Skip to content

Commit 8631757

Browse files
author
Darby Lim
committed
first commit
0 parents  commit 8631757

File tree

10 files changed

+275
-0
lines changed

10 files changed

+275
-0
lines changed

‎.travis.yml

Lines changed: 32 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,32 @@
1+
# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
2+
# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
3+
4+
sudo: required
5+
dist: trusty
6+
services:
7+
- docker
8+
language: generic
9+
python:
10+
- "2.7"
11+
compiler:
12+
- gcc
13+
notifications:
14+
email:
15+
on_success: always
16+
on_failure: always
17+
recipients:
18+
- pyo@robotis.com
19+
env:
20+
matrix:
21+
- ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian
22+
# - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=jessie
23+
branches:
24+
only:
25+
- master
26+
- develop
27+
- kinetic-devel
28+
install:
29+
- git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
30+
script:
31+
- source .ci_config/travis.sh
32+

‎open_manipulator_gazebo/CHANGELOG.rst

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
2+
Changelog for package open_manipulator_gazebo
3+
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
4+
5+
0.1.1 (2018-03-15)
6+
------------------
7+
* none
8+
9+
0.1.0 (2018-03-14)
10+
------------------
11+
* modified gazebo dependency
12+
* update gazebo
13+
* update moveit
14+
* modified cmake, package files for release
15+
* refactoring for release
16+
* Contributors: Darby Lim, Pyo

‎open_manipulator_gazebo/CMakeLists.txt

Lines changed: 56 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,56 @@
1+
################################################################################
2+
# CMake
3+
################################################################################
4+
cmake_minimum_required(VERSION 2.8.3)
5+
project(open_manipulator_gazebo)
6+
7+
add_compile_options(-std=c++11)
8+
9+
################################################################################
10+
# Packages
11+
################################################################################
12+
find_package(catkin REQUIRED COMPONENTS
13+
gazebo_ros
14+
gazebo_ros_control
15+
controller_manager
16+
xacro
17+
urdf
18+
)
19+
20+
find_package(gazebo REQUIRED)
21+
22+
################################################################################
23+
# Declare ROS messages, services and actions
24+
################################################################################
25+
26+
################################################################################
27+
# Declare ROS dynamic reconfigure parameters
28+
################################################################################
29+
30+
################################################################################
31+
# Catkin specific configuration
32+
################################################################################
33+
catkin_package(
34+
CATKIN_DEPENDS gazebo_ros gazebo_ros_control controller_manager xacro urdf
35+
)
36+
37+
################################################################################
38+
# Build
39+
################################################################################
40+
link_directories(${GAZEBO_LIBRARY_DIRS})
41+
42+
include_directories(
43+
${catkin_INCLUDE_DIRS}
44+
${GAZEBO_INCLUDE_DIRS}
45+
)
46+
47+
################################################################################
48+
# Install
49+
################################################################################
50+
install(DIRECTORY config launch worlds
51+
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
52+
)
53+
54+
################################################################################
55+
# Test
56+
################################################################################

‎open_manipulator_gazebo/config/open_manipulator_controller.yaml

Lines changed: 36 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,36 @@
1+
open_manipulator:
2+
# Publish all joint states -----------------------------------
3+
joint_state_controller:
4+
type: joint_state_controller/JointStateController
5+
publish_rate: 125
6+
7+
# Position Controllers ---------------------------------------
8+
joint1_position:
9+
type: effort_controllers/JointPositionController
10+
joint: joint1
11+
pid: {p: 100.0, i: 0.0, d: 10.0}
12+
13+
joint2_position:
14+
type: effort_controllers/JointPositionController
15+
joint: joint2
16+
pid: {p: 500.0, i: 0.0, d: 15.0}
17+
18+
joint3_position:
19+
type: effort_controllers/JointPositionController
20+
joint: joint3
21+
pid: {p: 500.0, i: 0.0, d: 6.0}
22+
23+
joint4_position:
24+
type: effort_controllers/JointPositionController
25+
joint: joint4
26+
pid: {p: 500.0, i: 0.0, d: 5.0}
27+
28+
grip_joint_position:
29+
type: effort_controllers/JointPositionController
30+
joint: grip_joint
31+
pid: {p: 50.0, i: 0.0, d: 5.0}
32+
33+
grip_joint_sub_position:
34+
type: effort_controllers/JointPositionController
35+
joint: grip_joint_sub
36+
pid: {p: 50.0, i: 0.0, d: 5.0}

‎open_manipulator_gazebo/launch/open_manipulator_controller.launch

Lines changed: 14 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,14 @@
1+
<launch>
2+
<!-- Load joint controller configurations from YAML file to parameter server -->
3+
<rosparam file="$(find open_manipulator_gazebo)/config/open_manipulator_controller.yaml" command="load"/>
4+
5+
<!-- load the controllers -->
6+
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
7+
output="screen" ns="/open_manipulator" args="joint_state_controller
8+
joint1_position
9+
joint2_position
10+
joint3_position
11+
joint4_position
12+
grip_joint_position
13+
grip_joint_sub_position"/>
14+
</launch>

‎open_manipulator_gazebo/launch/open_manipulator_gazebo.launch

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,29 @@
1+
<launch>
2+
<!-- These are the arguments you can pass this launch file, for example paused:=true -->
3+
<arg name="paused" default="true"/>
4+
<arg name="use_sim_time" default="true"/>
5+
<arg name="gui" default="true"/>
6+
<arg name="headless" default="false"/>
7+
<arg name="debug" default="false"/>
8+
9+
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
10+
<include file="$(find gazebo_ros)/launch/empty_world.launch">
11+
<arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>
12+
<arg name="debug" value="$(arg debug)" />
13+
<arg name="gui" value="$(arg gui)" />
14+
<arg name="paused" value="$(arg paused)"/>
15+
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
16+
<arg name="headless" value="$(arg headless)"/>
17+
</include>
18+
19+
<!-- Load the URDF into the ROS Parameter Server -->
20+
<param name="robot_description"
21+
command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.urdf.xacro'"/>
22+
23+
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
24+
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
25+
args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
26+
27+
<!-- ros_control robotis manipulator launch file -->
28+
<include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch"/>
29+
</launch>

‎open_manipulator_gazebo/package.xml

Lines changed: 23 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,23 @@
1+
<?xml version="1.0"?>
2+
<package format="2">
3+
<name>open_manipulator_gazebo</name>
4+
<version>0.1.1</version>
5+
<description>
6+
Gazebo configurations package for OpenManipulator
7+
</description>
8+
<license>Apache 2.0</license>
9+
<author email="thlim@robotis.com">Darby Lim</author>
10+
<maintainer email="pyo@robotis.com">Pyo</maintainer>
11+
<url type="bugtracker">https://github.com/ROBOTIS-GIT/open_manipulator_simulations/issues</url>
12+
<url type="repository">https://github.com/ROBOTIS-GIT/open_manipulator_simulations</url>
13+
<url type="website">http://emanual.robotis.com/docs/en/platform/openmanipulator</url>
14+
<buildtool_depend>catkin</buildtool_depend>
15+
<depend>gazebo_ros</depend>
16+
<depend>gazebo_ros_control</depend>
17+
<depend>controller_manager</depend>
18+
<depend>xacro</depend>
19+
<depend>urdf</depend>
20+
<export>
21+
<gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" gazebo_model_path="${prefix}/models"/>
22+
</export>
23+
</package>

‎open_manipulator_gazebo/worlds/empty.world

Lines changed: 48 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,48 @@
1+
<sdf version="1.4">
2+
<world name="default">
3+
<!-- A global light source -->
4+
<include>
5+
<uri>model://sun</uri>
6+
</include>
7+
8+
<!-- A ground plane -->
9+
<include>
10+
<uri>model://ground_plane</uri>
11+
</include>
12+
13+
<physics type="ode">
14+
<real_time_update_rate>1000.0</real_time_update_rate>
15+
<max_step_size>0.001</max_step_size>
16+
<real_time_factor>1</real_time_factor>
17+
<ode>
18+
<solver>
19+
<type>quick</type>
20+
<iters>150</iters>
21+
<precon_iters>0</precon_iters>
22+
<sor>1.400000</sor>
23+
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
24+
</solver>
25+
<constraints>
26+
<cfm>0.00001</cfm>
27+
<erp>0.2</erp>
28+
<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
29+
<contact_surface_layer>0.01000</contact_surface_layer>
30+
</constraints>
31+
</ode>
32+
</physics>
33+
34+
<scene>
35+
<ambient>0.4 0.4 0.4 1</ambient>
36+
<background>0.7 0.7 0.7 1</background>
37+
<shadows>true</shadows>
38+
</scene>
39+
40+
<gui fullscreen='0'>
41+
<camera name='user_camera'>
42+
<pose> 2.0 -2.0 1.2 0.0 0.275643 2.356190 </pose>
43+
<view_controller>orbit</view_controller>
44+
</camera>
45+
</gui>
46+
47+
</world>
48+
</sdf>

‎open_manipulator_simulations/CMakeLists.txt

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,4 @@
1+
cmake_minimum_required(VERSION 2.8.3)
2+
project(open_manipulator_simulations)
3+
find_package(catkin REQUIRED)
4+
catkin_metapackage()

‎open_manipulator_simulations/package.xml

Lines changed: 17 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,17 @@
1+
<?xml version="1.0"?>
2+
<package format="2">
3+
<name>open_manipulator_simulations</name>
4+
<version>0.1.1</version>
5+
<description>
6+
Simulation packages for OpenManipulator
7+
</description>
8+
<license>Apache 2.0</license>
9+
<author email="thlim@robotis.com">Darby Lim</author>
10+
<maintainer email="pyo@robotis.com">Pyo</maintainer>
11+
<url type="bugtracker">https://github.com/ROBOTIS-GIT/open_manipulator_simulations/issues</url>
12+
<url type="repository">https://github.com/ROBOTIS-GIT/open_manipulator_simulations</url>
13+
<url type="website">http://emanual.robotis.com/docs/en/platform/openmanipulator</url>
14+
<buildtool_depend>catkin</buildtool_depend>
15+
<exec_depend>open_manipulator_gazebo</exec_depend>
16+
<export><metapackage/></export>
17+
</package>

0 commit comments

Comments
 (0)