Commit 513b5120 authored by Jan Koniarik's avatar Jan Koniarik
Browse files

moving to ROS2'

parent d4a10fc8
Pipeline #92096 failed with stage
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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
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)
......@@ -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
......
......@@ -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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