Commit ee5153fb authored by Simon Markus Haller-Seeber's avatar Simon Markus Haller-Seeber
Browse files

Initial Edu MiniBot Description

parent beb926d2
......@@ -57,7 +57,7 @@
<xacro:insert_block name="negligible_inertia"/>
</inertial>
<visual>
<origin xyz="-0.0185 0.0135 0.0425" rpy="0 0 0"/>
<origin xyz="-0.016 0.016 0.0425" rpy="0 0 0"/>
<geometry>
<mesh filename="package://lss_4dof_description/meshes/Link_1.stl" scale="0.001 0.001 0.001" />
</geometry>
......
cmake_minimum_required(VERSION 3.0.2)
project(minibot)
## 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 COMPONENTS
roscpp
rospy
std_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## 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 minibot
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## 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/${PROJECT_NAME}/minibot.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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/minibot_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
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${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_minibot.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
<launch>
<arg name="gui" default="True" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find minibot)/model/minibot_in_world.urdf.xacro"/>
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
</launch>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" >
<xacro:include filename="$(find sphero_rvr_description)/model/sphero_rvr.urdf.xacro"/>
<xacro:include filename="$(find lss_4dof_description)/model/lss_4dof.urdf.xacro"/>
<xacro:lss_4dof name="lss_4dof" parent="battery_holder_link">
<origin xyz="0.0 -0.0465 0.019" rpy="0 0 ${M_PI/2}"/>
</xacro:lss_4dof>
<xacro:sphero_rvr name="sphero_rvr" parent="base_link">
<origin xyz="0.0 0.0 0.0"/>
</xacro:sphero_rvr>
<link name="base_link" />
<xacro:macro name="minibot" params="parent name *origin">
<joint name="sphero_rvr_battery_joint" type="fixed">
<origin xyz="0 0.0465 0.0885" rpy="0 0 0"/>
<parent link="sphero_rvr_base_link"/>
<child link="battery_holder_link"/>
</joint>
<link name="battery_holder_link">
<inertial>
<xacro:insert_block name="negligible_inertia"/>
</inertial>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://minibot/meshes/battery_holder.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0 -0.045 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.18 0.13 0.03"/>
</geometry>
</collision>
</link>
<joint name="jetson_protection_joint" type="fixed">
<origin xyz="0 0.0 0.039" rpy="0 0 0"/>
<parent link="lss_4dof_base_link"/>
<child link="jetson_protection_link"/>
</joint>
<link name="jetson_protection_link">
<inertial>
<xacro:insert_block name="negligible_inertia"/>
</inertial>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://minibot/meshes/jetson_protection.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0.0 -0.09 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.09 0.09 0.003"/>
</geometry>
</collision>
</link>
<joint name="camera_mount_joint" type="fixed">
<origin xyz="0 0.0 0.0" rpy="0 0 0"/>
<parent link="lss_4dof_axis_4_link"/>
<child link="camera_mount_link"/>
</joint>
<link name="camera_mount_link">
<inertial>
<xacro:insert_block name="negligible_inertia"/>
</inertial>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://minibot/meshes/realsense_mount.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="0.0 0.0 0.042" rpy="0 0 0"/>
<geometry>
<box size="0.06 0.03 0.04"/>
</geometry>
</collision>
</link>
</xacro:macro>
</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="Eddie">
<xacro:include filename="$(find minibot)/model/minibot.urdf.xacro" />
<link name="world" />
<xacro:minibot name="minibot" parent="world">
<origin xyz="0.0 0.0 0.0"/>
</xacro:minibot>
<joint name="world_joint" type="fixed">
<parent link="world" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
</robot>
<?xml version="1.0"?>
<package format="2">
<name>minibot</name>
<version>0.0.1</version>
<description>Mini Robot description and launch package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="c703101@todo.todo">c703101</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/minibot</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<author email="simon.haller-seeber@uibk.ac.at">Simon Haller-Seeber</author>
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
cmake_minimum_required(VERSION 2.8.3)
project(sphero_rvr_hw)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++17 -fconcepts)
# Project root directory
......@@ -33,24 +32,6 @@ find_package(catkin REQUIRED COMPONENTS
tf
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
......@@ -89,11 +70,9 @@ set(RVRSOURCES
)
# Hardware Interface
add_library(rvr++ ${RVRSOURCES})
# Hardware Interface
add_library(sphero_rvr_hw_interface
${PROJECT_ROOT}/src/sphero_rvr_hw_interface.cpp
)
......@@ -104,6 +83,10 @@ target_link_libraries(sphero_rvr_hw_node sphero_rvr_hw_interface ${catkin_LIBRAR
add_executable(base_controller ${PROJECT_ROOT}/src/base_controller.cpp)
target_link_libraries(base_controller rvr++ ${catkin_LIBRARIES})
catkin_install_python(PROGRAMS scripts/rvr-ros.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
#############
## Install ##
#############
......
......@@ -12,6 +12,11 @@ from sphero_sdk import RawMotorModesEnum
import traceback
if ( os.environ['ROS_DISTRO'] == "melodic" ) :
print ("This script needs ROS with python3 support")
sys.exit(os.EX_UNAVAILABLE)
import tf
import rospy
import signal, sys
......
## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
# fetch values from package.xml
setup_args = generate_distutils_setup(
packages=['sphero_rvr_hw'],
script = ['scripts/rvr-ros.py'],
package_dir={'': 'scripts'},
)
setup(**setup_args)
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