ Autocompute Value Bounds: ++ Max Value: 10 ++ Min Value: -10 ++ Value: true ++ Axis: Z ++ Channel Name: intensity ++ Class: rviz/PointCloud2 ++ Color: 255; 255; 255 ++ Color Transformer: RGB8 ++ Decay Time: 0 ++ Enabled: false ++ Invert Rainbow: false ++ Max Color: 255; 255; 255 ++ Max Intensity: 4096 ++ Min Color: 0; 0; 0 ++ Min Intensity: 0 ++ Name: TorsoCam3dRightPointCloud2 ++ Position Transformer: XYZ ++ Queue Size: 10 ++ Selectable: true ++ Size (Pixels): 3 ++ Size (m): 0.01 ++ Style: Flat Squares ++ Topic: /torso_cam3d_right/depth/points ++ Use Fixed Frame: true ++ Use rainbow: true ++ Value: false ++ - Alpha: 1 ++ Autocompute Intensity Bounds: true ++ Autocompute Value Bounds: ++ Max Value: 10 ++ Min Value: -10 ++ Value: true ++ Axis: Z ++ Channel Name: intensity ++ Class: rviz/PointCloud2 ++ Color: 255; 255; 255 ++ Color Transformer: RGB8 ++ Decay Time: 0 ++ Enabled: false ++ Invert Rainbow: false ++ Max Color: 255; 255; 255 ++ Max Intensity: 4096 ++ Min Color: 0; 0; 0 ++ Min Intensity: 0 ++ Name: SensorringCam3dPointCloud2 ++ Position Transformer: XYZ ++ Queue Size: 10 ++ Selectable: true ++ Size (Pixels): 3 ++ Size (m): 0.01 ++ Style: Flat Squares ++ Topic: /sensorring_cam3d/depth/points ++ Use Fixed Frame: true ++ Use rainbow: true ++ Value: false ++ - Class: rviz/InteractiveMarkers ++ Enable Transparency: true ++ Enabled: false ++ Name: InteractiveTeleop ++ Show Axes: false ++ Show Descriptions: true ++ Show Visual Aids: false ++ Update Topic: /cob_interactive_teleop/update ++ Value: false ++ - Alpha: 0.7 ++ Class: rviz/Map ++ Color Scheme: map ++ Draw Behind: false ++ Enabled: false ++ Name: Map ++ Topic: /map ++ Value: false ++ - Alpha: 1 ++ Class: rviz/GridCells ++ Color: 255; 0; 0 ++ Enabled: false ++ Name: Obstacles ++ Topic: /move_base/local_costmap/obstacles ++ Value: false ++ - Alpha: 1 ++ Class: rviz/GridCells ++ Color: 0; 0; 255 ++ Enabled: false ++ Name: Inflated Obstacles ++ Topic: /move_base/local_costmap/inflated_obstacles ++ Value: false ++ - Class: rviz/Axes ++ Enabled: false ++ Length: 1 ++ Name: Axes map origin ++ Radius: 0.1 ++ Reference Frame: map ++ Value: false ++ Enabled: true ++ Global Options: ++ Background Color: 48; 48; 48 ++ Fixed Frame: base_link ++ Frame Rate: 30 ++ Name: root ++ Tools: ++ - Class: rviz/Interact ++ Hide Inactive Objects: true ++ - Class: rviz/MoveCamera ++ - Class: rviz/Select ++ - Class: rviz/Measure ++ - Class: rviz/SetInitialPose ++ Topic: /initialpose ++ - Class: rviz/SetGoal ++ Topic: /move_base_simple/goal ++ Value: true ++ Views: ++ Current: ++ Class: rviz/Orbit ++ Distance: 19.5897 ++ Enable Stereo Rendering: ++ Stereo Eye Separation: 0.06 ++ Stereo Focal Distance: 1 ++ Swap Stereo Eyes: false ++ Value: false ++ Focal Point: ++ X: 0.891724 ++ Y: -0.865633 ++ Z: 1.0872 ++ Name: Current View ++ Near Clip Distance: 0.01 ++ Pitch: 0.509797 ++ Target Frame:  ++ Value: Orbit (rviz) ++ Yaw: 4.28313 ++ Saved: ~ ++Window Geometry: ++ Displays: ++ collapsed: false ++ Height: 1056 ++ Hide Left Dock: false ++ Hide Right Dock: false ++ QMainWindow State: 000000ff00000000fd000000040000000000000141000003dafc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003da000000dd00fffffffb0000000c00430061006d00650072006100000002a5000000cd00000000000000000000000100000169000003dafc0200000007fb000000260054006f00720073006f00430061006d003300640044006f0077006e0049006d00610067006500000000280000010a0000001600fffffffb000000260054006f00720073006f00430061006d00330064004c0065006600740049006d0061006700650000000028000000f60000001600fffffffb000000280054006f00720073006f00430061006d00330064005200690067006800740049006d0061006700650000000028000001430000001600fffffffb0000002800530065006e0073006f007200720069006e006700430061006d003300640049006d0061006700650000000028000003da0000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000326000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005f8000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 ++ Selection: ++ collapsed: false ++ SensorringCam3dImage: ++ collapsed: false ++ Time: ++ collapsed: false ++ Tool Properties: ++ collapsed: false ++ TorsoCam3dDownImage: ++ collapsed: false ++ TorsoCam3dLeftImage: ++ collapsed: false ++ TorsoCam3dRightImage: ++ collapsed: false ++ Views: ++ collapsed: false ++ Width: 1855 ++ X: 65 ++ Y: 24 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_driver.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/base_driver.yaml +new file mode 100644 +index 0000000..31f2f1d +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/base_driver.yaml +@@ -0,0 +1,12 @@ ++nodes: ++ fl_caster_rotation_joint: ++ dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) ++ "607C": "129314.5" #"130136.0" # "310136.0" #"130136.0" # home offset ++ ++ b_caster_rotation_joint: ++ dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) ++ "607C": "12639.0" #"8847.5" # "188847.5" #"8847.5" # home offset ++ ++ fr_caster_rotation_joint: ++ dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) ++ "607C": "-109352.5" #"-113391.5" # "66608.5" #"-113391.5" # home offset +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_filter.yaml +new file mode 100644 +index 0000000..bd5152b +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_filter.yaml +@@ -0,0 +1,7 @@ ++scan_filter_chain: ++ - name: range ++ type: LaserScanRangeFilter ++ params: ++ use_message_range_limits: true ++ upper_threshold: 29.5 ++ upper_replacement_value: 29.5 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.xml b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.xml +new file mode 100644 +index 0000000..99bcf46 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.xml +@@ -0,0 +1,6390 @@ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  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says S300 scans every 40ms ++inverted: false ++scan_id: 7 ++frame_id: /base_laser_front_link ++publish_frequency: 12 ++scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_left.xml b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_left.xml +new file mode 100644 +index 0000000..0b66514 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_left.xml +@@ -0,0 +1,6522 @@ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  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believable and looks good in rviz ++scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms ++inverted: false ++scan_id: 7 ++frame_id: /base_laser_left_link ++publish_frequency: 12 ++scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.xml b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.xml +new file mode 100644 +index 0000000..442bd59 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.xml +@@ -0,0 +1,6473 @@ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  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++scan_id: 8 ++frame_id: /base_laser_right_link ++publish_frequency: 12 ++scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml +new file mode 100644 +index 0000000..74692de +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml +@@ -0,0 +1,13 @@ ++threshold_warning: 20 # % of battery level ++threshold_error: 10 # % of battery level ++threshold_critical: 5 # % of battery level ++ ++enable_light: true ++num_leds: 72 ++light_components: ['light_torso'] ++ ++enable_sound: false ++sound_components: [''] # use odp to verbalize ++ ++sound_critical: "Meine Batterie ist leer. Bitte lade mich wieder auf." ++sound_warning: "Meine Batterie is fast leer. Ich sollte demnächst wieder aufladen." +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml +new file mode 100644 +index 0000000..08c1aa6 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml +@@ -0,0 +1,119 @@ ++diagnostics:  ++ - id: 0x01 ++ fields: ++ - name: "battery_empty" ++ offset: 0 ++ len: 2 ++ bit_mask: 0x01 ++ - name: "battery_almost_empty" ++ offset: 0 ++ len: 2 ++ bit_mask: 0x02 ++ - name: "charging_fet_active" ++ offset: 0 ++ len: 2 ++ bit_mask: 0x04 ++ - name: "discharging_fet_active" ++ offset: 0 ++ len: 2 ++ bit_mask: 0x08 ++ - name: "battery_learning" ++ offset: 0 ++ len: 2 ++ bit_mask: 0x10 ++ - name: "battery_discharging" ++ offset: 0 ++ len: 2 ++ bit_mask: 0x20 ++ - name: "battery_full" ++ offset: 0 ++ len: 2 ++ bit_mask: 0x40 ++ - name: "battery_charging" ++ offset: 0 ++ len: 2 ++ bit_mask: 0x80 ++ - id: 0x02 ++ fields: ++ - name: "current" ++ offset: 0 ++ len: 2 ++ is_signed: true ++ factor: 0.01 ++ unit: "A" ++ ++ - id: 0x03 ++ fields: ++ - name: "voltage" ++ offset: 0 ++ len: 2 ++ is_signed: false ++ factor: 0.01 ++ unit: "V" ++ ++ - id: 0x06 ++ fields: ++ - name: "remaining_capacity" ++ offset: 0 ++ len: 2 ++ is_signed: false ++ factor: 0.001 ++ unit: "Ah" ++ - name: "full_charge_capacity" ++ offset: 2 ++ len: 2 ++ is_signed: false ++ factor: 0.001 ++ unit: "Ah" ++ ++ - id: 0x04 ++ fields: ++ - name: "temperature" ++ offset: 0 ++ len: 2 ++ is_signed: true ++ factor: 0.1 ++ unit: "Celsius" ++ ++ - name: "temperature_cell_1" ++ offset: 2 ++ len: 2 ++ is_signed: true ++ factor: 0.1 ++ unit: "Celsius" ++ ++ - name: "temperature_cell_2" ++ offset: 4 ++ len: 2 ++ is_signed: true ++ factor: 0.1 ++ unit: "Celsius" ++ ++ - id: 0x05 ++ fields: ++ - name: "temperature_cell_3" ++ offset: 0 ++ len: 2 ++ is_signed: true ++ factor: 0.1 ++ unit: "Celsius" ++ ++ - name: "temperature_cell_4" ++ offset: 2 ++ len: 2 ++ is_signed: true ++ factor: 0.1 ++ unit: "Celsius" ++ ++ - name: "temperature_cell_5" ++ offset: 4 ++ len: 2 ++ is_signed: true ++ factor: 0.1 ++ unit: "Celsius" ++ ++topics: ["current", "voltage", "remaining_capacity", "full_charge_capacity", "temperature", "battery_charging", "battery_full", "battery_learning", "battery_almost_empty"] ++ ++can_device: "can1" ++bms_id_to_poll: 0x200 ++poll_frequency_hz: 20 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml +new file mode 100644 +index 0000000..eec43f7 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml +@@ -0,0 +1,19 @@ ++#where to look for costmap parameters ++costmap_parameter_source: "/local_costmap_node/costmap" #default "/local_costmap_node/costmap" ++ ++#frequency at which the get_footprint service should be called ++footprint_update_frequency: 0.5 ++ ++#Parameters specifying slow down behaviour ++pot_ctrl_vmax: 0.6 #default: 0.6 ++pot_ctrl_vtheta_max: 0.6 #default: 0.8 ++pot_ctrl_kv: 2.5 #damping default: 1.0 ++pot_ctrl_kp: 3.0 #stiffness default: 2.0 ++pot_ctrl_virt_mass: 0.5 #default: 0.8 ++max_acceleration: [0.5, 0.5, 0.7] ++ ++#Parameters specifying collision velocity filter ++influence_radius: 2.0 #[m] distance from robot_center ++obstacle_damping_dist: 1.0 # used as slow-down dist ++stop_threshold: 0.1 #[m] ++use_circumscribed_threshold: 0.5 #[rad/s] scan for obstacles in circumscribed radius of robot even when tube filter is enabled during fast rotations +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml +new file mode 100644 +index 0000000..3a3828e +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml +@@ -0,0 +1,116 @@ ++pub_rate: 1.0 # Optional ++base_path: '' # Optional, prepended to all diagnostic output ++analyzers: ++ computers: ++ type: diagnostic_aggregator/AnalyzerGroup ++ path: Computers ++ analyzers: ++ b1: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: b1 ++ contains: '-b1' ++ t1: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: t1 ++ contains: '-t1' ++ t2: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: t2 ++ contains: '-t2' ++ t3: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: t3 ++ contains: '-t3' ++ s1: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: s1 ++ contains: '-s1' ++ h1: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: h1 ++ contains: '-h1' ++# network: ++# type: diagnostic_aggregator/AnalyzerGroup ++# path: Network ++# analyzers: ++# wifi: ++# type: diagnostic_aggregator/GenericAnalyzer ++# path: wifi ++# num_items: 1 ++# expected: ['Wifi Status (ddwrt)'] ++ ++ io: ++ type: diagnostic_aggregator/AnalyzerGroup ++ path: IO ++ analyzers: ++ joystick: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Joystick ++ contains: 'joy' ++ sound: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Sound ++ contains: 'sound' ++ light: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Light ++ contains: 'light' ++ ++ sensors: ++ type: diagnostic_aggregator/AnalyzerGroup ++ path: Sensors ++ analyzers: ++ laser_top: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Scan Front ++ contains: 'laser_front' ++ laser_rear: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Scan Right ++ contains: 'laser_right' ++ laser_front: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Scan Left ++ contains: 'laser_left' ++ torso_cam3d_left: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Torso Cam3d Left ++ contains: 'torso_cam3d_left' ++ torso_cam3d_right: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Torso Cam3d Right ++ contains: 'torso_cam3d_right' ++ torso_cam3d_down: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Torso Cam3d Down ++ contains: 'torso_cam3d_down' ++ sensorring_cam3d: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Sensorring Cam3d ++ contains: 'sensorring_cam3d' ++ head_cam: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Head Cam ++ contains: 'head_cam' ++ battery: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Battery Status ++ contains: 'bms' ++ ++ motors: ++ type: diagnostic_aggregator/AnalyzerGroup ++ path: Actuators ++ analyzers: ++ base: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Base ++ contains: 'base/' ++ sensorring: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Torso ++ contains: 'sensorring/' ++ ++ safety: ++ type: diagnostic_aggregator/GenericAnalyzer ++ path: Safety ++ contains: 'safety' +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml +new file mode 100644 +index 0000000..2eefb88 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml +@@ -0,0 +1,12 @@ ++scan_filter_chain: ++- name: range ++ type: LaserScanRangeFilter ++ params: ++ lower_threshold: 0.005 ++ upper_threshold: 3.0 ++- name: intensity ++ type: LaserScanIntensityFilter ++ params: ++ lower_threshold: 100 ++ upper_threshold: 100000 ++ disp_histogram: 0 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml +new file mode 100644 +index 0000000..7a457e2 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml +@@ -0,0 +1,23 @@ ++#Parameters designing the potential field controller ++#Translational part ++kv: 2.50 #damping 2.50 ++kp: 3.00 #stiffness 3.0 ++virt_mass: 0.50 #0.50 ++vmax: 0.09 #0.3 ++goal_threshold: 0.02 #0.03 ++speed_threshold: 0.02 #0.08 ++ ++#Rotational part ++kv_rot: 2.0 #damping 2.0 ++kp_rot: 2.0 #stiffness 2.0 ++virt_mass_rot: 0.50 #0.5 ++vtheta_max: 0.3 # 0.3 ++goal_threshold_rot: 0.06 #0.08 ++speed_threshold_rot: 0.02 #0.08 ++ ++#tf parameters ++global_frame: odom_combined #/map ++robot_frame: base_link #/base_link ++ ++slow_down_distance: 0.25 #0.5[m] distance from robot_center to goal at which robot starts slowing down ++goal_abortion_time: 5.0 #5.0[s] time until robot aborts goal due to obstacle +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml +new file mode 100644 +index 0000000..f4c0dd3 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml +@@ -0,0 +1,21 @@ ++stations: ++- frame_id: station_charger ++ reflector_distance: 0.28 ++ approach_poses: [[-0.76, 0.0, 0.0], [-0.56, 0.0, 0.0], [-0.47, 0.0, -0.02]] # in frame_id coords ++ departure_poses: [[-0.8, 0.0, 0.0]] ++ stop_condition: ++ topic: '/power_state' ++ message_field: 'charging' ++ compare_value: True ++ ++- frame_id: station_travel_box ++ reflector_distance: 0.95 ++ approach_poses: [[-2.20, 0.0, 0.0], [-0.6, 0.0, -0.035], [-0.38, 0.0, -0.035], [-0.312, 0.0, -0.035]] # in frame_id coords ++ departure_poses: [[-0.38, 0.0, -0.035], [-0.6, 0.0, -0.035], [-2.20, 0.0, 0.0]] # in frame_id coords ++ ++distance_tolerance: 0.1 ++intensity_lower_threshold: 200 ++intensity_upper_threshold: 10000 ++update_rate: 0.25 ++dock_dist_threshold: 0.15 ++undock_dist_threshold: 1.0 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml +new file mode 100644 +index 0000000..00e960e +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml +@@ -0,0 +1,19 @@ ++enable_light: true ++light_components: ['light_base'] ++color_ok: cyan ++ ++enable_sound: true ++sound_components: [''] # use odp to verbalize ++ ++sound_em_ready_laser_released: "" ++sound_em_ready_button_released: "Danke. Jetzt kann es weiter gehen." ++sound_em_acknowledged: "" ++sound_em_stop_laser_released: "" ++sound_em_stop_button_released: "Danke. Jetzt kann es weiter gehen." ++sound_em_stop_laser_issued: "" ++sound_em_stop_button_issued: "Notausknopf gedrueckt. Bitte loese den Knopf wieder durch leichtes Drehen, falls keine Notsituation mehr besteht." ++sound_em_stop_issued: "" ++sound_em_unknown_issued: "" ++ ++diagnostics_based: true ++motion_based: true +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml +new file mode 100644 +index 0000000..651911d +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml +@@ -0,0 +1,16 @@ ++port: "9100" # alternative syntax: !!str 9100 ++odometry_timeout: 1.0 ++threshold_linear_slow: 0.4 ++threshold_linear_fast: 0.9 ++threshold_angular_fast: 1.0 ++marker_type: 11 # http://www.ros.org/wiki/rviz/DisplayTypes/Marker, not all are supported ++scale_x: 1.0 ++scale_y: 1.0 ++scale_z: 1.0 ++footprint_angular_slow: [[0.4,0.4], [-0.4,0.4], [-0.4,-0.4], [0.4,-0.4]] ++footprint_angular_fast: [[0.5,0.5], [-0.5,0.5], [-0.5,-0.5], [0.5,-0.5]] ++footprint_linear_slow: [[0.6,0.4], [-0.4,0.4], [-0.4,-0.4], [0.6,-0.4]] ++footprint_linear_fast: [[0.8,0.4], [-0.4,0.4], [-0.4,-0.4], [0.8,-0.4]] ++has_wireless_emstop: true ++warn_for_wireless_bridged: false ++warn_for_laser_bridged: false +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml +new file mode 100644 +index 0000000..c6ccb5d +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml +@@ -0,0 +1,8 @@ ++# node from which initial footprint is read ++footprint_source: /local_costmap_node/costmap ++ ++# ++robot_base_frame: /base_link ++# frames to check for footprint adjustment ++frames_to_check: /base_laser_front_link /base_laser_left_link /base_laser_right_link ++epsilon: 0.01 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml +new file mode 100644 +index 0000000..d5871da +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml +@@ -0,0 +1,5 @@ ++video_device: "/dev/video0" ++image_width: 2048 ++image_height: 1536 ++pixel_format: yuyv ++framerate: 3.5 #at 2048x1536 3.6hz is maximum on hw +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml +new file mode 100644 +index 0000000..049433f +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml +@@ -0,0 +1,4 @@ ++diagnostics_name: head_cam ++topics: [/head_cam/camera_info] ++hz: 3.5 ++hzerror: 1 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml +new file mode 100644 +index 0000000..780d23e +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml +@@ -0,0 +1,4 @@ ++diagnostics_name: sensorring_cam3d ++topics: [/sensorring_cam3d/rgb/camera_info] ++hz: 30 ++hzerror: 5 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml +new file mode 100644 +index 0000000..f967de7 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml +@@ -0,0 +1,4 @@ ++diagnostics_name: torso_cam3d_down ++topics: [/torso_cam3d_down/rgb/camera_info] ++hz: 30 ++hzerror: 5 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml +new file mode 100644 +index 0000000..e6170fd +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml +@@ -0,0 +1,4 @@ ++diagnostics_name: torso_cam3d_left ++topics: [/torso_cam3d_left/rgb/camera_info] ++hz: 30 ++hzerror: 5 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml +new file mode 100644 +index 0000000..a507b6d +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml +@@ -0,0 +1,4 @@ ++diagnostics_name: torso_cam3d_right ++topics: [/torso_cam3d_right/rgb/camera_info] ++hz: 30 ++hzerror: 5 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml +new file mode 100644 +index 0000000..a8bed5e +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml +@@ -0,0 +1,23 @@ ++# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) ++# int ++rotation_mode: 1 ++ ++# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) ++# double ++rotation_angle: 0 ++ ++# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) ++# string ++reference_frame: base_link ++ ++# flip color image ++# bool ++flip_color_image: true ++ ++# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) ++# bool ++flip_pointcloud: false ++ ++# display warning if transformation not available ++# bool ++display_warnings: true +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml +new file mode 100644 +index 0000000..a9fcb86 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml +@@ -0,0 +1,23 @@ ++# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) ++# int ++rotation_mode: 1 ++ ++# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) ++# double ++rotation_angle: 0 ++ ++# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) ++# string ++reference_frame: base_link ++ ++# flip color image ++# bool ++flip_color_image: true ++ ++# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) ++# bool ++flip_pointcloud: true ++ ++# display warning if transformation not available ++# bool ++display_warnings: false +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml +new file mode 100644 +index 0000000..a9fcb86 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml +@@ -0,0 +1,23 @@ ++# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) ++# int ++rotation_mode: 1 ++ ++# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) ++# double ++rotation_angle: 0 ++ ++# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) ++# string ++reference_frame: base_link ++ ++# flip color image ++# bool ++flip_color_image: true ++ ++# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) ++# bool ++flip_pointcloud: true ++ ++# display warning if transformation not available ++# bool ++display_warnings: false +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml +new file mode 100644 +index 0000000..a9fcb86 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml +@@ -0,0 +1,23 @@ ++# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) ++# int ++rotation_mode: 1 ++ ++# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) ++# double ++rotation_angle: 0 ++ ++# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) ++# string ++reference_frame: base_link ++ ++# flip color image ++# bool ++flip_color_image: true ++ ++# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) ++# bool ++flip_pointcloud: true ++ ++# display warning if transformation not available ++# bool ++display_warnings: false +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml +new file mode 100644 +index 0000000..a9fcb86 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml +@@ -0,0 +1,23 @@ ++# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) ++# int ++rotation_mode: 1 ++ ++# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) ++# double ++rotation_angle: 0 ++ ++# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) ++# string ++reference_frame: base_link ++ ++# flip color image ++# bool ++flip_color_image: true ++ ++# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) ++# bool ++flip_pointcloud: true ++ ++# display warning if transformation not available ++# bool ++display_warnings: false +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml +new file mode 100644 +index 0000000..337d64a +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml +@@ -0,0 +1,2 @@ ++rate: 100 #Hz ++source_list: [/base/joint_states, /sensorring/joint_states] +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml +new file mode 100644 +index 0000000..f07d1f5 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml +@@ -0,0 +1,2 @@ ++dev: /dev/joypad ++deadzone: 0.12 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml +new file mode 100644 +index 0000000..e380603 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml +@@ -0,0 +1,9 @@ ++devicestring: /dev/ttyLED ++devicedriver: stageprofi ++baudrate: 38400 ++num_leds: 3 ++invert_output: false ++pubmarker: true ++marker_frame: /torso_base_link # marker will be publised at [0.5,0,0] with respect to marker_frame ++startup_color: [0.0, 1.0, 0.5, 0.4] #rgba value ++startup_mode: Static #possible values: None, Static, Breath, BreathColor, Flash, FadeColor +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml +new file mode 100644 +index 0000000..32950a6 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml +@@ -0,0 +1,10 @@ ++devicestring: /dev/ttyLED ++devicedriver: stageprofi ++baudrate: 38400 ++num_leds: 72 ++led_offset: 5 ++invert_output: false ++pubmarker: true ++marker_frame: /torso_center_link # marker will be publised at [0.5,0,0] with respect to marker_frame ++startup_color: [0.0, 1.0, 0.5, 0.4] #rgba value ++startup_mode: Breath #possible values: None, Static, Breath, BreathColor, Flash, FadeColor +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml +new file mode 100644 +index 0000000..3739a62 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml +@@ -0,0 +1,65 @@ ++# global information ++global_frame: /base_link ++robot_base_frame: /base_footprint ++update_frequency: 5.0 ++publish_frequency: 5.0 ++ ++# local map settings ++static_map: false ++rolling_window: true ++width: 5.0 ++height: 5.0 ++resolution: 0.07 ++ ++# footprint and range ++footprint: [[0.43, 0.35], [0.43, -0.35], [-0.43, -0.35],[-0.43, 0.35]] #[m] ++footprint_padding: 0.02 #[m] ++ ++#layers ++plugins: ++ ++# The obstacle layer tracks the obstacles as read by the sensor data. The ObstacleCostmapPlugin marks and ++# raytraces obstacles in two dimensions, while the VoxelCostmapPlugin does so in three dimensions. ++- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} ++ ++ ++obstacle_layer: ++ ++ # Definition of the sensors/observation sources ++ observation_sources: laser_scan_front laser_scan_left laser_scan_right ++ ++ # Parameters of the source: laser_scan_front ++ laser_scan_front: ++ sensor_frame: base_laser_front_link # The frame of the origin of the sensor, default: "" ++ topic: /base_laser_front/scan # The topic on which sensor data comes in for this source, default: source_name ++ data_type: LaserScan # The data type associated with the topic, default: "PointCloud" ++ marking: true # Whether or not this observation is used to mark obstacles, default: true ++ clearing: true # Whether or not this observation is used to clear out freespace, default: false ++ ++ # Parameters of the source: laser_scan_rear ++ laser_scan_left: ++ sensor_frame: base_laser_left_link # The frame of the origin of the sensor, default: "" ++ topic: /base_laser_left/scan # The topic on which sensor data comes in for this source, default: source_name ++ data_type: LaserScan # The data type associated with the topic, default: "PointCloud" ++ marking: true # Whether or not this observation is used to mark obstacles, default: true ++ clearing: true # Whether or not this observation is used to clear out freespace, default: false ++ ++ # Parameters of the source: laser_scan_front ++ laser_scan_right: ++ sensor_frame: base_laser_right_link # The frame of the origin of the sensor, default: "" ++ topic: /base_laser_right/scan # The topic on which sensor data comes in for this source, default: source_name ++ data_type: LaserScan # The data type associated with the topic, default: "PointCloud" ++ marking: true # Whether or not this observation is used to mark obstacles, default: true ++ clearing: true # Whether or not this observation is used to clear out freespace, default: false ++ ++ # The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters ++ obstacle_range: 3.0 ++ ++ # The default range in meters at which to raytrace out obstacles from the map using sensor data ++ raytrace_range: 3.0 ++ ++ # What map type to use. "voxel" or "costmap" are the supported types, with the difference between them being a 3D-view of the world vs. a 2D-view of the world ++ map_type: costmap ++ ++ # The maximum height in meters of a sensor reading considered valid. ++ max_obstacle_height: 2.0 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml +new file mode 100644 +index 0000000..4ada7cf +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml +@@ -0,0 +1,2 @@ ++offset: 5000 #us ++error_offset: 25000 #us +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml +new file mode 100644 +index 0000000..cf87289 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml +@@ -0,0 +1,6 @@ ++check_core_temps: False ++check_ipmi_tool: False ++enforce_clock_speed: False ++num_cores: 4 ++load1_threshold: 10 ++load5_threshold: 10 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml +new file mode 100644 +index 0000000..cf87289 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml +@@ -0,0 +1,6 @@ ++check_core_temps: False ++check_ipmi_tool: False ++enforce_clock_speed: False ++num_cores: 4 ++load1_threshold: 10 ++load5_threshold: 10 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml +new file mode 100644 +index 0000000..78df360 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml +@@ -0,0 +1,3 @@ ++check_core_temps: False ++check_ipmi_tool: False ++enforce_clock_speed: False +\ No newline at end of file +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml +new file mode 100644 +index 0000000..cf87289 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml +@@ -0,0 +1,6 @@ ++check_core_temps: False ++check_ipmi_tool: False ++enforce_clock_speed: False ++num_cores: 4 ++load1_threshold: 10 ++load5_threshold: 10 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml +new file mode 100644 +index 0000000..cf87289 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml +@@ -0,0 +1,6 @@ ++check_core_temps: False ++check_ipmi_tool: False ++enforce_clock_speed: False ++num_cores: 4 ++load1_threshold: 10 ++load5_threshold: 10 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml +new file mode 100644 +index 0000000..cf87289 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml +@@ -0,0 +1,6 @@ ++check_core_temps: False ++check_ipmi_tool: False ++enforce_clock_speed: False ++num_cores: 4 ++load1_threshold: 10 ++load5_threshold: 10 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml +new file mode 100644 +index 0000000..cf87289 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml +@@ -0,0 +1,6 @@ ++check_core_temps: False ++check_ipmi_tool: False ++enforce_clock_speed: False ++num_cores: 4 ++load1_threshold: 10 ++load5_threshold: 10 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml +new file mode 100644 +index 0000000..be78cb8 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml +@@ -0,0 +1,3 @@ ++#Scan_unifier_config-parameters ++ ++input_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"] +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml +new file mode 100644 +index 0000000..fa89d54 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml +@@ -0,0 +1,51 @@ ++#all ++joint_names: [sensorring_joint] ++ ++## control_mode_adapter ++max_command_silence: 0.5 ++ ++## joint_state_controller ++joint_state_controller: ++ type: joint_state_controller/JointStateController ++ publish_rate: 50 ++ ++## joint trajectory controller ++joint_trajectory_controller: ++ type: position_controllers/JointTrajectoryController ++ joints: ++ - sensorring_joint ++ constraints: ++ goal_time: 0.6 ++ stopped_velocity_tolerance: 0.05 ++ sensorring_joint: {trajectory: 0.1, goal: 0.1} ++ stop_trajectory_duration: 0.5 ++ state_publish_rate: 25 ++ action_monitor_rate: 10 ++ required_drive_mode: 7 ++ ++ ++## position controller ++joint_group_position_controller: ++ type: position_controllers/JointGroupPositionController ++ joints: ++ - sensorring_joint ++ required_drive_mode: 1 ++ ++sensorring_joint_position_controller: ++ type: position_controllers/JointPositionController ++ joint: sensorring_joint ++ required_drive_mode: 1 ++ ++ ++### velocity controller ++### velicty controllers are not to be used with Elmo Devices as JointLimits are not considered! ++#joint_group_velocity_controller: ++# type: velocity_controllers/JointGroupVelocityController ++# joints: ++# - sensorring_joint ++# required_drive_mode: 3 ++# ++#sensorring_joint_velocity_controller: ++# type: velocity_controllers/JointVelocityController ++# joint: sensorring_joint ++# required_drive_mode: 3 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml +new file mode 100644 +index 0000000..604d329 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml +@@ -0,0 +1,22 @@ ++sync: ++ interval_ms: 10 ++ overflow: 0 ++ ++defaults: ++ eds_pkg: unity_hardware_config ++ eds_file: "robots/common/Elmo.dcf" ++ vel_from_device: "v != v ? v=0 : v=smooth(deg2rad(obj606c/1000.0),v,0.3)" # for smoother current velocity in joint_states ++ motor_layer: ++ switching_state: 4 # switched on - stop controller before switching modes ++ ++nodes: ++ - name: sensorring_joint ++ id: 73 ++ #publish: ["60C1sub1"] #trajectory ++ #publish: ["60FF"] #velocity ++ dcf_overlay: # "ObjectID": "ParameterValue" (both as strings) ++ "6083": "300000" # profile acceleration, mgrad/sec^2 ++ "6084": "300000" # profile deceleration, mgrad/sec^2 ++ "60C5": "300000" # max acceleration, mgrad/sec^2 ++ "60C6": "1000000" # max deceleration, mgrad/sec^2 ++ +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml +new file mode 100644 +index 0000000..6321ef2 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml +@@ -0,0 +1,6 @@ ++mode: "cepstral" ++cepstral_voice: "David" ++cepstral_settings: "\"speech/rate=170\"" ++fade_volume: true #fade volume on play and on track transition ++fade_duration: 1.0 #time till full volume or mute is reached ++ #(complete fade time between two tracks = 2*fade_duration) +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml +new file mode 100644 +index 0000000..7114563 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml +@@ -0,0 +1,59 @@ ++########## ++# common params ++run_factor: 2.0 ++apply_ramp: false ++joy_num_buttons: 12 ++joy_num_axes: 6 ++joy_num_modes: 4 ++mode_switch_button: 8 ++ ++enable_light: true ++light_action_name: /light_torso/set_light ++enable_sound: true ++sound_action_name: /sound/say ++ ++# axes ++axis_vx: 1 ++axis_vy: 0 ++axis_vz: 5 ++axis_roll: 4 ++axis_pitch: 3 ++axis_yaw: 2 ++ ++# buttons ++deadman_button: 5 ++safety_button: 4 ++init_button: 9 ++ ++#mode1: Base ++run_button: 7 ++ ++#mode2: Trajectory controller ++torso_sss_default_target_button: 1 ++ ++#mode3: Velocity group controller ++torso_joint1_button: 0 ++ ++right_indicator_button: 7 ++left_indicator_button: 6 ++up_down_button: 5 ++right_left_button: 4 ++ ++#mode4: Twist controller ++torso_twist_button: 1 ++ ++components: { ++ base: { ++ twist_topic_name: '/base/twist_mux/command_teleop_joy', ++ twist_safety_topic_name: '/base/collision_velocity_filter/command', ++ twist_max_velocity: [0.3, 0.2, 0.3], ++ twist_max_acc: [0.5, 0.5, 0.7] ++ }, ++ sensorring: { ++ sss_default_target: "home", ++ velocity_topic_name: "/sensorring/joint_group_velocity_controller/command", ++ joint_velocity: [0.05, 0.05], ++ twist_topic_name: '/sensorring/twist_controller/command_twist', ++ twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] ++ } ++} +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml +new file mode 100644 +index 0000000..d61b1da +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml +@@ -0,0 +1,26 @@ ++# Locks to stop the twist inputs. ++# For each lock: ++# - topic : input topic that provides the lock; it must be of type std_msgs::Bool?!!!  ++# - timeout : == 0.0 -> not used ++# > 0.0 -> the lock is supposed to published at a certain frequency in order ++# to detect that the publisher is alive; the timeout in seconds allows ++# to detect that, and if the publisher dies we will enable the lock ++# - priority: priority in the range [0, 255], so all the topics with priority lower than it ++# will be stopped/disabled ++ ++locks: ++- ++ name : pause_navigation ++ topic : twist_mux/locks/pause_navigation ++ timeout : 0.0 ++ priority: 21 ++- ++ name : pause_teleop  ++ topic : twist_mux/locks/pause_teleop ++ timeout : 0.0 ++ priority: 101 ++- ++ name : pause_all  ++ topic : twist_mux/locks/pause_all ++ timeout : 0.0 ++ priority: 255 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml +new file mode 100644 +index 0000000..9704c12 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml +@@ -0,0 +1,43 @@ ++# Input topics handled/muxed. ++# For each topic: ++# - name : name identifier to select the topic ++# - topic : input topic of geometry_msgs::Twist type ++# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead ++# - priority: priority in the range [0, 255]; the higher the more priority over other topics ++ ++topics: ++- ++ name : collision_velocity_filter ++ topic : twist_mux/command_safe ++ timeout : 0.25 ++ priority: 10 ++- ++ name : navigation ++ topic : twist_mux/command_navigation ++ timeout : 0.25 ++ priority: 20 ++- ++ name : syncmm # cob_twist_controller ++ topic : twist_mux/command_syncmm ++ timeout : 0.5 ++ priority: 60 ++- ++ name : script_server ++ topic : twist_mux/command_script_server ++ timeout : 0.5 ++ priority: 70 ++- ++ name : teleop_keyboard ++ topic : twist_mux/command_teleop_keyboard ++ timeout : 0.5 ++ priority: 80 ++- ++ name : teleop_android ++ topic : twist_mux/command_teleop_android ++ timeout : 0.5 ++ priority: 90 ++- ++ name : teleop_joystick ++ topic : twist_mux/command_teleop_joy ++ timeout : 0.25 ++ priority: 100 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml +new file mode 100644 +index 0000000..8a0ff13 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml +@@ -0,0 +1,23 @@ ++# Example configuration: ++# - velocity limits are around a 10% above the physical limits ++# - acceleration limits are just low enough to avoid jerking ++ ++# Mandatory parameters ++speed_lim_vx: 1.2 ++speed_lim_vy: 1.0 ++speed_lim_w: 1.2 ++ ++accel_lim_vx: 0.5 ++accel_lim_vy: 0.5 ++accel_lim_w: 0.5 ++ ++# Optional parameters ++frequency: 50.0 ++decel_factor: 1.5 #used if zero velocity is received or goal velocity is far away from current velocity ++decel_factor_safe: 2.5 #used if no velocity commands received (eg. no deadman on joystick) ++ ++# Robot velocity feedback type: ++# 0 - none ++# 1 - odometry ++# 2 - end robot commands ++robot_feedback: 1 +diff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro +new file mode 100644 +index 0000000..8f90da0 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro +@@ -0,0 +1,99 @@ ++ ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ +diff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro +new file mode 100644 +index 0000000..a14f580 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro +@@ -0,0 +1,91 @@ ++ ++ ++ ++  ++  ++  ++ ++  ++  ++ ++  ++  ++ ++  ++  ++ ++  ++  ++ ++  ++  ++ ++  ++  ++  ++  ++  ++ ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++ ++  ++ ++  ++  ++  ++  ++  ++ ++  ++ ++  ++  ++  ++  ++  ++ +diff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro +new file mode 100644 +index 0000000..74d9423 +--- /dev/null ++++ b/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro +@@ -0,0 +1,102 @@ ++ ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ ++  ++  ++  ++  ++  ++  ++  ++ +diff --git a/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml +index 7323d80..3b43042 100644 +--- a/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml ++++ b/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml +@@ -1,2 +1,2 @@ + rate: 100 #Hz +-source_list: [/base/joint_states] ++source_list: [base/joint_states] +diff --git a/cob_hardware_config/robots/raw3-1/config/base_controller.yaml b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml +new file mode 120000 +index 0000000..89a0739 +--- /dev/null ++++ b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml +@@ -0,0 +1 @@ ++../../raw3/config/raw3_base_controller.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml +new file mode 100644 +index 0000000..bd5152b +--- /dev/null ++++ b/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml +@@ -0,0 +1,7 @@ ++scan_filter_chain: ++ - name: range ++ type: LaserScanRangeFilter ++ params: ++ use_message_range_limits: true ++ upper_threshold: 29.5 ++ upper_replacement_value: 29.5 +diff --git a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml +index a13950e..db139f3 100644 +--- a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml ++++ b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml +@@ -1,2 +1,2 @@ + rate: 100 #Hz +-source_list: [/base/joint_states, /arm/joint_states, /torso/joint_states] ++source_list: [base/joint_states, arm/joint_states, torso/joint_states] +diff --git a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro +index 8ddffad..3895af3 100644 +--- a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro ++++ b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro +@@ -6,7 +6,7 @@ +  +  +  +-  ++  +  +  +  +@@ -14,7 +14,7 @@ +  +  +  +-  ++  +  +  +  +diff --git a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro +index 2362e46..3ba0b09 100644 +--- a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro ++++ b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro +@@ -38,20 +38,20 @@ +  +  +  +-  +-  +-  ++  ++  ++  +  +-  +-  +-  ++  ++  ++  +  +-  +-  +-  ++  ++  ++  +  +-  +-  +-  ++  ++  ++  +  +  +diff --git a/cob_hardware_config/robots/raw3-3/config/base_controller.yaml b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml +new file mode 120000 +index 0000000..89a0739 +--- /dev/null ++++ b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml +@@ -0,0 +1 @@ ++../../raw3/config/raw3_base_controller.yaml +\ No newline at end of file +diff --git a/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml b/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml +index 7323d80..3b43042 100644 +--- a/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml ++++ b/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml +@@ -1,2 +1,2 @@ + rate: 100 #Hz +-source_list: [/base/joint_states] ++source_list: [base/joint_states] +diff --git a/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro +index a233752..88e9f06 100644 +--- a/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro ++++ b/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro +@@ -6,7 +6,7 @@ +  +  +  +-  ++  +  +  +  +@@ -14,7 +14,7 @@ +  +  +  +-  ++  +  +  +  +diff --git a/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml b/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml +index 3ac1012..bd5152b 100644 +--- a/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml ++++ b/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml +@@ -2,6 +2,6 @@ scan_filter_chain: + - name: range + type: LaserScanRangeFilter + params: +- use_message_range_limits: false +- upper_threshold: 10.0 +- upper_replacement_value: 10.0 ++ use_message_range_limits: true ++ upper_threshold: 29.5 ++ upper_replacement_value: 29.5 +diff --git a/cob_hardware_config/upload_robot.launch b/cob_hardware_config/upload_robot.launch +index f8f79aa..8f81dc7 100644 +--- a/cob_hardware_config/upload_robot.launch ++++ b/cob_hardware_config/upload_robot.launch +@@ -2,9 +2,10 @@ +  +  +  ++  +  +  +  +-  ++  +  +  diff --git a/cob_hardware_config/robots/cob4-19/cob4-19.rviz b/cob_hardware_config/robots/cob4-19/cob4-19.rviz deleted file mode 120000 index d27113391..000000000 --- a/cob_hardware_config/robots/cob4-19/cob4-19.rviz +++ /dev/null @@ -1 +0,0 @@ -../cob4/cob4_base.rviz \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_controller.yaml b/cob_hardware_config/robots/cob4-19/config/base_controller.yaml deleted file mode 120000 index e3ab0fce0..000000000 --- a/cob_hardware_config/robots/cob4-19/config/base_controller.yaml +++ /dev/null @@ -1 +0,0 @@ -/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/cob4_base_controller.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_driver.yaml b/cob_hardware_config/robots/cob4-19/config/base_driver.yaml deleted file mode 100644 index 69bc1b0b9..000000000 --- a/cob_hardware_config/robots/cob4-19/config/base_driver.yaml +++ /dev/null @@ -1,12 +0,0 @@ -nodes: - fl_caster_rotation_joint: - dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) - "607C": "127621.5" # home offset - - b_caster_rotation_joint: - dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) - "607C": "9528.0" # home offset - - fr_caster_rotation_joint: - dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) - "607C": "-108166.0" # home offset diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml deleted file mode 100644 index bd5152b72..000000000 --- a/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml +++ /dev/null @@ -1,7 +0,0 @@ -scan_filter_chain: - - name: range - type: LaserScanRangeFilter - params: - use_message_range_limits: true - upper_threshold: 29.5 - upper_replacement_value: 29.5 diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml deleted file mode 120000 index f9704b51d..000000000 --- a/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/base_laser_front.xml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml deleted file mode 120000 index 6312c8e47..000000000 --- a/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/base_laser_front.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml deleted file mode 120000 index c2d18d531..000000000 --- a/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/base_laser_left.xml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml deleted file mode 120000 index 04690a3f0..000000000 --- a/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/base_laser_left.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml deleted file mode 120000 index 4ad4535b7..000000000 --- a/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/base_laser_right.xml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml deleted file mode 120000 index dde5468a4..000000000 --- a/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/base_laser_right.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml deleted file mode 100644 index dc3b9085f..000000000 --- a/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml +++ /dev/null @@ -1,7 +0,0 @@ -threshold_warning: 20 # % of battery level -threshold_error: 10 # % of battery level -threshold_critical: 5 # % of battery level - -enable_light: false -enable_sound: false - diff --git a/cob_hardware_config/robots/cob4-19/config/bms.yaml b/cob_hardware_config/robots/cob4-19/config/bms.yaml deleted file mode 120000 index f487e3f3d..000000000 --- a/cob_hardware_config/robots/cob4-19/config/bms.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/bms.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml b/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml deleted file mode 120000 index 3ec452ae8..000000000 --- a/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/collision_velocity_filter_params.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml b/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml deleted file mode 100644 index 98138bf80..000000000 --- a/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml +++ /dev/null @@ -1,64 +0,0 @@ -pub_rate: 1.0 # Optional -base_path: '' # Optional, prepended to all diagnostic output -analyzers: - computers: - type: diagnostic_aggregator/AnalyzerGroup - path: Computers - analyzers: - b1: - type: diagnostic_aggregator/GenericAnalyzer - path: b1 - contains: '-b1' -# network: -# type: diagnostic_aggregator/AnalyzerGroup -# path: Network -# analyzers: -# wifi: -# type: diagnostic_aggregator/GenericAnalyzer -# path: wifi -# num_items: 1 -# expected: ['Wifi Status (ddwrt)'] - - io: - type: diagnostic_aggregator/AnalyzerGroup - path: IO - analyzers: - joystick: - type: diagnostic_aggregator/GenericAnalyzer - path: Joystick - contains: 'joy' - - sensors: - type: diagnostic_aggregator/AnalyzerGroup - path: Sensors - analyzers: - laser_top: - type: diagnostic_aggregator/GenericAnalyzer - path: Scan Front - contains: 'laser_front' - laser_rear: - type: diagnostic_aggregator/GenericAnalyzer - path: Scan Right - contains: 'laser_right' - laser_front: - type: diagnostic_aggregator/GenericAnalyzer - path: Scan Left - contains: 'laser_left' - battery: - type: diagnostic_aggregator/GenericAnalyzer - path: Battery Status - contains: 'bms' - - motors: - type: diagnostic_aggregator/AnalyzerGroup - path: Actuators - analyzers: - base: - type: diagnostic_aggregator/GenericAnalyzer - path: Base - contains: 'base/' - - safety: - type: diagnostic_aggregator/GenericAnalyzer - path: Safety - contains: 'safety' diff --git a/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml b/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml deleted file mode 120000 index e17f566f0..000000000 --- a/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/docking_laser_filter.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml b/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml deleted file mode 120000 index c2da1fcdc..000000000 --- a/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/docking_linear_nav.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml b/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml deleted file mode 120000 index 1ef4f7b97..000000000 --- a/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/docking_stations.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml deleted file mode 100644 index 9ffab126a..000000000 --- a/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml +++ /dev/null @@ -1,9 +0,0 @@ -enable_light: true -light_components: ['light_base'] -color_ok: cyan - -enable_sound: false -sound_components: ['sound'] - -diagnostics_based: true -motion_based: true diff --git a/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml b/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml deleted file mode 100644 index 3c702c522..000000000 --- a/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml +++ /dev/null @@ -1,14 +0,0 @@ -port: "9100" # alternative syntax: !!str 9100 -odometry_timeout: 1.0 -threshold_linear_slow: 0.4 -threshold_linear_fast: 0.9 -threshold_angular_fast: 1.0 -marker_type: 11 # http://www.ros.org/wiki/rviz/DisplayTypes/Marker, not all are supported -scale_x: 1.0 -scale_y: 1.0 -scale_z: 1.0 -footprint_angular_slow: [[0.4,0.4], [-0.4,0.4], [-0.4,-0.4], [0.4,-0.4]] -footprint_angular_fast: [[0.5,0.5], [-0.5,0.5], [-0.5,-0.5], [0.5,-0.5]] -footprint_linear_slow: [[0.6,0.4], [-0.4,0.4], [-0.4,-0.4], [0.6,-0.4]] -footprint_linear_fast: [[0.8,0.4], [-0.4,0.4], [-0.4,-0.4], [0.8,-0.4]] - diff --git a/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml b/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml deleted file mode 120000 index eb83c5a07..000000000 --- a/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/footprint_observer_params.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml deleted file mode 100644 index 9fb44b5de..000000000 --- a/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml +++ /dev/null @@ -1,2 +0,0 @@ -rate: 100 #Hz -source_list: [base/joint_states] \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/joy.yaml b/cob_hardware_config/robots/cob4-19/config/joy.yaml deleted file mode 120000 index cf1fd4981..000000000 --- a/cob_hardware_config/robots/cob4-19/config/joy.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/joy.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/light_base.yaml b/cob_hardware_config/robots/cob4-19/config/light_base.yaml deleted file mode 120000 index 1f02f87cb..000000000 --- a/cob_hardware_config/robots/cob4-19/config/light_base.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/light_base.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml b/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml deleted file mode 120000 index a440aedc7..000000000 --- a/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/local_costmap_params.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml deleted file mode 120000 index 41b6c297d..000000000 --- a/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/ntp_monitor.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml b/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml deleted file mode 120000 index 43d2ce8dd..000000000 --- a/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/pc_monitor_cob4-b1.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml b/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml deleted file mode 120000 index 2c1d202cf..000000000 --- a/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/pc_monitor_localhost.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml b/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml deleted file mode 120000 index 4e20cd0c3..000000000 --- a/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/scan_unifier_filter.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/teleop.yaml b/cob_hardware_config/robots/cob4-19/config/teleop.yaml deleted file mode 100644 index 70d7ca64c..000000000 --- a/cob_hardware_config/robots/cob4-19/config/teleop.yaml +++ /dev/null @@ -1,39 +0,0 @@ -#cob4-19 -########## -# common params -run_factor: 2.0 -apply_ramp: false -joy_num_buttons: 12 -joy_num_axes: 6 -joy_num_modes: 4 -mode_switch_button: 8 - -enable_light: false -light_action_name: /light_torso/set_light -enable_sound: false -sound_action_name: /sound/say - -# axes -axis_vx: 1 -axis_vy: 0 -axis_vz: 5 -axis_roll: 4 -axis_pitch: 3 -axis_yaw: 2 - -# buttons -deadman_button: 5 -safety_button: 4 -init_button: 9 - -#mode1: Base -run_button: 7 - -components: { - base: { - twist_topic_name: '/base/twist_mux/command_teleop_joy', - twist_safety_topic_name: '/base/collision_velocity_filter/command', - twist_max_velocity: [0.3, 0.2, 0.3], - twist_max_acc: [0.5, 0.5, 0.7] - } -} diff --git a/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml deleted file mode 120000 index 5a4acfd28..000000000 --- a/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/twist_mux_locks.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml deleted file mode 120000 index 28072f136..000000000 --- a/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/twist_mux_topics.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml b/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml deleted file mode 120000 index 5ce45e5b1..000000000 --- a/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml +++ /dev/null @@ -1 +0,0 @@ -../../cob4/config/velocity_smoother.yaml \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro deleted file mode 100644 index aec33c740..000000000 --- a/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro deleted file mode 100644 index b0c72b6e7..000000000 --- a/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro deleted file mode 100644 index bbbc362c1..000000000 --- a/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz b/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz deleted file mode 100644 index bfad9e9c9..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz +++ /dev/null @@ -1,807 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /TF1/Frames1 - Splitter Ratio: 0.804714 - Tree Height: 843 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan Left -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - arm_left_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_left_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_left_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_left_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_left_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_left_6_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_left_7_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_left_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_right_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_right_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_right_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_right_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_right_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_right_6_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_right_7_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - arm_right_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_laser_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_laser_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_laser_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bl_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bl_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - br_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - br_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fl_caster_r_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - fl_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left_camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left_finger_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left_finger_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left_grasp_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_left_palm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right_camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right_finger_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right_finger_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right_grasp_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - gripper_right_palm_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - head_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - sensorring_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - sensorring_cam3d_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - sensorring_cam3d_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - sensorring_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_cam3d_down_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_cam3d_down_link: - Alpha: 1 - Show Axes: false - Show Trail: false - torso_cam3d_down_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - torso_cam3d_left_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - torso_cam3d_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_cam3d_right_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - torso_cam3d_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_center_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: false - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: x - Class: rviz/LaserScan - Color: 0; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 0; 255; 0 - Max Intensity: 10.454 - Min Color: 0; 255; 0 - Min Intensity: 0.227896 - Name: LaserScan Front - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.025 - Style: Spheres - Topic: /base_laser_front/scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 0; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 0 - Min Color: 0; 255; 0 - Min Intensity: 0 - Name: LaserScan Left - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.025 - Style: Spheres - Topic: /base_laser_left/scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 0; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan Right - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.025 - Style: Spheres - Topic: /base_laser_right/scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Arrow Length: 0.3 - Class: rviz/PoseArray - Color: 255; 25; 0 - Enabled: true - Name: PoseArray - Topic: /particlecloud - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 255; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path dwa global - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /move_base/DWAPlannerROS/global_plan - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 0; 255 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path dwa local - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /move_base/DWAPlannerROS/local_plan - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 255; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path tr global - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /move_base/TrajectoryPlannerROS/global_plan - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 0; 255 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path tr local - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /move_base/TrajectoryPlannerROS/local_plan - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /sound/marker - Name: SoundMarker - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /light_base/marker - Name: LightBaseMarker - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /light_torso/marker - Name: LightTorsoMarker - Namespaces: - color: true - Queue Size: 100 - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /torso_cam3d_down/rgb/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: TorsoCam3dDownImage - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Value: false - - Class: rviz/Image - Enabled: false - Image Topic: /torso_cam3d_left_upright/rgb/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: TorsoCam3dLeftImage - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Value: false - - Class: rviz/Image - Enabled: false - Image Topic: /torso_cam3d_right_upright/rgb/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: TorsoCam3dRightImage - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Value: false - - Class: rviz/Image - Enabled: false - Image Topic: /sensorring_cam3d_upright/rgb/image_raw - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: SensorringCam3dImage - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: TorsoCam3dDownPointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Flat Squares - Topic: /torso_cam3d_down/depth/points - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: TorsoCam3dLeftPointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Flat Squares - Topic: /torso_cam3d_left/depth/points - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: TorsoCam3dRightPointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Flat Squares - Topic: /torso_cam3d_right/depth/points - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: SensorringCam3dPointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Flat Squares - Topic: /sensorring_cam3d/depth/points - Use Fixed Frame: true - Use rainbow: true - Value: false - - Class: rviz/InteractiveMarkers - Enable Transparency: true - Enabled: false - Name: InteractiveTeleop - Show Axes: false - Show Descriptions: true - Show Visual Aids: false - Update Topic: /cob_interactive_teleop/update - Value: false - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: Map - Topic: /map - Value: false - - Alpha: 1 - Class: rviz/GridCells - Color: 255; 0; 0 - Enabled: false - Name: Obstacles - Topic: /move_base/local_costmap/obstacles - Value: false - - Alpha: 1 - Class: rviz/GridCells - Color: 0; 0; 255 - Enabled: false - Name: Inflated Obstacles - Topic: /move_base/local_costmap/inflated_obstacles - Value: false - - Class: rviz/Axes - Enabled: false - Length: 1 - Name: Axes map origin - Radius: 0.1 - Reference Frame: map - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 19.5897 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.891724 - Y: -0.865633 - Z: 1.0872 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.509797 - Target Frame: - Value: Orbit (rviz) - Yaw: 4.28313 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1056 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000141000003dafc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003da000000dd00fffffffb0000000c00430061006d00650072006100000002a5000000cd00000000000000000000000100000169000003dafc0200000007fb000000260054006f00720073006f00430061006d003300640044006f0077006e0049006d00610067006500000000280000010a0000001600fffffffb000000260054006f00720073006f00430061006d00330064004c0065006600740049006d0061006700650000000028000000f60000001600fffffffb000000280054006f00720073006f00430061006d00330064005200690067006800740049006d0061006700650000000028000001430000001600fffffffb0000002800530065006e0073006f007200720069006e006700430061006d003300640049006d0061006700650000000028000003da0000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000326000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005f8000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - SensorringCam3dImage: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - TorsoCam3dDownImage: - collapsed: false - TorsoCam3dLeftImage: - collapsed: false - TorsoCam3dRightImage: - collapsed: false - Views: - collapsed: false - Width: 1855 - X: 65 - Y: 24 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_driver.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/base_driver.yaml deleted file mode 100644 index 31f2f1dc9..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/base_driver.yaml +++ /dev/null @@ -1,12 +0,0 @@ -nodes: - fl_caster_rotation_joint: - dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) - "607C": "129314.5" #"130136.0" # "310136.0" #"130136.0" # home offset - - b_caster_rotation_joint: - dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) - "607C": "12639.0" #"8847.5" # "188847.5" #"8847.5" # home offset - - fr_caster_rotation_joint: - dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings) - "607C": "-109352.5" #"-113391.5" # "66608.5" #"-113391.5" # home offset diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_filter.yaml deleted file mode 100644 index bd5152b72..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_filter.yaml +++ /dev/null @@ -1,7 +0,0 @@ -scan_filter_chain: - - name: range - type: LaserScanRangeFilter - params: - use_message_range_limits: true - upper_threshold: 29.5 - upper_replacement_value: 29.5 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.xml b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.xml deleted file mode 100644 index 99bcf46d8..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_front.xml +++ /dev/null @@ -1,6390 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.yaml deleted file mode 100644 index 39770bd4e..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.yaml +++ /dev/null @@ -1,9 +0,0 @@ -port: /dev/ttyScanRight -baud: 500000 -scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz -scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms -inverted: false -scan_id: 8 -frame_id: /base_laser_right_link -publish_frequency: 12 -scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml deleted file mode 100644 index 74692decd..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml +++ /dev/null @@ -1,13 +0,0 @@ -threshold_warning: 20 # % of battery level -threshold_error: 10 # % of battery level -threshold_critical: 5 # % of battery level - -enable_light: true -num_leds: 72 -light_components: ['light_torso'] - -enable_sound: false -sound_components: [''] # use odp to verbalize - -sound_critical: "Meine Batterie ist leer. Bitte lade mich wieder auf." -sound_warning: "Meine Batterie is fast leer. Ich sollte demnächst wieder aufladen." diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml deleted file mode 100644 index 08c1aa632..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml +++ /dev/null @@ -1,119 +0,0 @@ -diagnostics: - - id: 0x01 - fields: - - name: "battery_empty" - offset: 0 - len: 2 - bit_mask: 0x01 - - name: "battery_almost_empty" - offset: 0 - len: 2 - bit_mask: 0x02 - - name: "charging_fet_active" - offset: 0 - len: 2 - bit_mask: 0x04 - - name: "discharging_fet_active" - offset: 0 - len: 2 - bit_mask: 0x08 - - name: "battery_learning" - offset: 0 - len: 2 - bit_mask: 0x10 - - name: "battery_discharging" - offset: 0 - len: 2 - bit_mask: 0x20 - - name: "battery_full" - offset: 0 - len: 2 - bit_mask: 0x40 - - name: "battery_charging" - offset: 0 - len: 2 - bit_mask: 0x80 - - id: 0x02 - fields: - - name: "current" - offset: 0 - len: 2 - is_signed: true - factor: 0.01 - unit: "A" - - - id: 0x03 - fields: - - name: "voltage" - offset: 0 - len: 2 - is_signed: false - factor: 0.01 - unit: "V" - - - id: 0x06 - fields: - - name: "remaining_capacity" - offset: 0 - len: 2 - is_signed: false - factor: 0.001 - unit: "Ah" - - name: "full_charge_capacity" - offset: 2 - len: 2 - is_signed: false - factor: 0.001 - unit: "Ah" - - - id: 0x04 - fields: - - name: "temperature" - offset: 0 - len: 2 - is_signed: true - factor: 0.1 - unit: "Celsius" - - - name: "temperature_cell_1" - offset: 2 - len: 2 - is_signed: true - factor: 0.1 - unit: "Celsius" - - - name: "temperature_cell_2" - offset: 4 - len: 2 - is_signed: true - factor: 0.1 - unit: "Celsius" - - - id: 0x05 - fields: - - name: "temperature_cell_3" - offset: 0 - len: 2 - is_signed: true - factor: 0.1 - unit: "Celsius" - - - name: "temperature_cell_4" - offset: 2 - len: 2 - is_signed: true - factor: 0.1 - unit: "Celsius" - - - name: "temperature_cell_5" - offset: 4 - len: 2 - is_signed: true - factor: 0.1 - unit: "Celsius" - -topics: ["current", "voltage", "remaining_capacity", "full_charge_capacity", "temperature", "battery_charging", "battery_full", "battery_learning", "battery_almost_empty"] - -can_device: "can1" -bms_id_to_poll: 0x200 -poll_frequency_hz: 20 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml deleted file mode 100644 index eec43f73a..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml +++ /dev/null @@ -1,19 +0,0 @@ -#where to look for costmap parameters -costmap_parameter_source: "/local_costmap_node/costmap" #default "/local_costmap_node/costmap" - -#frequency at which the get_footprint service should be called -footprint_update_frequency: 0.5 - -#Parameters specifying slow down behaviour -pot_ctrl_vmax: 0.6 #default: 0.6 -pot_ctrl_vtheta_max: 0.6 #default: 0.8 -pot_ctrl_kv: 2.5 #damping default: 1.0 -pot_ctrl_kp: 3.0 #stiffness default: 2.0 -pot_ctrl_virt_mass: 0.5 #default: 0.8 -max_acceleration: [0.5, 0.5, 0.7] - -#Parameters specifying collision velocity filter -influence_radius: 2.0 #[m] distance from robot_center -obstacle_damping_dist: 1.0 # used as slow-down dist -stop_threshold: 0.1 #[m] -use_circumscribed_threshold: 0.5 #[rad/s] scan for obstacles in circumscribed radius of robot even when tube filter is enabled during fast rotations diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml deleted file mode 100644 index 3a3828e25..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml +++ /dev/null @@ -1,116 +0,0 @@ -pub_rate: 1.0 # Optional -base_path: '' # Optional, prepended to all diagnostic output -analyzers: - computers: - type: diagnostic_aggregator/AnalyzerGroup - path: Computers - analyzers: - b1: - type: diagnostic_aggregator/GenericAnalyzer - path: b1 - contains: '-b1' - t1: - type: diagnostic_aggregator/GenericAnalyzer - path: t1 - contains: '-t1' - t2: - type: diagnostic_aggregator/GenericAnalyzer - path: t2 - contains: '-t2' - t3: - type: diagnostic_aggregator/GenericAnalyzer - path: t3 - contains: '-t3' - s1: - type: diagnostic_aggregator/GenericAnalyzer - path: s1 - contains: '-s1' - h1: - type: diagnostic_aggregator/GenericAnalyzer - path: h1 - contains: '-h1' -# network: -# type: diagnostic_aggregator/AnalyzerGroup -# path: Network -# analyzers: -# wifi: -# type: diagnostic_aggregator/GenericAnalyzer -# path: wifi -# num_items: 1 -# expected: ['Wifi Status (ddwrt)'] - - io: - type: diagnostic_aggregator/AnalyzerGroup - path: IO - analyzers: - joystick: - type: diagnostic_aggregator/GenericAnalyzer - path: Joystick - contains: 'joy' - sound: - type: diagnostic_aggregator/GenericAnalyzer - path: Sound - contains: 'sound' - light: - type: diagnostic_aggregator/GenericAnalyzer - path: Light - contains: 'light' - - sensors: - type: diagnostic_aggregator/AnalyzerGroup - path: Sensors - analyzers: - laser_top: - type: diagnostic_aggregator/GenericAnalyzer - path: Scan Front - contains: 'laser_front' - laser_rear: - type: diagnostic_aggregator/GenericAnalyzer - path: Scan Right - contains: 'laser_right' - laser_front: - type: diagnostic_aggregator/GenericAnalyzer - path: Scan Left - contains: 'laser_left' - torso_cam3d_left: - type: diagnostic_aggregator/GenericAnalyzer - path: Torso Cam3d Left - contains: 'torso_cam3d_left' - torso_cam3d_right: - type: diagnostic_aggregator/GenericAnalyzer - path: Torso Cam3d Right - contains: 'torso_cam3d_right' - torso_cam3d_down: - type: diagnostic_aggregator/GenericAnalyzer - path: Torso Cam3d Down - contains: 'torso_cam3d_down' - sensorring_cam3d: - type: diagnostic_aggregator/GenericAnalyzer - path: Sensorring Cam3d - contains: 'sensorring_cam3d' - head_cam: - type: diagnostic_aggregator/GenericAnalyzer - path: Head Cam - contains: 'head_cam' - battery: - type: diagnostic_aggregator/GenericAnalyzer - path: Battery Status - contains: 'bms' - - motors: - type: diagnostic_aggregator/AnalyzerGroup - path: Actuators - analyzers: - base: - type: diagnostic_aggregator/GenericAnalyzer - path: Base - contains: 'base/' - sensorring: - type: diagnostic_aggregator/GenericAnalyzer - path: Torso - contains: 'sensorring/' - - safety: - type: diagnostic_aggregator/GenericAnalyzer - path: Safety - contains: 'safety' diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml deleted file mode 100644 index 2eefb887c..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml +++ /dev/null @@ -1,12 +0,0 @@ -scan_filter_chain: -- name: range - type: LaserScanRangeFilter - params: - lower_threshold: 0.005 - upper_threshold: 3.0 -- name: intensity - type: LaserScanIntensityFilter - params: - lower_threshold: 100 - upper_threshold: 100000 - disp_histogram: 0 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml deleted file mode 100644 index 7a457e21d..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml +++ /dev/null @@ -1,23 +0,0 @@ -#Parameters designing the potential field controller -#Translational part -kv: 2.50 #damping 2.50 -kp: 3.00 #stiffness 3.0 -virt_mass: 0.50 #0.50 -vmax: 0.09 #0.3 -goal_threshold: 0.02 #0.03 -speed_threshold: 0.02 #0.08 - -#Rotational part -kv_rot: 2.0 #damping 2.0 -kp_rot: 2.0 #stiffness 2.0 -virt_mass_rot: 0.50 #0.5 -vtheta_max: 0.3 # 0.3 -goal_threshold_rot: 0.06 #0.08 -speed_threshold_rot: 0.02 #0.08 - -#tf parameters -global_frame: odom_combined #/map -robot_frame: base_link #/base_link - -slow_down_distance: 0.25 #0.5[m] distance from robot_center to goal at which robot starts slowing down -goal_abortion_time: 5.0 #5.0[s] time until robot aborts goal due to obstacle diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml deleted file mode 100644 index f4c0dd3a5..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml +++ /dev/null @@ -1,21 +0,0 @@ -stations: -- frame_id: station_charger - reflector_distance: 0.28 - approach_poses: [[-0.76, 0.0, 0.0], [-0.56, 0.0, 0.0], [-0.47, 0.0, -0.02]] # in frame_id coords - departure_poses: [[-0.8, 0.0, 0.0]] - stop_condition: - topic: '/power_state' - message_field: 'charging' - compare_value: True - -- frame_id: station_travel_box - reflector_distance: 0.95 - approach_poses: [[-2.20, 0.0, 0.0], [-0.6, 0.0, -0.035], [-0.38, 0.0, -0.035], [-0.312, 0.0, -0.035]] # in frame_id coords - departure_poses: [[-0.38, 0.0, -0.035], [-0.6, 0.0, -0.035], [-2.20, 0.0, 0.0]] # in frame_id coords - -distance_tolerance: 0.1 -intensity_lower_threshold: 200 -intensity_upper_threshold: 10000 -update_rate: 0.25 -dock_dist_threshold: 0.15 -undock_dist_threshold: 1.0 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml deleted file mode 100644 index 00e960e8b..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml +++ /dev/null @@ -1,19 +0,0 @@ -enable_light: true -light_components: ['light_base'] -color_ok: cyan - -enable_sound: true -sound_components: [''] # use odp to verbalize - -sound_em_ready_laser_released: "" -sound_em_ready_button_released: "Danke. Jetzt kann es weiter gehen." -sound_em_acknowledged: "" -sound_em_stop_laser_released: "" -sound_em_stop_button_released: "Danke. Jetzt kann es weiter gehen." -sound_em_stop_laser_issued: "" -sound_em_stop_button_issued: "Notausknopf gedrueckt. Bitte loese den Knopf wieder durch leichtes Drehen, falls keine Notsituation mehr besteht." -sound_em_stop_issued: "" -sound_em_unknown_issued: "" - -diagnostics_based: true -motion_based: true diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml deleted file mode 100644 index 651911d79..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml +++ /dev/null @@ -1,16 +0,0 @@ -port: "9100" # alternative syntax: !!str 9100 -odometry_timeout: 1.0 -threshold_linear_slow: 0.4 -threshold_linear_fast: 0.9 -threshold_angular_fast: 1.0 -marker_type: 11 # http://www.ros.org/wiki/rviz/DisplayTypes/Marker, not all are supported -scale_x: 1.0 -scale_y: 1.0 -scale_z: 1.0 -footprint_angular_slow: [[0.4,0.4], [-0.4,0.4], [-0.4,-0.4], [0.4,-0.4]] -footprint_angular_fast: [[0.5,0.5], [-0.5,0.5], [-0.5,-0.5], [0.5,-0.5]] -footprint_linear_slow: [[0.6,0.4], [-0.4,0.4], [-0.4,-0.4], [0.6,-0.4]] -footprint_linear_fast: [[0.8,0.4], [-0.4,0.4], [-0.4,-0.4], [0.8,-0.4]] -has_wireless_emstop: true -warn_for_wireless_bridged: false -warn_for_laser_bridged: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml deleted file mode 100644 index c6ccb5d87..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml +++ /dev/null @@ -1,8 +0,0 @@ -# node from which initial footprint is read -footprint_source: /local_costmap_node/costmap - -# -robot_base_frame: /base_link -# frames to check for footprint adjustment -frames_to_check: /base_laser_front_link /base_laser_left_link /base_laser_right_link -epsilon: 0.01 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml deleted file mode 100644 index d5871dadc..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml +++ /dev/null @@ -1,5 +0,0 @@ -video_device: "/dev/video0" -image_width: 2048 -image_height: 1536 -pixel_format: yuyv -framerate: 3.5 #at 2048x1536 3.6hz is maximum on hw diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml deleted file mode 100644 index 049433f55..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml +++ /dev/null @@ -1,4 +0,0 @@ -diagnostics_name: head_cam -topics: [/head_cam/camera_info] -hz: 3.5 -hzerror: 1 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml deleted file mode 100644 index 780d23e60..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml +++ /dev/null @@ -1,4 +0,0 @@ -diagnostics_name: sensorring_cam3d -topics: [/sensorring_cam3d/rgb/camera_info] -hz: 30 -hzerror: 5 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml deleted file mode 100644 index f967de71e..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml +++ /dev/null @@ -1,4 +0,0 @@ -diagnostics_name: torso_cam3d_down -topics: [/torso_cam3d_down/rgb/camera_info] -hz: 30 -hzerror: 5 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml deleted file mode 100644 index e6170fdc3..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml +++ /dev/null @@ -1,4 +0,0 @@ -diagnostics_name: torso_cam3d_left -topics: [/torso_cam3d_left/rgb/camera_info] -hz: 30 -hzerror: 5 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml deleted file mode 100644 index a507b6d0a..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml +++ /dev/null @@ -1,4 +0,0 @@ -diagnostics_name: torso_cam3d_right -topics: [/torso_cam3d_right/rgb/camera_info] -hz: 30 -hzerror: 5 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml deleted file mode 100644 index a8bed5e19..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml +++ /dev/null @@ -1,23 +0,0 @@ -# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) -# int -rotation_mode: 1 - -# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) -# double -rotation_angle: 0 - -# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) -# string -reference_frame: base_link - -# flip color image -# bool -flip_color_image: true - -# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) -# bool -flip_pointcloud: false - -# display warning if transformation not available -# bool -display_warnings: true diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml deleted file mode 100644 index a9fcb8619..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml +++ /dev/null @@ -1,23 +0,0 @@ -# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) -# int -rotation_mode: 1 - -# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) -# double -rotation_angle: 0 - -# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) -# string -reference_frame: base_link - -# flip color image -# bool -flip_color_image: true - -# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) -# bool -flip_pointcloud: true - -# display warning if transformation not available -# bool -display_warnings: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml deleted file mode 100644 index a9fcb8619..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml +++ /dev/null @@ -1,23 +0,0 @@ -# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) -# int -rotation_mode: 1 - -# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) -# double -rotation_angle: 0 - -# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) -# string -reference_frame: base_link - -# flip color image -# bool -flip_color_image: true - -# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) -# bool -flip_pointcloud: true - -# display warning if transformation not available -# bool -display_warnings: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml deleted file mode 100644 index a9fcb8619..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml +++ /dev/null @@ -1,23 +0,0 @@ -# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) -# int -rotation_mode: 1 - -# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) -# double -rotation_angle: 0 - -# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) -# string -reference_frame: base_link - -# flip color image -# bool -flip_color_image: true - -# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) -# bool -flip_pointcloud: true - -# display warning if transformation not available -# bool -display_warnings: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml deleted file mode 100644 index a9fcb8619..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml +++ /dev/null @@ -1,23 +0,0 @@ -# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster) -# int -rotation_mode: 1 - -# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg) -# double -rotation_angle: 0 - -# reference world coordinate frame with z-axis pointing upwards (= against gravity direction) -# string -reference_frame: base_link - -# flip color image -# bool -flip_color_image: true - -# flip point cloud (usually unnecessary because tf takes care of this with original point cloud) -# bool -flip_pointcloud: true - -# display warning if transformation not available -# bool -display_warnings: false diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml deleted file mode 100644 index 337d64a5c..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml +++ /dev/null @@ -1,2 +0,0 @@ -rate: 100 #Hz -source_list: [/base/joint_states, /sensorring/joint_states] diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml deleted file mode 100644 index f07d1f5a0..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml +++ /dev/null @@ -1,2 +0,0 @@ -dev: /dev/joypad -deadzone: 0.12 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml deleted file mode 100644 index e3806035b..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml +++ /dev/null @@ -1,9 +0,0 @@ -devicestring: /dev/ttyLED -devicedriver: stageprofi -baudrate: 38400 -num_leds: 3 -invert_output: false -pubmarker: true -marker_frame: /torso_base_link # marker will be publised at [0.5,0,0] with respect to marker_frame -startup_color: [0.0, 1.0, 0.5, 0.4] #rgba value -startup_mode: Static #possible values: None, Static, Breath, BreathColor, Flash, FadeColor diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml deleted file mode 100644 index 32950a61f..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml +++ /dev/null @@ -1,10 +0,0 @@ -devicestring: /dev/ttyLED -devicedriver: stageprofi -baudrate: 38400 -num_leds: 72 -led_offset: 5 -invert_output: false -pubmarker: true -marker_frame: /torso_center_link # marker will be publised at [0.5,0,0] with respect to marker_frame -startup_color: [0.0, 1.0, 0.5, 0.4] #rgba value -startup_mode: Breath #possible values: None, Static, Breath, BreathColor, Flash, FadeColor diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml deleted file mode 100644 index 3739a6259..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml +++ /dev/null @@ -1,65 +0,0 @@ -# global information -global_frame: /base_link -robot_base_frame: /base_footprint -update_frequency: 5.0 -publish_frequency: 5.0 - -# local map settings -static_map: false -rolling_window: true -width: 5.0 -height: 5.0 -resolution: 0.07 - -# footprint and range -footprint: [[0.43, 0.35], [0.43, -0.35], [-0.43, -0.35],[-0.43, 0.35]] #[m] -footprint_padding: 0.02 #[m] - -#layers -plugins: - -# The obstacle layer tracks the obstacles as read by the sensor data. The ObstacleCostmapPlugin marks and -# raytraces obstacles in two dimensions, while the VoxelCostmapPlugin does so in three dimensions. -- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - - -obstacle_layer: - - # Definition of the sensors/observation sources - observation_sources: laser_scan_front laser_scan_left laser_scan_right - - # Parameters of the source: laser_scan_front - laser_scan_front: - sensor_frame: base_laser_front_link # The frame of the origin of the sensor, default: "" - topic: /base_laser_front/scan # The topic on which sensor data comes in for this source, default: source_name - data_type: LaserScan # The data type associated with the topic, default: "PointCloud" - marking: true # Whether or not this observation is used to mark obstacles, default: true - clearing: true # Whether or not this observation is used to clear out freespace, default: false - - # Parameters of the source: laser_scan_rear - laser_scan_left: - sensor_frame: base_laser_left_link # The frame of the origin of the sensor, default: "" - topic: /base_laser_left/scan # The topic on which sensor data comes in for this source, default: source_name - data_type: LaserScan # The data type associated with the topic, default: "PointCloud" - marking: true # Whether or not this observation is used to mark obstacles, default: true - clearing: true # Whether or not this observation is used to clear out freespace, default: false - - # Parameters of the source: laser_scan_front - laser_scan_right: - sensor_frame: base_laser_right_link # The frame of the origin of the sensor, default: "" - topic: /base_laser_right/scan # The topic on which sensor data comes in for this source, default: source_name - data_type: LaserScan # The data type associated with the topic, default: "PointCloud" - marking: true # Whether or not this observation is used to mark obstacles, default: true - clearing: true # Whether or not this observation is used to clear out freespace, default: false - - # The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters - obstacle_range: 3.0 - - # The default range in meters at which to raytrace out obstacles from the map using sensor data - raytrace_range: 3.0 - - # What map type to use. "voxel" or "costmap" are the supported types, with the difference between them being a 3D-view of the world vs. a 2D-view of the world - map_type: costmap - - # The maximum height in meters of a sensor reading considered valid. - max_obstacle_height: 2.0 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml deleted file mode 100644 index 4ada7cf49..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml +++ /dev/null @@ -1,2 +0,0 @@ -offset: 5000 #us -error_offset: 25000 #us diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml deleted file mode 100644 index cf87289cb..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml +++ /dev/null @@ -1,6 +0,0 @@ -check_core_temps: False -check_ipmi_tool: False -enforce_clock_speed: False -num_cores: 4 -load1_threshold: 10 -load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml deleted file mode 100644 index cf87289cb..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml +++ /dev/null @@ -1,6 +0,0 @@ -check_core_temps: False -check_ipmi_tool: False -enforce_clock_speed: False -num_cores: 4 -load1_threshold: 10 -load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml deleted file mode 100644 index 78df36053..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml +++ /dev/null @@ -1,3 +0,0 @@ -check_core_temps: False -check_ipmi_tool: False -enforce_clock_speed: False \ No newline at end of file diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml deleted file mode 100644 index cf87289cb..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml +++ /dev/null @@ -1,6 +0,0 @@ -check_core_temps: False -check_ipmi_tool: False -enforce_clock_speed: False -num_cores: 4 -load1_threshold: 10 -load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml deleted file mode 100644 index cf87289cb..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml +++ /dev/null @@ -1,6 +0,0 @@ -check_core_temps: False -check_ipmi_tool: False -enforce_clock_speed: False -num_cores: 4 -load1_threshold: 10 -load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml deleted file mode 100644 index cf87289cb..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml +++ /dev/null @@ -1,6 +0,0 @@ -check_core_temps: False -check_ipmi_tool: False -enforce_clock_speed: False -num_cores: 4 -load1_threshold: 10 -load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml deleted file mode 100644 index cf87289cb..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml +++ /dev/null @@ -1,6 +0,0 @@ -check_core_temps: False -check_ipmi_tool: False -enforce_clock_speed: False -num_cores: 4 -load1_threshold: 10 -load5_threshold: 10 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml deleted file mode 100644 index be78cb830..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml +++ /dev/null @@ -1,3 +0,0 @@ -#Scan_unifier_config-parameters - -input_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"] diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml deleted file mode 100644 index fa89d541a..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml +++ /dev/null @@ -1,51 +0,0 @@ -#all -joint_names: [sensorring_joint] - -## control_mode_adapter -max_command_silence: 0.5 - -## joint_state_controller -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 - -## joint trajectory controller -joint_trajectory_controller: - type: position_controllers/JointTrajectoryController - joints: - - sensorring_joint - constraints: - goal_time: 0.6 - stopped_velocity_tolerance: 0.05 - sensorring_joint: {trajectory: 0.1, goal: 0.1} - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 - required_drive_mode: 7 - - -## position controller -joint_group_position_controller: - type: position_controllers/JointGroupPositionController - joints: - - sensorring_joint - required_drive_mode: 1 - -sensorring_joint_position_controller: - type: position_controllers/JointPositionController - joint: sensorring_joint - required_drive_mode: 1 - - -### velocity controller -### velicty controllers are not to be used with Elmo Devices as JointLimits are not considered! -#joint_group_velocity_controller: -# type: velocity_controllers/JointGroupVelocityController -# joints: -# - sensorring_joint -# required_drive_mode: 3 -# -#sensorring_joint_velocity_controller: -# type: velocity_controllers/JointVelocityController -# joint: sensorring_joint -# required_drive_mode: 3 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml deleted file mode 100644 index 604d329f5..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml +++ /dev/null @@ -1,22 +0,0 @@ -sync: - interval_ms: 10 - overflow: 0 - -defaults: - eds_pkg: unity_hardware_config - eds_file: "robots/common/Elmo.dcf" - vel_from_device: "v != v ? v=0 : v=smooth(deg2rad(obj606c/1000.0),v,0.3)" # for smoother current velocity in joint_states - motor_layer: - switching_state: 4 # switched on - stop controller before switching modes - -nodes: - - name: sensorring_joint - id: 73 - #publish: ["60C1sub1"] #trajectory - #publish: ["60FF"] #velocity - dcf_overlay: # "ObjectID": "ParameterValue" (both as strings) - "6083": "300000" # profile acceleration, mgrad/sec^2 - "6084": "300000" # profile deceleration, mgrad/sec^2 - "60C5": "300000" # max acceleration, mgrad/sec^2 - "60C6": "1000000" # max deceleration, mgrad/sec^2 - diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml deleted file mode 100644 index 6321ef27e..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml +++ /dev/null @@ -1,6 +0,0 @@ -mode: "cepstral" -cepstral_voice: "David" -cepstral_settings: "\"speech/rate=170\"" -fade_volume: true #fade volume on play and on track transition -fade_duration: 1.0 #time till full volume or mute is reached - #(complete fade time between two tracks = 2*fade_duration) diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml deleted file mode 100644 index 711456352..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml +++ /dev/null @@ -1,59 +0,0 @@ -########## -# common params -run_factor: 2.0 -apply_ramp: false -joy_num_buttons: 12 -joy_num_axes: 6 -joy_num_modes: 4 -mode_switch_button: 8 - -enable_light: true -light_action_name: /light_torso/set_light -enable_sound: true -sound_action_name: /sound/say - -# axes -axis_vx: 1 -axis_vy: 0 -axis_vz: 5 -axis_roll: 4 -axis_pitch: 3 -axis_yaw: 2 - -# buttons -deadman_button: 5 -safety_button: 4 -init_button: 9 - -#mode1: Base -run_button: 7 - -#mode2: Trajectory controller -torso_sss_default_target_button: 1 - -#mode3: Velocity group controller -torso_joint1_button: 0 - -right_indicator_button: 7 -left_indicator_button: 6 -up_down_button: 5 -right_left_button: 4 - -#mode4: Twist controller -torso_twist_button: 1 - -components: { - base: { - twist_topic_name: '/base/twist_mux/command_teleop_joy', - twist_safety_topic_name: '/base/collision_velocity_filter/command', - twist_max_velocity: [0.3, 0.2, 0.3], - twist_max_acc: [0.5, 0.5, 0.7] - }, - sensorring: { - sss_default_target: "home", - velocity_topic_name: "/sensorring/joint_group_velocity_controller/command", - joint_velocity: [0.05, 0.05], - twist_topic_name: '/sensorring/twist_controller/command_twist', - twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3] - } -} diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml deleted file mode 100644 index d61b1da58..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml +++ /dev/null @@ -1,26 +0,0 @@ -# Locks to stop the twist inputs. -# For each lock: -# - topic : input topic that provides the lock; it must be of type std_msgs::Bool?!!! -# - timeout : == 0.0 -> not used -# > 0.0 -> the lock is supposed to published at a certain frequency in order -# to detect that the publisher is alive; the timeout in seconds allows -# to detect that, and if the publisher dies we will enable the lock -# - priority: priority in the range [0, 255], so all the topics with priority lower than it -# will be stopped/disabled - -locks: -- - name : pause_navigation - topic : twist_mux/locks/pause_navigation - timeout : 0.0 - priority: 21 -- - name : pause_teleop - topic : twist_mux/locks/pause_teleop - timeout : 0.0 - priority: 101 -- - name : pause_all - topic : twist_mux/locks/pause_all - timeout : 0.0 - priority: 255 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml deleted file mode 100644 index 9704c12c7..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml +++ /dev/null @@ -1,43 +0,0 @@ -# Input topics handled/muxed. -# For each topic: -# - name : name identifier to select the topic -# - topic : input topic of geometry_msgs::Twist type -# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead -# - priority: priority in the range [0, 255]; the higher the more priority over other topics - -topics: -- - name : collision_velocity_filter - topic : twist_mux/command_safe - timeout : 0.25 - priority: 10 -- - name : navigation - topic : twist_mux/command_navigation - timeout : 0.25 - priority: 20 -- - name : syncmm # cob_twist_controller - topic : twist_mux/command_syncmm - timeout : 0.5 - priority: 60 -- - name : script_server - topic : twist_mux/command_script_server - timeout : 0.5 - priority: 70 -- - name : teleop_keyboard - topic : twist_mux/command_teleop_keyboard - timeout : 0.5 - priority: 80 -- - name : teleop_android - topic : twist_mux/command_teleop_android - timeout : 0.5 - priority: 90 -- - name : teleop_joystick - topic : twist_mux/command_teleop_joy - timeout : 0.25 - priority: 100 diff --git a/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml deleted file mode 100644 index 8a0ff137b..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml +++ /dev/null @@ -1,23 +0,0 @@ -# Example configuration: -# - velocity limits are around a 10% above the physical limits -# - acceleration limits are just low enough to avoid jerking - -# Mandatory parameters -speed_lim_vx: 1.2 -speed_lim_vy: 1.0 -speed_lim_w: 1.2 - -accel_lim_vx: 0.5 -accel_lim_vy: 0.5 -accel_lim_w: 0.5 - -# Optional parameters -frequency: 50.0 -decel_factor: 1.5 #used if zero velocity is received or goal velocity is far away from current velocity -decel_factor_safe: 2.5 #used if no velocity commands received (eg. no deadman on joystick) - -# Robot velocity feedback type: -# 0 - none -# 1 - odometry -# 2 - end robot commands -robot_feedback: 1 diff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro deleted file mode 100644 index 8f90da0c6..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro +++ /dev/null @@ -1,99 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro deleted file mode 100644 index a14f580b5..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro +++ /dev/null @@ -1,91 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro deleted file mode 100644 index 74d9423ad..000000000 --- a/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro +++ /dev/null @@ -1,102 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/hold: 10.0 b/hold: 10.0 new file mode 100644 index 000000000..2a8e3e723 --- /dev/null +++ b/hold: 10.0 @@ -0,0 +1,233 @@ + + SSUUMMMMAARRYY OOFF LLEESSSS CCOOMMMMAANNDDSS + + Commands marked with * may be preceded by a number, _N. + Notes in parentheses indicate the behavior if _N is given. + A key preceded by a caret indicates the Ctrl key; thus ^K is ctrl-K. + + h H Display this help. + q :q Q :Q ZZ Exit. + --------------------------------------------------------------------------- + + MMOOVVIINNGG + + e ^E j ^N CR * Forward one line (or _N lines). + y ^Y k ^K ^P * Backward one line (or _N lines). + f ^F ^V SPACE * Forward one window (or _N lines). + b ^B ESC-v * Backward one window (or _N lines). + z * Forward one window (and set window to _N). + w * Backward one window (and set window to _N). + ESC-SPACE * Forward one window, but don't stop at end-of-file. + d ^D * Forward one half-window (and set half-window to _N). + u ^U * Backward one half-window (and set half-window to _N). + ESC-) RightArrow * Left one half screen width (or _N positions). + ESC-( LeftArrow * Right one half screen width (or _N positions). + F Forward forever; like "tail -f". + ESC-F Like F but stop when search pattern is found. + r ^R ^L Repaint screen. + R Repaint screen, discarding buffered input. + --------------------------------------------------- + Default "window" is the screen height. + Default "half-window" is half of the screen height. + --------------------------------------------------------------------------- + + SSEEAARRCCHHIINNGG + + /_p_a_t_t_e_r_n * Search forward for (_N-th) matching line. + ?_p_a_t_t_e_r_n * Search backward for (_N-th) matching line. + n * Repeat previous search (for _N-th occurrence). + N * Repeat previous search in reverse direction. + ESC-n * Repeat previous search, spanning files. + ESC-N * Repeat previous search, reverse dir. & spanning files. + ESC-u Undo (toggle) search highlighting. + &_p_a_t_t_e_r_n * Display only matching lines + --------------------------------------------------- + A search pattern may be preceded by one or more of: + ^N or ! Search for NON-matching lines. + ^E or * Search multiple files (pass thru END OF FILE). + ^F or @ Start search at FIRST file (for /) or last file (for ?). + ^K Highlight matches, but don't move (KEEP position). + ^R Don't use REGULAR EXPRESSIONS. + --------------------------------------------------------------------------- + + JJUUMMPPIINNGG + + g < ESC-< * Go to first line in file (or line _N). + G > ESC-> * Go to last line in file (or line _N). + p % * Go to beginning of file (or _N percent into file). + t * Go to the (_N-th) next tag. + T * Go to the (_N-th) previous tag. + { ( [ * Find close bracket } ) ]. + } ) ] * Find open bracket { ( [. + ESC-^F _<_c_1_> _<_c_2_> * Find close bracket _<_c_2_>. + ESC-^B _<_c_1_> _<_c_2_> * Find open bracket _<_c_1_> + --------------------------------------------------- + Each "find close bracket" command goes forward to the close bracket + matching the (_N-th) open bracket in the top line. + Each "find open bracket" command goes backward to the open bracket + matching the (_N-th) close bracket in the bottom line. + + m_<_l_e_t_t_e_r_> Mark the current position with . + '_<_l_e_t_t_e_r_> Go to a previously marked position. + '' Go to the previous position. + ^X^X Same as '. + --------------------------------------------------- + A mark is any upper-case or lower-case letter. + Certain marks are predefined: + ^ means beginning of the file + $ means end of the file + --------------------------------------------------------------------------- + + CCHHAANNGGIINNGG FFIILLEESS + + :e [_f_i_l_e] Examine a new file. + ^X^V Same as :e. + :n * Examine the (_N-th) next file from the command line. + :p * Examine the (_N-th) previous file from the command line. + :x * Examine the first (or _N-th) file from the command line. + :d Delete the current file from the command line list. + = ^G :f Print current file name. + --------------------------------------------------------------------------- + + MMIISSCCEELLLLAANNEEOOUUSS CCOOMMMMAANNDDSS + + -_<_f_l_a_g_> Toggle a command line option [see OPTIONS below]. + --_<_n_a_m_e_> Toggle a command line option, by name. + __<_f_l_a_g_> Display the setting of a command line option. + ___<_n_a_m_e_> Display the setting of an option, by name. + +_c_m_d Execute the less cmd each time a new file is examined. + + !_c_o_m_m_a_n_d Execute the shell command with $SHELL. + |XX_c_o_m_m_a_n_d Pipe file between current pos & mark XX to shell command. + v Edit the current file with $VISUAL or $EDITOR. + V Print version number of "less". + --------------------------------------------------------------------------- + + OOPPTTIIOONNSS + + Most options may be changed either on the command line, + or from within less by using the - or -- command. + Options may be given in one of two forms: either a single + character preceded by a -, or a name preceded by --. + + -? ........ --help + Display help (from command line). + -a ........ --search-skip-screen + Search skips current screen. + -A ........ --SEARCH-SKIP-SCREEN + Search starts just after target line. + -b [_N] .... --buffers=[_N] + Number of buffers. + -B ........ --auto-buffers + Don't automatically allocate buffers for pipes. + -c ........ --clear-screen + Repaint by clearing rather than scrolling. + -d ........ --dumb + Dumb terminal. + -D [_x_n_._n] . --color=_x_n_._n + Set screen colors. (MS-DOS only) + -e -E .... --quit-at-eof --QUIT-AT-EOF + Quit at end of file. + -f ........ --force + Force open non-regular files. + -F ........ --quit-if-one-screen + Quit if entire file fits on first screen. + -g ........ --hilite-search + Highlight only last match for searches. + -G ........ --HILITE-SEARCH + Don't highlight any matches for searches. + -h [_N] .... --max-back-scroll=[_N] + Backward scroll limit. + -i ........ --ignore-case + Ignore case in searches that do not contain uppercase. + -I ........ --IGNORE-CASE + Ignore case in all searches. + -j [_N] .... --jump-target=[_N] + Screen position of target lines. + -J ........ --status-column + Display a status column at left edge of screen. + -k [_f_i_l_e] . --lesskey-file=[_f_i_l_e] + Use a lesskey file. + -K --quit-on-intr + Exit less in response to ctrl-C. + -L ........ --no-lessopen + Ignore the LESSOPEN environment variable. + -m -M .... --long-prompt --LONG-PROMPT + Set prompt style. + -n -N .... --line-numbers --LINE-NUMBERS + Don't use line numbers. + -o [_f_i_l_e] . --log-file=[_f_i_l_e] + Copy to log file (standard input only). + -O [_f_i_l_e] . --LOG-FILE=[_f_i_l_e] + Copy to log file (unconditionally overwrite). + -p [_p_a_t_t_e_r_n] --pattern=[_p_a_t_t_e_r_n] + Start at pattern (from command line). + -P [_p_r_o_m_p_t] --prompt=[_p_r_o_m_p_t] + Define new prompt. + -q -Q .... --quiet --QUIET --silent --SILENT + Quiet the terminal bell. + -r -R .... --raw-control-chars --RAW-CONTROL-CHARS + Output "raw" control characters. + -s ........ --squeeze-blank-lines + Squeeze multiple blank lines. + -S ........ --chop-long-lines + Chop (truncate) long lines rather than wrapping. + -t [_t_a_g] .. --tag=[_t_a_g] + Find a tag. + -T [_t_a_g_s_f_i_l_e] --tag-file=[_t_a_g_s_f_i_l_e] + Use an alternate tags file. + -u -U .... --underline-special --UNDERLINE-SPECIAL + Change handling of backspaces. + -V ........ --version + Display the version number of "less". + -w ........ --hilite-unread + Highlight first new line after forward-screen. + -W ........ --HILITE-UNREAD + Highlight first new line after any forward movement. + -x [_N[,...]] --tabs=[_N[,...]] + Set tab stops. + -X ........ --no-init + Don't use termcap init/deinit strings. + -y [_N] .... --max-forw-scroll=[_N] + Forward scroll limit. + -z [_N] .... --window=[_N] + Set size of window. + -" [_c[_c]] . --quotes=[_c[_c]] + Set shell quote characters. + -~ ........ --tilde + Don't display tildes after end of file. + -# [_N] .... --shift=[_N] + Horizontal scroll amount (0 = one half screen width) + ........ --no-keypad + Don't send termcap keypad init/deinit strings. + ........ --follow-name + The F command changes files if the input file is renamed. + ........ --use-backslash + Subsequent options use backslash as escape char. + + + --------------------------------------------------------------------------- + + LLIINNEE EEDDIITTIINNGG + + These keys can be used to edit text being entered + on the "command line" at the bottom of the screen. + + RightArrow ..................... ESC-l ... Move cursor right one character. + LeftArrow ...................... ESC-h ... Move cursor left one character. + ctrl-RightArrow ESC-RightArrow ESC-w ... Move cursor right one word. + ctrl-LeftArrow ESC-LeftArrow ESC-b ... Move cursor left one word. + HOME ........................... ESC-0 ... Move cursor to start of line. + END ............................ ESC-$ ... Move cursor to end of line. + BACKSPACE ................................ Delete char to left of cursor. + DELETE ......................... ESC-x ... Delete char under cursor. + ctrl-BACKSPACE ESC-BACKSPACE ........... Delete word to left of cursor. + ctrl-DELETE .... ESC-DELETE .... ESC-X ... Delete word under cursor. + ctrl-U ......... ESC (MS-DOS only) ....... Delete entire line. + UpArrow ........................ ESC-k ... Retrieve previous command line. + DownArrow ...................... ESC-j ... Retrieve next command line. + TAB ...................................... Complete filename & cycle. + SHIFT-TAB ...................... ESC-TAB Complete filename & reverse cycle. + ctrl-L ................................... Complete filename, list all. + + From 3402484044c470889a3c1f652f8a10bef767a44e Mon Sep 17 00:00:00 2001 From: srd-rd Date: Tue, 25 Sep 2018 09:53:41 +0200 Subject: [PATCH 10/10] Removed personal changes, --- cob_bringup/robots/raw3-1.launch | 4 + cob_bringup/robots/raw3-1.xml | 2 + .../tools/robot_state_publisher.launch | 2 - .../urdf/calibration_default.urdf.xacro | 4 +- .../robots/raw3-1/urdf/raw3-1.urdf.xacro | 24 +- .../urdf/calibration_default.urdf.xacro | 4 +- hold: 10.0 | 233 ------------------ 7 files changed, 22 insertions(+), 251 deletions(-) delete mode 100644 hold: 10.0 diff --git a/cob_bringup/robots/raw3-1.launch b/cob_bringup/robots/raw3-1.launch index 40d20e556..c28d524c7 100644 --- a/cob_bringup/robots/raw3-1.launch +++ b/cob_bringup/robots/raw3-1.launch @@ -6,6 +6,10 @@ + + + + diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml index b323896be..c884982a3 100644 --- a/cob_bringup/robots/raw3-1.xml +++ b/cob_bringup/robots/raw3-1.xml @@ -8,6 +8,7 @@ + @@ -62,6 +63,7 @@ + diff --git a/cob_bringup/tools/robot_state_publisher.launch b/cob_bringup/tools/robot_state_publisher.launch index 00ce6cb11..6ec8599ab 100644 --- a/cob_bringup/tools/robot_state_publisher.launch +++ b/cob_bringup/tools/robot_state_publisher.launch @@ -10,8 +10,6 @@ - - diff --git a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro index 3895af3b4..8ddffadc7 100644 --- a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro +++ b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro @@ -6,7 +6,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro index 3ba0b091d..2362e469a 100644 --- a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro +++ b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro @@ -38,20 +38,20 @@ - - - + + + - - - + + + - - - + + + - - - + + + diff --git a/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro index 88e9f0633..a23375242 100644 --- a/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro +++ b/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro @@ -6,7 +6,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/hold: 10.0 b/hold: 10.0 deleted file mode 100644 index 2a8e3e723..000000000 --- a/hold: 10.0 +++ /dev/null @@ -1,233 +0,0 @@ - - SSUUMMMMAARRYY OOFF LLEESSSS CCOOMMMMAANNDDSS - - Commands marked with * may be preceded by a number, _N. - Notes in parentheses indicate the behavior if _N is given. - A key preceded by a caret indicates the Ctrl key; thus ^K is ctrl-K. - - h H Display this help. - q :q Q :Q ZZ Exit. - --------------------------------------------------------------------------- - - MMOOVVIINNGG - - e ^E j ^N CR * Forward one line (or _N lines). - y ^Y k ^K ^P * Backward one line (or _N lines). - f ^F ^V SPACE * Forward one window (or _N lines). - b ^B ESC-v * Backward one window (or _N lines). - z * Forward one window (and set window to _N). - w * Backward one window (and set window to _N). - ESC-SPACE * Forward one window, but don't stop at end-of-file. - d ^D * Forward one half-window (and set half-window to _N). - u ^U * Backward one half-window (and set half-window to _N). - ESC-) RightArrow * Left one half screen width (or _N positions). - ESC-( LeftArrow * Right one half screen width (or _N positions). - F Forward forever; like "tail -f". - ESC-F Like F but stop when search pattern is found. - r ^R ^L Repaint screen. - R Repaint screen, discarding buffered input. - --------------------------------------------------- - Default "window" is the screen height. - Default "half-window" is half of the screen height. - --------------------------------------------------------------------------- - - SSEEAARRCCHHIINNGG - - /_p_a_t_t_e_r_n * Search forward for (_N-th) matching line. - ?_p_a_t_t_e_r_n * Search backward for (_N-th) matching line. - n * Repeat previous search (for _N-th occurrence). - N * Repeat previous search in reverse direction. - ESC-n * Repeat previous search, spanning files. - ESC-N * Repeat previous search, reverse dir. & spanning files. - ESC-u Undo (toggle) search highlighting. - &_p_a_t_t_e_r_n * Display only matching lines - --------------------------------------------------- - A search pattern may be preceded by one or more of: - ^N or ! Search for NON-matching lines. - ^E or * Search multiple files (pass thru END OF FILE). - ^F or @ Start search at FIRST file (for /) or last file (for ?). - ^K Highlight matches, but don't move (KEEP position). - ^R Don't use REGULAR EXPRESSIONS. - --------------------------------------------------------------------------- - - JJUUMMPPIINNGG - - g < ESC-< * Go to first line in file (or line _N). - G > ESC-> * Go to last line in file (or line _N). - p % * Go to beginning of file (or _N percent into file). - t * Go to the (_N-th) next tag. - T * Go to the (_N-th) previous tag. - { ( [ * Find close bracket } ) ]. - } ) ] * Find open bracket { ( [. - ESC-^F _<_c_1_> _<_c_2_> * Find close bracket _<_c_2_>. - ESC-^B _<_c_1_> _<_c_2_> * Find open bracket _<_c_1_> - --------------------------------------------------- - Each "find close bracket" command goes forward to the close bracket - matching the (_N-th) open bracket in the top line. - Each "find open bracket" command goes backward to the open bracket - matching the (_N-th) close bracket in the bottom line. - - m_<_l_e_t_t_e_r_> Mark the current position with . - '_<_l_e_t_t_e_r_> Go to a previously marked position. - '' Go to the previous position. - ^X^X Same as '. - --------------------------------------------------- - A mark is any upper-case or lower-case letter. - Certain marks are predefined: - ^ means beginning of the file - $ means end of the file - --------------------------------------------------------------------------- - - CCHHAANNGGIINNGG FFIILLEESS - - :e [_f_i_l_e] Examine a new file. - ^X^V Same as :e. - :n * Examine the (_N-th) next file from the command line. - :p * Examine the (_N-th) previous file from the command line. - :x * Examine the first (or _N-th) file from the command line. - :d Delete the current file from the command line list. - = ^G :f Print current file name. - --------------------------------------------------------------------------- - - MMIISSCCEELLLLAANNEEOOUUSS CCOOMMMMAANNDDSS - - -_<_f_l_a_g_> Toggle a command line option [see OPTIONS below]. - --_<_n_a_m_e_> Toggle a command line option, by name. - __<_f_l_a_g_> Display the setting of a command line option. - ___<_n_a_m_e_> Display the setting of an option, by name. - +_c_m_d Execute the less cmd each time a new file is examined. - - !_c_o_m_m_a_n_d Execute the shell command with $SHELL. - |XX_c_o_m_m_a_n_d Pipe file between current pos & mark XX to shell command. - v Edit the current file with $VISUAL or $EDITOR. - V Print version number of "less". - --------------------------------------------------------------------------- - - OOPPTTIIOONNSS - - Most options may be changed either on the command line, - or from within less by using the - or -- command. - Options may be given in one of two forms: either a single - character preceded by a -, or a name preceded by --. - - -? ........ --help - Display help (from command line). - -a ........ --search-skip-screen - Search skips current screen. - -A ........ --SEARCH-SKIP-SCREEN - Search starts just after target line. - -b [_N] .... --buffers=[_N] - Number of buffers. - -B ........ --auto-buffers - Don't automatically allocate buffers for pipes. - -c ........ --clear-screen - Repaint by clearing rather than scrolling. - -d ........ --dumb - Dumb terminal. - -D [_x_n_._n] . --color=_x_n_._n - Set screen colors. (MS-DOS only) - -e -E .... --quit-at-eof --QUIT-AT-EOF - Quit at end of file. - -f ........ --force - Force open non-regular files. - -F ........ --quit-if-one-screen - Quit if entire file fits on first screen. - -g ........ --hilite-search - Highlight only last match for searches. - -G ........ --HILITE-SEARCH - Don't highlight any matches for searches. - -h [_N] .... --max-back-scroll=[_N] - Backward scroll limit. - -i ........ --ignore-case - Ignore case in searches that do not contain uppercase. - -I ........ --IGNORE-CASE - Ignore case in all searches. - -j [_N] .... --jump-target=[_N] - Screen position of target lines. - -J ........ --status-column - Display a status column at left edge of screen. - -k [_f_i_l_e] . --lesskey-file=[_f_i_l_e] - Use a lesskey file. - -K --quit-on-intr - Exit less in response to ctrl-C. - -L ........ --no-lessopen - Ignore the LESSOPEN environment variable. - -m -M .... --long-prompt --LONG-PROMPT - Set prompt style. - -n -N .... --line-numbers --LINE-NUMBERS - Don't use line numbers. - -o [_f_i_l_e] . --log-file=[_f_i_l_e] - Copy to log file (standard input only). - -O [_f_i_l_e] . --LOG-FILE=[_f_i_l_e] - Copy to log file (unconditionally overwrite). - -p [_p_a_t_t_e_r_n] --pattern=[_p_a_t_t_e_r_n] - Start at pattern (from command line). - -P [_p_r_o_m_p_t] --prompt=[_p_r_o_m_p_t] - Define new prompt. - -q -Q .... --quiet --QUIET --silent --SILENT - Quiet the terminal bell. - -r -R .... --raw-control-chars --RAW-CONTROL-CHARS - Output "raw" control characters. - -s ........ --squeeze-blank-lines - Squeeze multiple blank lines. - -S ........ --chop-long-lines - Chop (truncate) long lines rather than wrapping. - -t [_t_a_g] .. --tag=[_t_a_g] - Find a tag. - -T [_t_a_g_s_f_i_l_e] --tag-file=[_t_a_g_s_f_i_l_e] - Use an alternate tags file. - -u -U .... --underline-special --UNDERLINE-SPECIAL - Change handling of backspaces. - -V ........ --version - Display the version number of "less". - -w ........ --hilite-unread - Highlight first new line after forward-screen. - -W ........ --HILITE-UNREAD - Highlight first new line after any forward movement. - -x [_N[,...]] --tabs=[_N[,...]] - Set tab stops. - -X ........ --no-init - Don't use termcap init/deinit strings. - -y [_N] .... --max-forw-scroll=[_N] - Forward scroll limit. - -z [_N] .... --window=[_N] - Set size of window. - -" [_c[_c]] . --quotes=[_c[_c]] - Set shell quote characters. - -~ ........ --tilde - Don't display tildes after end of file. - -# [_N] .... --shift=[_N] - Horizontal scroll amount (0 = one half screen width) - ........ --no-keypad - Don't send termcap keypad init/deinit strings. - ........ --follow-name - The F command changes files if the input file is renamed. - ........ --use-backslash - Subsequent options use backslash as escape char. - - - --------------------------------------------------------------------------- - - LLIINNEE EEDDIITTIINNGG - - These keys can be used to edit text being entered - on the "command line" at the bottom of the screen. - - RightArrow ..................... ESC-l ... Move cursor right one character. - LeftArrow ...................... ESC-h ... Move cursor left one character. - ctrl-RightArrow ESC-RightArrow ESC-w ... Move cursor right one word. - ctrl-LeftArrow ESC-LeftArrow ESC-b ... Move cursor left one word. - HOME ........................... ESC-0 ... Move cursor to start of line. - END ............................ ESC-$ ... Move cursor to end of line. - BACKSPACE ................................ Delete char to left of cursor. - DELETE ......................... ESC-x ... Delete char under cursor. - ctrl-BACKSPACE ESC-BACKSPACE ........... Delete word to left of cursor. - ctrl-DELETE .... ESC-DELETE .... ESC-X ... Delete word under cursor. - ctrl-U ......... ESC (MS-DOS only) ....... Delete entire line. - UpArrow ........................ ESC-k ... Retrieve previous command line. - DownArrow ...................... ESC-j ... Retrieve next command line. - TAB ...................................... Complete filename & cycle. - SHIFT-TAB ...................... ESC-TAB Complete filename & reverse cycle. - ctrl-L ................................... Complete filename, list all. - -