diff --git a/CMakeLists.txt b/CMakeLists.txt deleted file mode 120000 index 66dd650a..00000000 --- a/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/opt/ros/melodic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/kortex_control/CMakeLists.txt b/kortex_control/CMakeLists.txt index 10cb67ca..0f6430a0 100644 --- a/kortex_control/CMakeLists.txt +++ b/kortex_control/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(kortex_control) diff --git a/kortex_description/CMakeLists.txt b/kortex_description/CMakeLists.txt index 40d07049..fb38d745 100644 --- a/kortex_description/CMakeLists.txt +++ b/kortex_description/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(kortex_description) diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro index e04ae667..b92e5106 100644 --- a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro +++ b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro @@ -15,7 +15,7 @@ - + ${prefix}right_finger_bottom_joint ${prefix}right_finger_tip_joint -0.676 @@ -23,7 +23,7 @@ 5.0 - + ${prefix}right_finger_bottom_joint ${prefix}left_finger_bottom_joint -1.0 @@ -31,7 +31,7 @@ 5.0 - + ${prefix}right_finger_bottom_joint ${prefix}left_finger_tip_joint -0.676 diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro index f1a85b8c..32c4e9d8 100644 --- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro +++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro @@ -15,7 +15,7 @@ - + ${prefix}finger_joint ${prefix}right_outer_knuckle_joint -1.0 @@ -23,7 +23,7 @@ 5.0 - + ${prefix}finger_joint ${prefix}right_inner_knuckle_joint -1.0 @@ -31,7 +31,7 @@ 5.0 - + ${prefix}finger_joint ${prefix}left_inner_knuckle_joint -1.0 @@ -39,7 +39,7 @@ 5.0 - + ${prefix}finger_joint ${prefix}left_inner_finger_joint 1.0 @@ -47,7 +47,7 @@ 5.0 - + ${prefix}finger_joint ${prefix}right_inner_finger_joint 1.0 diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro index 4ed28bab..c3fa6d39 100644 --- a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro +++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro @@ -15,7 +15,7 @@ - + ${prefix}finger_joint ${prefix}right_outer_knuckle_joint 1.0 @@ -23,7 +23,7 @@ 5.0 - + ${prefix}finger_joint ${prefix}right_inner_knuckle_joint 1.0 @@ -31,7 +31,7 @@ 5.0 - + ${prefix}finger_joint ${prefix}left_inner_knuckle_joint 1.0 @@ -39,7 +39,7 @@ 5.0 - + ${prefix}finger_joint ${prefix}left_inner_finger_joint -1.0 @@ -47,7 +47,7 @@ 5.0 - + ${prefix}finger_joint ${prefix}right_inner_finger_joint -1.0 diff --git a/kortex_description/launch/visualize.launch b/kortex_description/launch/visualize.launch index 30914192..53123fa9 100644 --- a/kortex_description/launch/visualize.launch +++ b/kortex_description/launch/visualize.launch @@ -21,9 +21,8 @@ unless="$(eval not arg('gripper'))"/> - + [base_feedback/joint_state] - diff --git a/kortex_description/package.xml b/kortex_description/package.xml index 018c38c1..f10c0f6d 100644 --- a/kortex_description/package.xml +++ b/kortex_description/package.xml @@ -14,6 +14,7 @@ for Kortex arms and supported grippers

robot_state_publisher rviz joint_state_publisher + joint_state_publisher_gui gazebo xacro diff --git a/kortex_description/readme.md b/kortex_description/readme.md index 2ecf830b..7086d441 100644 --- a/kortex_description/readme.md +++ b/kortex_description/readme.md @@ -18,7 +18,7 @@ This package contains the URDF (Unified Robot Description Format), STL and confi To load the description of a robot, you simply have to load the **ARM.xacro** or the **ARM_GRIPPER.xacro** file, with **ARM** being your arm's name (gen3, gen3_lite), and if you have a gripper, **GRIPPER** being your gripper's name (robotiq_2f_85, gen3_lite_2f). **Arguments**: -- **sim** : If this argument is true, the Gazebo-specific files will be loaded. The default value is **false **. +- **sim** : If this argument is true, the Gazebo-specific files will be loaded. The default value is **false**. For example: diff --git a/kortex_driver/CMakeLists.txt b/kortex_driver/CMakeLists.txt index ca8c3eba..58ddb307 100644 --- a/kortex_driver/CMakeLists.txt +++ b/kortex_driver/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(kortex_driver) add_compile_options(-std=c++11) diff --git a/kortex_driver/launch/kortex_driver.launch b/kortex_driver/launch/kortex_driver.launch index 94a644bb..73bbc9a9 100644 --- a/kortex_driver/launch/kortex_driver.launch +++ b/kortex_driver/launch/kortex_driver.launch @@ -101,7 +101,6 @@ [base_feedback/joint_state] - diff --git a/kortex_driver/launch/kortex_dual_driver.launch b/kortex_driver/launch/kortex_dual_driver.launch index 0e79d2ca..0005f06c 100644 --- a/kortex_driver/launch/kortex_dual_driver.launch +++ b/kortex_driver/launch/kortex_dual_driver.launch @@ -122,7 +122,6 @@ [$(arg left_robot_name)/base_feedback/joint_state, $(arg right_robot_name)/base_feedback/joint_state] - diff --git a/kortex_driver/readme.md b/kortex_driver/readme.md index 47351ffd..a042a851 100644 --- a/kortex_driver/readme.md +++ b/kortex_driver/readme.md @@ -40,7 +40,12 @@ The source code is released under a [BSD 3-Clause license](../LICENSE). Affiliation: [Kinova inc.](https://www.kinovarobotics.com/)
Maintainer: Kinova inc. support@kinovarobotics.com** -This package has been tested under ROS Kinetic (Ubuntu 16.04) and ROS Melodic (Ubuntu 18.04). +This package has been tested under ROS Noetic (Ubuntu 20.04). + +For older ROS versions, checkout on corresponding branch : + +- [melodic-devel](https://github.com/Kinovarobotics/ros_kortex/tree/melodic-devel) for ROS Melodic and Ubuntu 18.04 support. +- [kinetic-devel](https://github.com/Kinovarobotics/ros_kortex/tree/kinetic-devel) for ROS Kinetic and Ubuntu 16.04 support, but the branch is no longer maintained (the melodic-devel branch might work for this configuration). ## Usage @@ -58,7 +63,7 @@ The `kortex_driver` node is the node responsible for the communication between t - **username** : The username for the robot connection. The default value is **admin**. - **password** : The password for the robot connection. The default value is **admin**. - **use_hard_limits** : [**Gen3 only**] If set to **true**, the arm's soft speed and acceleration limits are set to the hard limits and the MoveIt configuration uses those limits for the trajectories. If **false**, the default soft limit values are used. The default value for the parameter is **false**. **Be aware that setting this argument to true will set you arm's speed and acceleration limits to the maximum, so it will move way faster! Be cautious when using it for the first time as it may cause unwanted behaviour.** -- **cyclic_data_publish_rate** : Publish rate of the *base_feedback* and *joint_state* topics, in Hz. The default value is **100** Hz. +- **cyclic_data_publish_rate** : Publish rate of the *base_feedback* and *joint_state* topics, in Hz. The default value is **40** Hz. - **api_rpc_timeout_ms** : The default X-axis position of the robot in Gazebo. The default value is **0.0**. - **api_session_inactivity_timeout_ms** : The duration after which the robot will clean the client session if the client hangs up the connection brutally (should not happen with the ROS driver). The default value is **35000** ms and is not normally changed. - **api_connection_inactivity_timeout_ms** : The duration after which a connection is destroyed by the robot if no communication is detected between the client and the robot. The default value is **20000** ms and is not normally changed. diff --git a/kortex_examples/CMakeLists.txt b/kortex_examples/CMakeLists.txt index c5c10d7c..4f017250 100644 --- a/kortex_examples/CMakeLists.txt +++ b/kortex_examples/CMakeLists.txt @@ -1,5 +1,5 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(kortex_examples) add_compile_options(-std=c++11) diff --git a/kortex_examples/setup.py b/kortex_examples/setup.py index a257e287..fb59b06b 100644 --- a/kortex_examples/setup.py +++ b/kortex_examples/setup.py @@ -1,4 +1,4 @@ -from distutils.core import setup +from setuptools import setup from catkin_pkg.python_setup import generate_distutils_setup setup(**generate_distutils_setup( diff --git a/kortex_examples/src/actuator_config/example_actuator_configuration.py b/kortex_examples/src/actuator_config/example_actuator_configuration.py index 7291a3c2..02c673bb 100755 --- a/kortex_examples/src/actuator_config/example_actuator_configuration.py +++ b/kortex_examples/src/actuator_config/example_actuator_configuration.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 ### # KINOVA (R) KORTEX (TM) # diff --git a/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py index 885c0fa9..ef8c1994 100755 --- a/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py +++ b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 ### # KINOVA (R) KORTEX (TM) # diff --git a/kortex_examples/src/full_arm/example_full_arm_movement.py b/kortex_examples/src/full_arm/example_full_arm_movement.py index 829b9c3a..9bd6a4f5 100755 --- a/kortex_examples/src/full_arm/example_full_arm_movement.py +++ b/kortex_examples/src/full_arm/example_full_arm_movement.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 ### # KINOVA (R) KORTEX (TM) # diff --git a/kortex_examples/src/full_arm/example_waypoint_action_client.py b/kortex_examples/src/full_arm/example_waypoint_action_client.py index 4f79ce9f..538cacb3 100755 --- a/kortex_examples/src/full_arm/example_waypoint_action_client.py +++ b/kortex_examples/src/full_arm/example_waypoint_action_client.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 ### # KINOVA (R) KORTEX (TM) # diff --git a/kortex_examples/src/move_it/example_move_it_trajectories.py b/kortex_examples/src/move_it/example_move_it_trajectories.py index 4d88a98c..3358cf4e 100755 --- a/kortex_examples/src/move_it/example_move_it_trajectories.py +++ b/kortex_examples/src/move_it/example_move_it_trajectories.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 # Software License Agreement (BSD License) # @@ -64,7 +64,7 @@ def __init__(self): gripper_joint_names = rospy.get_param(rospy.get_namespace() + "gripper_joint_names", []) self.gripper_joint_name = gripper_joint_names[0] else: - gripper_joint_name = "" + self.gripper_joint_name = "" self.degrees_of_freedom = rospy.get_param(rospy.get_namespace() + "degrees_of_freedom", 7) # Create the MoveItInterface necessary objects @@ -96,9 +96,9 @@ def reach_named_position(self, target): # Set the target arm_group.set_named_target(target) # Plan the trajectory - planned_path1 = arm_group.plan() + (success_flag, trajectory_message, planning_time, error_code) = arm_group.plan() # Execute the trajectory and block while it's not finished - return arm_group.execute(planned_path1, wait=True) + return arm_group.execute(trajectory_message, wait=True) def reach_joint_angles(self, tolerance): arm_group = self.arm_group diff --git a/kortex_examples/src/move_it/simulation_pid_tuning.py b/kortex_examples/src/move_it/simulation_pid_tuning.py index 78e5c42a..4eeb66e0 100755 --- a/kortex_examples/src/move_it/simulation_pid_tuning.py +++ b/kortex_examples/src/move_it/simulation_pid_tuning.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 # Software License Agreement (BSD License) # diff --git a/kortex_examples/src/vision_config/example_vision_configuration.py b/kortex_examples/src/vision_config/example_vision_configuration.py index 5f8b50da..0a6aaf07 100755 --- a/kortex_examples/src/vision_config/example_vision_configuration.py +++ b/kortex_examples/src/vision_config/example_vision_configuration.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 ### # KINOVA (R) KORTEX (TM) # diff --git a/kortex_gazebo/CMakeLists.txt b/kortex_gazebo/CMakeLists.txt index 0de0abab..7fe63548 100644 --- a/kortex_gazebo/CMakeLists.txt +++ b/kortex_gazebo/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(kortex_gazebo) diff --git a/kortex_gazebo/readme.md b/kortex_gazebo/readme.md index ca3c3391..68c2cf3a 100644 --- a/kortex_gazebo/readme.md +++ b/kortex_gazebo/readme.md @@ -23,7 +23,12 @@ The source code is released under a [BSD 3-Clause license](../LICENSE). Affiliation: [Kinova inc.](https://www.kinovarobotics.com/)
Maintainer: Kinova inc. support@kinovarobotics.com** -This package has been tested under ROS Kinetic, Gazebo 7 and Ubuntu 16.04 and under ROS Melodic, Gazebo 9 and Ubuntu 18.04. +This package has been tested under ROS Noetic with Gazebo 11. + +For older versions, checkout on corresponding branch : + +- [melodic-devel](https://github.com/Kinovarobotics/ros_kortex/tree/melodic-devel) for ROS Melodic and Gazebo 9. +- [kinetic-devel](https://github.com/Kinovarobotics/ros_kortex/tree/kinetic-devel) for ROS Kinetic and Gazebo 7 (the melodic-devel branch might work for this configuration). ## A word on stability of the models diff --git a/kortex_gazebo/scripts/home_robot.py b/kortex_gazebo/scripts/home_robot.py index 26ef88f8..bd04efd8 100755 --- a/kortex_gazebo/scripts/home_robot.py +++ b/kortex_gazebo/scripts/home_robot.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python +#!/usr/bin/env python3 import sys import time diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/CMakeLists.txt index 3bef278e..bd738109 100644 --- a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/CMakeLists.txt +++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(gen3_lite_gen3_lite_2f_move_it_config) find_package(catkin REQUIRED) diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml index 837816e2..b12b516d 100644 --- a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml +++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml index 6bb653bd..61c98b2f 100644 --- a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml +++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/demo.launch index 0a411e36..a1af80f3 100644 --- a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/demo.launch +++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/demo.launch @@ -27,10 +27,16 @@ - - - [move_group/fake_controller_joint_states] - + + + [move_group/fake_controller_joint_states] + + + + + [move_group/fake_controller_joint_states] + + diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/package.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/package.xml index 8e729e44..6eac066d 100644 --- a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/package.xml +++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/package.xml @@ -23,6 +23,7 @@ moveit_ros_visualization moveit_setup_assistant joint_state_publisher + joint_state_publisher_gui robot_state_publisher xacro diff --git a/kortex_move_it_config/gen3_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_move_it_config/CMakeLists.txt index 6fb6fa46..6f19fce8 100644 --- a/kortex_move_it_config/gen3_move_it_config/CMakeLists.txt +++ b/kortex_move_it_config/gen3_move_it_config/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(gen3_move_it_config) find_package(catkin REQUIRED) diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml index c0949cac..74744634 100644 --- a/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml +++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml index e432d1b5..71fffc36 100644 --- a/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml +++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml index aab91ccb..56fc9457 100644 --- a/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml +++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml index 74a3e6d9..4f5e90e1 100644 --- a/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml +++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_move_it_config/launch/demo.launch index a219d6fa..0a52a7f3 100644 --- a/kortex_move_it_config/gen3_move_it_config/launch/demo.launch +++ b/kortex_move_it_config/gen3_move_it_config/launch/demo.launch @@ -27,10 +27,17 @@ - - - [move_group/fake_controller_joint_states] - + + + + [move_group/fake_controller_joint_states] + + + + + [move_group/fake_controller_joint_states] + + diff --git a/kortex_move_it_config/gen3_move_it_config/package.xml b/kortex_move_it_config/gen3_move_it_config/package.xml index 2fca840d..7133ea3e 100644 --- a/kortex_move_it_config/gen3_move_it_config/package.xml +++ b/kortex_move_it_config/gen3_move_it_config/package.xml @@ -23,6 +23,7 @@ moveit_ros_visualization moveit_setup_assistant joint_state_publisher + joint_state_publisher_gui robot_state_publisher xacro diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt index 82f2429c..cdb8b2af 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(gen3_robotiq_2f_140_move_it_config) find_package(catkin REQUIRED) diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml index 2c4ec837..0e74ac74 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml index aa235da0..d413cebd 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml index 169f2af7..23755194 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml index 9365c62a..6ce91c5b 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch index 340aed47..5983d11d 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch @@ -27,10 +27,16 @@ - - - [move_group/fake_controller_joint_states] - + + + [move_group/fake_controller_joint_states] + + + + + [move_group/fake_controller_joint_states] + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml index fac89a05..3b1b6d50 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml +++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml @@ -23,6 +23,7 @@ moveit_ros_visualization moveit_setup_assistant joint_state_publisher + joint_state_publisher_gui robot_state_publisher xacro diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/CMakeLists.txt index 78da7d15..514cd57c 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/CMakeLists.txt +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(gen3_robotiq_2f_85_move_it_config) find_package(catkin REQUIRED) diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml index 2c4ec837..0e74ac74 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml index aa235da0..d413cebd 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml index 169f2af7..23755194 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml index 9365c62a..6ce91c5b 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml @@ -1,3 +1,8 @@ +# Change robot speed to 100% by default +# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 +default_velocity_scaling_factor: 1 +default_acceleration_scaling_factor: 1 + # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/demo.launch index 6f4dcea4..4cadf242 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/demo.launch +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/demo.launch @@ -27,10 +27,16 @@ - - - [move_group/fake_controller_joint_states] - + + + [move_group/fake_controller_joint_states] + + + + + [move_group/fake_controller_joint_states] + + diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml index e8a19dd6..d924653b 100644 --- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml +++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml @@ -23,6 +23,7 @@ moveit_ros_visualization moveit_setup_assistant joint_state_publisher + joint_state_publisher_gui robot_state_publisher xacro diff --git a/kortex_move_it_config/kortex_move_it_config/CMakeLists.txt b/kortex_move_it_config/kortex_move_it_config/CMakeLists.txt index 5a74a9be..eefae631 100644 --- a/kortex_move_it_config/kortex_move_it_config/CMakeLists.txt +++ b/kortex_move_it_config/kortex_move_it_config/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.0.2) project(kortex_move_it_config) find_package(catkin REQUIRED) catkin_metapackage() \ No newline at end of file diff --git a/kortex_move_it_config/readme.md b/kortex_move_it_config/readme.md index 832f49ca..610747ce 100644 --- a/kortex_move_it_config/readme.md +++ b/kortex_move_it_config/readme.md @@ -28,4 +28,4 @@ See the `kortex_description/grippers` folder for a list of supported Kinova Kort Upon launching the main launch file of a `move_it_config` package, `move_group.launch` (normally launched from the real arm driver's launch file and the simulation launch file), the [C++](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html) and [Python](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html) interfaces for MoveIt will be enabled. You will be able to use motion planning, configure the planning scene, send trajectories and send pose goals to the simulated robot from your own ROS nodes. -You can take a look at our [MoveIt! Python example](../kortex_examples/python/move_it/example_move_it_trajectories.py) for a concrete example. +You can take a look at our [MoveIt! Python example](../kortex_examples/src/move_it/example_move_it_trajectories.py) for a concrete example. diff --git a/third_party/gazebo-pkgs/README.md b/third_party/gazebo-pkgs/README.md index 1bb2ba0a..5cbf8493 100644 --- a/third_party/gazebo-pkgs/README.md +++ b/third_party/gazebo-pkgs/README.md @@ -1,5 +1,8 @@ These ROS packages were cloned from https://github.com/JenniferBuehler/gazebo-pkgs into ros_kortex to properly simulate grasping in Gazebo for the Robotiq 2f 85 gripper. -The repository was cloned at commit e54939f6a80982dc1b89c3c2fb288e989f758b20. +The repository was cloned at commit a7ebecca4393d43393e315d379a876e71820fd96. + +note: Some packages were removed since they weren't needed. + The original readme file follows: # gazebo-pkgs diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/CMakeLists.txt b/third_party/gazebo-pkgs/gazebo_grasp_plugin/CMakeLists.txt index a93a2855..c298aba8 100644 --- a/third_party/gazebo-pkgs/gazebo_grasp_plugin/CMakeLists.txt +++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/CMakeLists.txt @@ -1,9 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(gazebo_grasp_plugin) -# This is added to remove policy CMP0054 warning (see https://stackoverflow.com/questions/45900159/how-to-use-variables-and-avoid-cmp0054-policy-violations) -cmake_policy(SET CMP0054 NEW) - ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages @@ -67,10 +64,6 @@ link_directories( ${GAZEBO_LIBRARY_DIRS} ) -# Protobuf 2.6.1 includes were copied in kortex_gazebo/include and are necessary to build Gazebo plugins -include_directories(BEFORE ../../../kortex_gazebo/include/) -link_directories(BEFORE ../../../kortex_gazebo/lib/) - ## Declare a cpp library add_library(gazebo_grasp_fix SHARED src/GazeboGraspFix.cpp src/GazeboGraspGripper.cpp) @@ -82,9 +75,9 @@ add_dependencies(gazebo_grasp_fix ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against target_link_libraries(gazebo_grasp_fix - ${catkin_LIBRARIES} - ${Boost_LIBRARIES} - libprotobuf.so + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} + ${Boost_LIBRARIES} ) ############# diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspFix.h b/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspFix.h index b3e3ef35..d5486fc8 100644 --- a/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspFix.h +++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspFix.h @@ -249,6 +249,9 @@ class GazeboGraspFix : public ModelPlugin //last time OnUpdate() was called common::Time prevUpdateTime; + + //ContactManager filter to be removed in destructor + std::string filter_name; }; } diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspFix.cpp b/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspFix.cpp index 5162d5ca..3c73f5da 100644 --- a/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspFix.cpp +++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspFix.cpp @@ -36,6 +36,14 @@ GazeboGraspFix::GazeboGraspFix(physics::ModelPtr _model) //////////////////////////////////////////////////////////////////////////////// GazeboGraspFix::~GazeboGraspFix() { + // Release filter to make it safe to reload the model with plugin + if (!filter_name.empty() && this->world) + { + physics::PhysicsEnginePtr physics = GetPhysics(this->world); + physics::ContactManager *contactManager = physics->GetContactManager(); + if (contactManager) + contactManager->RemoveFilter(filter_name); + } this->update_connection.reset(); if (this->node) this->node->Fini(); this->node.reset(); @@ -261,7 +269,8 @@ void GazeboGraspFix::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) physics::ContactManager *contactManager = physics->GetContactManager(); contactManager->PublishContacts(); // TODO not sure this is required? - std::string topic = contactManager->CreateFilter(model->GetScopedName(), + filter_name = model->GetScopedName(); + std::string topic = contactManager->CreateFilter(filter_name, collisionNames); if (!this->contactSub) { diff --git a/third_party/gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt b/third_party/gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt index 09e40695..7e25ed5b 100644 --- a/third_party/gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt +++ b/third_party/gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt @@ -1,9 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(gazebo_version_helpers) -# This is added to remove policy CMP0054 warning (see https://stackoverflow.com/questions/45900159/how-to-use-variables-and-avoid-cmp0054-policy-violations) -cmake_policy(SET CMP0054 NEW) - ## Compile as C++11, supported in ROS Kinetic and newer # add_compile_options(-std=c++11) @@ -42,23 +39,20 @@ include(CheckCXXCompilerFlag) CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) if(COMPILER_SUPPORTS_CXX11) - set(CMAKE_CXX_FLAGS "-std=c++11") + set(CMAKE_CXX_FLAGS "-std=c++11") elseif(COMPILER_SUPPORTS_CXX0X) - set(CMAKE_CXX_FLAGS "-std=c++0x") + set(CMAKE_CXX_FLAGS "-std=c++0x") else() - message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ") + message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ") endif() ## Specify additional locations of header files ## Your package locations should be listed before other locations - - -link_directories(${GAZEBO_LIBRARY_DIRS}) -include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} include) - -# Protobuf 2.6.1 includes were copied in kortex_gazebo/include and are necessary to build Gazebo plugins -include_directories(BEFORE ../../../kortex_gazebo/include/) -link_directories(BEFORE ../../../kortex_gazebo/lib/) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} +) ## Declare a C++ library add_library(${PROJECT_NAME} SHARED @@ -87,8 +81,8 @@ add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EX ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - libprotobuf.so + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} ) ############# @@ -106,18 +100,18 @@ target_link_libraries(${PROJECT_NAME} # ) ## 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} -# ) +install(TARGETS ${PROJECT_NAME} + 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 ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) +install(DIRECTORY include/${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 diff --git a/third_party/gazebo-pkgs/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h b/third_party/gazebo-pkgs/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h index 5a8f359e..6deafce2 100644 --- a/third_party/gazebo-pkgs/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h +++ b/third_party/gazebo-pkgs/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h @@ -7,13 +7,22 @@ namespace gazebo { // typedefs -#if GAZEBO_MAJOR_VERSION >= 8 +#if GAZEBO_MAJOR_VERSION >= 11 +namespace gz_math = ignition::math; +typedef gz_math::Pose3d GzPose3; +typedef gz_math::Vector3d GzVector3; +typedef gz_math::Quaterniond GzQuaternion; +typedef gz_math::Matrix4d GzMatrix4; +typedef gz_math::Matrix3d GzMatrix3; +typedef gz_math::AxisAlignedBox GzBox; +#elif GAZEBO_MAJOR_VERSION >= 8 namespace gz_math = ignition::math; typedef gz_math::Pose3d GzPose3; typedef gz_math::Vector3d GzVector3; typedef gz_math::Quaterniond GzQuaternion; typedef gz_math::Matrix4d GzMatrix4; typedef gz_math::Matrix3d GzMatrix3; +typedef gz_math::Box GzBox; #else namespace gz_math = gazebo::math; typedef gz_math::Pose GzPose3; @@ -21,8 +30,10 @@ typedef gz_math::Vector3 GzVector3; typedef gz_math::Quaternion GzQuaternion; typedef gz_math::Matrix4 GzMatrix4; typedef gz_math::Matrix3 GzMatrix3; +typedef gz_math::Box GzBox; #endif + // Helper functions // ////////////////////////// @@ -116,7 +127,7 @@ std::string GetName(const T& t) /////////////////////////////////////////////////////////////////////////////// template -gz_math::Box GetBoundingBox(const T &t) +GzBox GetBoundingBox(const T &t) { #if GAZEBO_MAJOR_VERSION >= 8 return t.BoundingBox(); @@ -126,7 +137,7 @@ gz_math::Box GetBoundingBox(const T &t) } /////////////////////////////////////////////////////////////////////////////// -GzVector3 GetBoundingBoxDimensions(const gz_math::Box &box); +GzVector3 GetBoundingBoxDimensions(const GzBox &box); /////////////////////////////////////////////////////////////////////////////// template diff --git a/third_party/gazebo-pkgs/gazebo_version_helpers/src/GazeboVersionHelpers.cpp b/third_party/gazebo-pkgs/gazebo_version_helpers/src/GazeboVersionHelpers.cpp index e0ef8984..f724c349 100644 --- a/third_party/gazebo-pkgs/gazebo_version_helpers/src/GazeboVersionHelpers.cpp +++ b/third_party/gazebo-pkgs/gazebo_version_helpers/src/GazeboVersionHelpers.cpp @@ -314,9 +314,12 @@ gazebo::physics::Model_V gazebo::GetModels( } /////////////////////////////////////////////////////////////////////////////// -gazebo::GzVector3 gazebo::GetBoundingBoxDimensions(const gz_math::Box &box) +gazebo::GzVector3 gazebo::GetBoundingBoxDimensions(const GzBox &box) { -#if GAZEBO_MAJOR_VERSION >= 8 +#if GAZEBO_MAJOR_VERSION >= 11 + auto const size = box.Size(); + GzVector3 bb(size.X(), size.Y(), size.Z()); +#elif GAZEBO_MAJOR_VERSION >= 8 GzVector3 bb(box.XLength(), box.YLength(), box.ZLength()); #else GzVector3 bb(box.GetXLength(), box.GetYLength(), box.GetZLength()); diff --git a/third_party/roboticsgroup_gazebo_plugins/CMakeLists.txt b/third_party/roboticsgroup_gazebo_plugins/CMakeLists.txt deleted file mode 100644 index 61918ff1..00000000 --- a/third_party/roboticsgroup_gazebo_plugins/CMakeLists.txt +++ /dev/null @@ -1,48 +0,0 @@ -cmake_minimum_required(VERSION 2.8.6 FATAL_ERROR) -project(roboticsgroup_gazebo_plugins) - -# This is added to remove policy CMP0054 warning (see https://stackoverflow.com/questions/45900159/how-to-use-variables-and-avoid-cmp0054-policy-violations) -cmake_policy(SET CMP0054 NEW) - -# Load catkin and all dependencies required for this package -find_package(catkin REQUIRED COMPONENTS - roscpp - gazebo_ros - control_toolbox -) - -# Depend on system install of Gazebo -find_package(gazebo REQUIRED) -# Gazebo cxx flags should have all the required C++ flags -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") - -find_package(Boost REQUIRED) - -catkin_package( - DEPENDS - roscpp - gazebo_ros - control_toolbox -) - -link_directories(${GAZEBO_LIBRARY_DIRS}) -include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} include) - -# Protobuf 2.6.1 includes were copied in kortex_gazebo/include and are necessary to build Gazebo plugins -include_directories(BEFORE ../../kortex_gazebo/include/) -link_directories(BEFORE ../../kortex_gazebo/lib/) - -add_library(roboticsgroup_gazebo_mimic_joint_plugin src/mimic_joint_plugin.cpp) -target_link_libraries(roboticsgroup_gazebo_mimic_joint_plugin libprotobuf.so ${catkin_LIBRARIES}) - -add_library(roboticsgroup_gazebo_disable_link_plugin src/disable_link_plugin.cpp) -target_link_libraries(roboticsgroup_gazebo_disable_link_plugin libprotobuf.so ${catkin_LIBRARIES}) - -install(TARGETS roboticsgroup_gazebo_mimic_joint_plugin roboticsgroup_gazebo_disable_link_plugin - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) -install(DIRECTORY include/${PROJECT_NAME} - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) diff --git a/third_party/roboticsgroup_upatras_gazebo_plugins/CHANGELOG.rst b/third_party/roboticsgroup_upatras_gazebo_plugins/CHANGELOG.rst new file mode 100644 index 00000000..044c4092 --- /dev/null +++ b/third_party/roboticsgroup_upatras_gazebo_plugins/CHANGELOG.rst @@ -0,0 +1,44 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package roboticsgroup_upatras_gazebo_plugins +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.2.0 (2020-08-21) +------------------ +* Rename package +* Clean up package + +0.1.0 (2020-08-14) +------------------ +* Added DisableLink Model Plugin +* Added sensitiveness parameter to MimicJointPlugin +* Added maxEffort parameter to MimicJoint plugin +* Added PID control capability to mimic joint plugin +* Move catkin_package macro so it is called before targets are defined. + Fixes plugins not getting found when doing isolated builds +* Add missing setForce() call (otherwise PID option doesn't do anything) +* Support of Gazebo 7 was added +* Support all PID gain parameters, dynamic_reconfigure + This change does the following: + * the PID controllers will read all PID gain parameters (p, i, d, i_clamp, antiwindup, publish_state, ...) + * a warning will be printed if none of those parameters could be found + * it's possible to adjust the parameters using dynamic_reconfigure +* Adjust to Gazebo 8 API + Note about the DisconnectWorldUpdateBegin: This function was deprecated + in favor of resetting the ConnectionPtr, see here: + https://bitbucket.org/osrf/gazebo/pull-requests/2329/deprecate-event-disconnect-connectionptr/diff +* Add fix for gazebo_ros_pkgs#612 + This issue also affects the mimic joint plugin: + https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612 + The commit here fixes that issue for Gazebo 9. We should change the + GAZEBO_MAJOR_VERSION check to >= 7 if the following PR gets backported + to Gazebo 7 and 8: + https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff +* Add warning when triggering gazebo_ros_pkgs#612 +* Update parameters + * Default max effort to limit from sdf model + * Default namespace to empty string + * Fix sensitiveness calculation +* Add option to change the namespace of the pid +* Set CMP0054 for building with Gazebo9 +* Use SetParam for effort limit +* Add license notice diff --git a/third_party/roboticsgroup_upatras_gazebo_plugins/CMakeLists.txt b/third_party/roboticsgroup_upatras_gazebo_plugins/CMakeLists.txt new file mode 100644 index 00000000..1b69e4a5 --- /dev/null +++ b/third_party/roboticsgroup_upatras_gazebo_plugins/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 3.1.0) +project(roboticsgroup_upatras_gazebo_plugins) + +find_package(catkin REQUIRED + COMPONENTS + control_toolbox + gazebo_ros + roscpp +) + +find_package(gazebo REQUIRED) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + roboticsgroup_upatras_gazebo_mimic_joint_plugin + roboticsgroup_upatras_gazebo_disable_link_plugin + CATKIN_DEPENDS + control_toolbox + gazebo_ros + roscpp +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} +) + +link_directories(${GAZEBO_LIBRARY_DIRS}) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") + +add_library(roboticsgroup_upatras_gazebo_mimic_joint_plugin src/mimic_joint_plugin.cpp) +target_link_libraries(roboticsgroup_upatras_gazebo_mimic_joint_plugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES}) + +add_library(roboticsgroup_upatras_gazebo_disable_link_plugin src/disable_link_plugin.cpp) +target_link_libraries(roboticsgroup_upatras_gazebo_disable_link_plugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES}) + +install(TARGETS + roboticsgroup_upatras_gazebo_mimic_joint_plugin + roboticsgroup_upatras_gazebo_disable_link_plugin + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME} + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/third_party/roboticsgroup_upatras_gazebo_plugins/LICENSE b/third_party/roboticsgroup_upatras_gazebo_plugins/LICENSE new file mode 100644 index 00000000..5bc5ed2c --- /dev/null +++ b/third_party/roboticsgroup_upatras_gazebo_plugins/LICENSE @@ -0,0 +1,11 @@ +Copyright 2014 Konstantinos Chatzilygeroudis + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/third_party/roboticsgroup_gazebo_plugins/README.md b/third_party/roboticsgroup_upatras_gazebo_plugins/README.md similarity index 78% rename from third_party/roboticsgroup_gazebo_plugins/README.md rename to third_party/roboticsgroup_upatras_gazebo_plugins/README.md index 62a56450..c4808cbc 100644 --- a/third_party/roboticsgroup_gazebo_plugins/README.md +++ b/third_party/roboticsgroup_upatras_gazebo_plugins/README.md @@ -1,9 +1,12 @@ -This ROS package was cloned from https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins into ros_kortex to properly simulate mimic joints in Gazebo for the Robotiq 2f 85 gripper. -The repository was cloned at commit 4d93ecd86e4415c3fe74d0027fd41c5e3b39ec44. +This ROS package was cloned from https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins into ros_kortex to properly simulate mimic joints in Gazebo for the Robotiq 2f 85 gripper. +The repository was cloned at commit 15187abc17f22dbd3fa720d70ad50de74a668b7c. + +Originally, for ROS Melodic and Kinetic, we used the ROS package from https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins at commit : 4d93ecd86e4415c3fe74d0027fd41c5e3b39ec44. + The original readme file follows: -roboticsgroup_gazebo_plugins -================ +roboticsgroup_upatras_gazebo_plugins +==================================== Collection of small gazebo plugins ---------------------------------- @@ -63,10 +66,10 @@ A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's Usage ------ -Standard Gazebo plugin import inside xacro/urdf. Use **libroboticsgroup_gazebo_** prefix. E.g. if you want to import MimicJointPlugin: +Standard Gazebo plugin import inside xacro/urdf. Use **libroboticsgroup_upatras_gazebo_** prefix. E.g. if you want to import MimicJointPlugin: ``` -libroboticsgroup_gazebo_mimic_joint_plugin.so +libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so ``` Notes @@ -79,5 +82,4 @@ License BSD - Copyright (c) 2014, **Konstantinos Chatzilygeroudis** diff --git a/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/disable_link_plugin.h b/third_party/roboticsgroup_upatras_gazebo_plugins/include/roboticsgroup_upatras_gazebo_plugins/disable_link_plugin.h similarity index 83% rename from third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/disable_link_plugin.h rename to third_party/roboticsgroup_upatras_gazebo_plugins/include/roboticsgroup_upatras_gazebo_plugins/disable_link_plugin.h index b3bd6c34..da9bf054 100644 --- a/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/disable_link_plugin.h +++ b/third_party/roboticsgroup_upatras_gazebo_plugins/include/roboticsgroup_upatras_gazebo_plugins/disable_link_plugin.h @@ -20,36 +20,29 @@ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. **/ -#ifndef ROBOTICSGROUP_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN -#define ROBOTICSGROUP_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN +#ifndef ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN +#define ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN // ROS includes #include -// Boost includes -#include - // Gazebo includes #include -#include #include -#include namespace gazebo { + class DisableLinkPlugin : public ModelPlugin { - public: + public: DisableLinkPlugin(); - ~DisableLinkPlugin(); + virtual ~DisableLinkPlugin() override; - void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); - void UpdateChild(); + virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) override; - private: + private: // Parameters std::string link_name_; - bool kill_sim; - // Pointers to the joints physics::LinkPtr link_; @@ -59,6 +52,7 @@ namespace gazebo { // Pointer to the world physics::WorldPtr world_; }; + } -#endif +#endif // ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN diff --git a/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/mimic_joint_plugin.h b/third_party/roboticsgroup_upatras_gazebo_plugins/include/roboticsgroup_upatras_gazebo_plugins/mimic_joint_plugin.h similarity index 85% rename from third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/mimic_joint_plugin.h rename to third_party/roboticsgroup_upatras_gazebo_plugins/include/roboticsgroup_upatras_gazebo_plugins/mimic_joint_plugin.h index 39ab0fc8..86a8da69 100644 --- a/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/mimic_joint_plugin.h +++ b/third_party/roboticsgroup_upatras_gazebo_plugins/include/roboticsgroup_upatras_gazebo_plugins/mimic_joint_plugin.h @@ -20,8 +20,8 @@ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. **/ -#ifndef ROBOTICSGROUP_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN -#define ROBOTICSGROUP_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN +#ifndef ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN +#define ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN // ROS includes #include @@ -29,25 +29,22 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE // ros_control #include -// Boost includes -#include - // Gazebo includes #include -#include #include -#include namespace gazebo { + class MimicJointPlugin : public ModelPlugin { - public: + public: MimicJointPlugin(); - ~MimicJointPlugin(); + virtual ~MimicJointPlugin() override; - void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); + virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) override; + + private: void UpdateChild(); - private: // Parameters std::string joint_name_, mimic_joint_name_, robot_namespace_; double multiplier_, offset_, sensitiveness_, max_effort_; @@ -66,8 +63,9 @@ namespace gazebo { physics::WorldPtr world_; // Pointer to the update event connection - event::ConnectionPtr updateConnection; + event::ConnectionPtr update_connection_; }; + } -#endif +#endif // ROBOTICSGROUP_UPATRAS_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN diff --git a/third_party/roboticsgroup_gazebo_plugins/package.xml b/third_party/roboticsgroup_upatras_gazebo_plugins/package.xml similarity index 76% rename from third_party/roboticsgroup_gazebo_plugins/package.xml rename to third_party/roboticsgroup_upatras_gazebo_plugins/package.xml index c5e47336..bf45f47c 100644 --- a/third_party/roboticsgroup_gazebo_plugins/package.xml +++ b/third_party/roboticsgroup_upatras_gazebo_plugins/package.xml @@ -18,34 +18,32 @@ SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, I DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. --> - - roboticsgroup_gazebo_plugins - 0.0.1 - Collection of small gazebo plugins +> + roboticsgroup_upatras_gazebo_plugins + 0.2.0 + Collection of gazebo plugins + Konstantinos Chatzilygeroudis Konstantinos Chatzilygeroudis + Nick Lamprianidis BSD - https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins - https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins/issues - - Konstantinos Chatzilygeroudis + https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins + https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins/issues catkin - - + control_toolbox gazebo_ros roscpp - control_toolbox - - - gazebo_ros - roscpp - control_toolbox - + control_toolbox + gazebo_ros + roscpp + control_toolbox + gazebo_ros + roscpp - + diff --git a/third_party/roboticsgroup_gazebo_plugins/src/disable_link_plugin.cpp b/third_party/roboticsgroup_upatras_gazebo_plugins/src/disable_link_plugin.cpp similarity index 88% rename from third_party/roboticsgroup_gazebo_plugins/src/disable_link_plugin.cpp rename to third_party/roboticsgroup_upatras_gazebo_plugins/src/disable_link_plugin.cpp index 9a158383..59818467 100644 --- a/third_party/roboticsgroup_gazebo_plugins/src/disable_link_plugin.cpp +++ b/third_party/roboticsgroup_upatras_gazebo_plugins/src/disable_link_plugin.cpp @@ -20,20 +20,17 @@ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. **/ -#include +#include namespace gazebo { DisableLinkPlugin::DisableLinkPlugin() { - kill_sim = false; - link_.reset(); } DisableLinkPlugin::~DisableLinkPlugin() { - kill_sim = true; } void DisableLinkPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) @@ -54,11 +51,12 @@ namespace gazebo { if (link_) { link_->SetEnabled(false); // Output some confirmation - ROS_INFO_STREAM("DisableLinkPlugin loaded! Link: \"" << link_name_); + ROS_INFO_STREAM("DisableLinkPlugin loaded! Link: " << link_name_); } else - ROS_ERROR_STREAM("Link" << link_name_ << " not found! DisableLinkPlugin could not be loaded."); + ROS_ERROR_STREAM("Link " << link_name_ << " not found! DisableLinkPlugin could not be loaded."); } GZ_REGISTER_MODEL_PLUGIN(DisableLinkPlugin); -} + +} // namespace gazebo diff --git a/third_party/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp b/third_party/roboticsgroup_upatras_gazebo_plugins/src/mimic_joint_plugin.cpp similarity index 96% rename from third_party/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp rename to third_party/roboticsgroup_upatras_gazebo_plugins/src/mimic_joint_plugin.cpp index ca53e2f3..48b588b9 100644 --- a/third_party/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp +++ b/third_party/roboticsgroup_upatras_gazebo_plugins/src/mimic_joint_plugin.cpp @@ -20,7 +20,7 @@ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. **/ -#include +#include #if GAZEBO_MAJOR_VERSION >= 8 namespace math = ignition::math; @@ -38,7 +38,7 @@ namespace gazebo { MimicJointPlugin::~MimicJointPlugin() { - this->updateConnection.reset(); + update_connection_.reset(); } void MimicJointPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) @@ -59,7 +59,6 @@ namespace gazebo { } // Check for robot namespace - robot_namespace_ = ""; if (_sdf->HasElement("robotNamespace")) { robot_namespace_ = _sdf->GetElement("robotNamespace")->Get(); } @@ -132,7 +131,7 @@ namespace gazebo { // Set max effort if (!has_pid_) { #if GAZEBO_MAJOR_VERSION > 2 - mimic_joint_->SetEffortLimit(0, max_effort_); + mimic_joint_->SetParam("fmax", 0, max_effort_); #else mimic_joint_->SetMaxForce(0, max_effort_); #endif @@ -140,7 +139,7 @@ namespace gazebo { // Listen to the update event. This event is broadcast every // simulation iteration. - this->updateConnection = event::Events::ConnectWorldUpdateBegin( + update_connection_ = event::Events::ConnectWorldUpdateBegin( boost::bind(&MimicJointPlugin::UpdateChild, this)); // Output some confirmation @@ -191,4 +190,5 @@ namespace gazebo { } GZ_REGISTER_MODEL_PLUGIN(MimicJointPlugin); -} + +} // namespace gazebo