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Jan Koniarik
schpin-robot
Commits
513b5120
Commit
513b5120
authored
May 27, 2021
by
Jan Koniarik
Browse files
moving to ROS2'
parent
d4a10fc8
Pipeline
#92096
failed with stage
in 4 seconds
Changes
4
Pipelines
1
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cabal.project
View file @
513b5120
packages: schpin_koke/
packages: schpin_koke/
../schpin-robot-lib/
source-repository-package
type: git
location: https://github.com/bgamari/language-openscad.git
source-repository-package
type: git
location: https://gitlab.fi.muni.cz/xkoniar/schpin-robot-lib.git
schpin_koke/CMakeLists.txt
deleted
100644 → 0
View file @
d4a10fc8
cmake_minimum_required
(
VERSION 2.8.3
)
project
(
schpin_koke
)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package
(
catkin REQUIRED schpin_robot_lib
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package
(
# INCLUDE_DIRS include
# LIBRARIES schpin_koke
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
#CABAL_BUILD( schpin-koke )
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories
(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/schpin_koke.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/schpin_koke_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_schpin_koke.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
schpin_koke/src/Main.hs
View file @
513b5120
...
...
@@ -64,27 +64,27 @@ baseAxis pos = case pos of
RR
->
zAxis
RL
->
V3
(
0
*~
mm
)
(
0
*~
mm
)
((
-
1000
)
*~
mm
)
actuatorId
::
LegPos
->
UrdfName
->
Int
actuatorId
lp
jname
=
case
lp
of
RL
->
case
jname
of
"alfa"
->
11
"beta"
->
12
"gama"
->
13
RR
->
case
jname
of
"alfa"
->
21
"beta"
->
22
"gama"
->
23
FL
->
case
jname
of
"alfa"
->
1
"beta"
->
2
"gama"
->
3
FR
->
case
jname
of
"alfa"
->
31
"beta"
->
32
"gama"
->
33
actuatorName
::
LegPos
->
UrdfName
->
String
actuatorName
lp
jname
=
"servo/"
++
(
show
id
)
where
id
::
Int
id
=
case
lp
of
RL
->
case
jname
of
"alfa"
->
11
"beta"
->
12
"gama"
->
13
RR
->
case
jname
of
"alfa"
->
21
"beta"
->
22
"gama"
->
23
FL
->
case
jname
of
"alfa"
->
1
"beta"
->
2
"gama"
->
3
FR
->
case
jname
of
"alfa"
->
21
"beta"
->
22
"gama"
->
23
actuatorName
lp
jname
=
"servo/"
++
(
show
$
actuatorId
lp
jname
)
leg
::
LegPos
->
ConfType
->
SimpleLeg
...
...
@@ -111,7 +111,12 @@ leg leg_pos conf_type = Leg
,
vel_lim
=
0.5
*~
(
radian
D
./
second
)
,
effor_lim
=
100
,
g_steps
=
16
,
actuator_name
=
actuatorName
leg_pos
"alfa"
,
actuator
=
Actuator
{
ac_name
=
actuatorName
leg_pos
"alfa"
,
ac_type
=
LewanTest
,
ac_id
=
actuatorId
leg_pos
"alfa"
,
ac_from
=
0
,
ac_to
=
1000
}
}
,
sub_link
=
Link
{
link_name
=
"coxa"
,
weight
=
320
*~
gram
...
...
@@ -150,7 +155,12 @@ leg leg_pos conf_type = Leg
,
vel_lim
=
0.5
*~
(
radian
D
./
second
)
,
effor_lim
=
100
,
g_steps
=
16
,
actuator_name
=
actuatorName
leg_pos
"beta"
,
actuator
=
Actuator
{
ac_name
=
actuatorName
leg_pos
"beta"
,
ac_type
=
LewanTest
,
ac_id
=
actuatorId
leg_pos
"beta"
,
ac_from
=
0
,
ac_to
=
1000
}
}
,
sub_link
=
Link
{
link_name
=
"femur"
,
weight
=
50
*~
gram
...
...
@@ -192,7 +202,12 @@ leg leg_pos conf_type = Leg
,
vel_lim
=
0.5
*~
(
radian
D
./
second
)
,
effor_lim
=
100
,
g_steps
=
16
,
actuator_name
=
actuatorName
leg_pos
"gama"
,
actuator
=
Actuator
{
ac_name
=
actuatorName
leg_pos
"gama"
,
ac_type
=
LewanTest
,
ac_id
=
actuatorId
leg_pos
"gama"
,
ac_from
=
0
,
ac_to
=
1000
}
}
,
sub_link
=
Link
{
link_name
=
"tibia"
,
weight
=
170
*~
gram
...
...
schpin_koke/src/Package.hs
View file @
513b5120
...
...
@@ -10,6 +10,7 @@ import Schpin.Walker.Pkg
import
Schpin.Walker.SCAD
import
Schpin.Walker.SRDF
import
Schpin.Walker.URDF
import
Schpin.Walker.Config
import
System.Directory
(
copyFile
,
createDirectory
,
createDirectoryIfMissing
...
...
@@ -22,18 +23,17 @@ kokePackageConfig :: String -> PackageConfig
kokePackageConfig
cwd
=
PackageConfig
{
pkg_info
=
PackageInfo
{
pkg_name
=
"schpin_koke"
,
version
=
"0.1"
,
version
=
PackageVersion
0
1
0
,
description
=
"Data files for KOKE"
,
maintainers
=
[
Person
"Jan Koniarik"
"433337@mail.muni.cz"
]
,
license
=
"LGPL"
,
authors
=
[
Person
"Jan Koniarik"
"433337@mail.muni.cz"
]
,
depends
=
[]
,
exports
=
[
BuildType
"ament_cmake"
]
}
,
scad_dir
=
cwd
++
"/out/tmp/scad"
,
pkg_dir
=
cwd
++
"/out/pkg/schpin_koke"
,
src_dir
=
cwd
++
"/src/scad"
,
urdf_subdir
=
"/src/"
,
srdf_subdir
=
"/src/"
}
...
...
@@ -68,10 +68,7 @@ exportPackage w = do
generateWalkerPackage
(
w
Default
)
conf
writeCMakeLists
conf
writePackageXML
conf
writeRobotDescriptionLaunch
(
w
Default
)
conf
copyFile
"launch/koke_gazebo.launch"
(
pkg_dir
conf
++
"/launch/koke_gazebo.launch"
)
writeControlConfig
ew
conf
createDirectoryIfMissing
False
(
pkg_dir
conf
++
"/worlds"
)
copyFile
"worlds/koke.world"
(
pkg_dir
conf
++
"/worlds/koke.world"
)
...
...
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