Every Kortex error will be published here.
-
- | Type | Name | Description |
- |:---:|:---:|:---:|
- | uint32 | code | Error code, see enum in the ErrorCodes class. |
- | uint32 | subcode | Sub error code, see enum in the ErrorCodes class. |
- | string | description | Details of the error. |
-
-
-### Services
-Most of the services supported by this node are generated from the [C++ Kortex API](https://github.com/Kinovarobotics/kortex). You can find the documentation [here](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/references/summary_ActuatorConfig.md).
-
-Example:
-If you want to call the ROS service GetActuatorCount that has been generated by the C++ method [GetActuatorCount](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/references/summary_Base.md), you would initialize your service like this:
-
- ros::ServiceClient client_GetControlMode = n.serviceClient("GetControlMode");
-
-#### Non-generated
-* **`SetApiOptions`**
- Modifies the API options of the Kortex API. Once this service is called, the options set will affect every future call to the node.
-
-* **`SetDeviceID`**
- Modifies the target device (device routing feature) of the node. The default value is 0.
-
-* **`GetCyclicStatus`**
- Indicates if the cyclic data is active or not.
-
-* **`SetCyclicStatus`**
- Activates or deactivates the cyclic data.
-
-### Messages
-Most of the messages supported by this node are generated from the [C++ Kortex API](https://github.com/Kinovarobotics/kortex). You can find the documentation [here](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/index.md).
-
-#### Non-generated
-* **`ApiOptions`**
- Represents all of the Kortex API options.
-
-* **`KortexError`**
- Represents an error from the Kortex API.
-
-* **`CyclicStatus`**
- Represents the cyclic status of the actuator - indicates if it is active or not.
-
-### Protos files
-The **protos** directory contains the protobuf files from where the MSG, SRV and source files are generated. The content of this directory should not be modified.
-
-### Template files
-The **templates** directory contains all the JINJA2 files needed by the protoc generator. For more details on the generation process, see the **generation** section.
-
-| Filename | Description |
-|:---:|:---:|
-| main.jinja2 | Used to generate src/main.cpp |
-| NodeServices.cpp.jinja2 | Used to generate src/node.cpp |
-| NodeServices.h.jinja2 | Used to generate src/node.h |
-| proto_converterCPP.jinja2 | Used to generate every src/*_proto\_converter.cpp file |
-| proto_converterHeader.jinja2 | Used to generate every src/*_proto\_converter.h file |
-| ros_converterCPP.jinja2 | Used to generate every src/*_ros\_converter.cpp file |
-| ros_converterHeader.jinja2 | Used to generate every src/*_proto\_converter.h file |
-| ros_enum.jinja2 | Used to generate every msg/*.msg file that represents a protobuf enum |
-| ros_message.jinja2 | Used to generate every msg/*.msg file that represents a protobuf message |
-| ros_oneof.jinja2 | Used to generate every msg/*.msg file that represents a protobuf oneof |
-| ros_service.jinja2 | Used to generate every msg/*.msg file that represents a protobuf RPC |
-
-## Generation
-
-The generation process is based on a custom protobuf plugin. Most of the generation process is in the RosGeneration.py file located in the package root directory. Before launching the generation make sure you have the Python JINJA2 module installed.
-
-
-To launch the generation of this package:
-
-1. Open a terminal window.
-1. Browse to the root directory of this package [YOUR\_ROS\_WORKSPACE]/src/ros\_kortex/kortex\_actuator\_driver/
-1. Ensure that kortex_actuator_driver.sh can be executed. If not then run the command: chmod +x kortex_actuator_driver.sh
-1. Run the command: protoc --plugin=protoc-gen-custom=kortex_actuator_driver.sh -I./protos/ --custom_out=./build ./protos/\*.prot
-1. The result of the generation should be in the following directories:
- * /src
- * /msg
- * /srv
-
diff --git a/kortex_actuator_driver/src/actuatorconfig_proto_converter.cpp b/kortex_actuator_driver/src/actuatorconfig_proto_converter.cpp
deleted file mode 100644
index e54a48a4..00000000
--- a/kortex_actuator_driver/src/actuatorconfig_proto_converter.cpp
+++ /dev/null
@@ -1,171 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "actuatorconfig_proto_converter.h"
-
-#include "common_proto_converter.h"
-
-
-int ToProtoData(kortex_actuator_driver::AxisPosition input, AxisPosition *output)
-{
- output->set_position(input.position);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::AxisOffsets input, AxisOffsets *output)
-{
- output->set_absolute_offset(input.absolute_offset);
- output->set_relative_offset(input.relative_offset);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::TorqueCalibration input, TorqueCalibration *output)
-{
- output->set_global_gain(input.global_gain);
- output->set_global_offset(input.global_offset);
- output->clear_gain();
- for(int i = 0; i < input.gain.size(); i++)
- {
- output->add_gain(input.gain[i]);
- }
-
- output->clear_offset();
- for(int i = 0; i < input.offset.size(); i++)
- {
- output->add_offset(input.offset[i]);
- }
-
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::TorqueOffset input, TorqueOffset *output)
-{
- output->set_torque_offset(input.torque_offset);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::ControlModeInformation input, ControlModeInformation *output)
-{
- output->set_control_mode((Kinova::Api::ActuatorConfig::ControlMode)input.control_mode);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::ControlLoop input, ControlLoop *output)
-{
- output->set_control_loop(input.control_loop);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::LoopSelection input, LoopSelection *output)
-{
- output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::VectorDriveParameters input, VectorDriveParameters *output)
-{
- output->set_kpq(input.kpq);
- output->set_kiq(input.kiq);
- output->set_kpd(input.kpd);
- output->set_kid(input.kid);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::EncoderDerivativeParameters input, EncoderDerivativeParameters *output)
-{
- output->set_max_window_width(input.max_window_width);
- output->set_min_encoder_tick_count(input.min_encoder_tick_count);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::ControlLoopParameters input, ControlLoopParameters *output)
-{
- output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
- output->set_error_saturation(input.error_saturation);
- output->set_output_saturation(input.output_saturation);
- output->clear_kaz();
- for(int i = 0; i < input.kAz.size(); i++)
- {
- output->add_kaz(input.kAz[i]);
- }
-
- output->clear_kbz();
- for(int i = 0; i < input.kBz.size(); i++)
- {
- output->add_kbz(input.kBz[i]);
- }
-
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::FrequencyResponse input, FrequencyResponse *output)
-{
- output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
- output->set_min_frequency(input.min_frequency);
- output->set_max_frequency(input.max_frequency);
- output->set_amplitude(input.amplitude);
- output->set_duration(input.duration);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::StepResponse input, StepResponse *output)
-{
- output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
- output->set_amplitude(input.amplitude);
- output->set_step_delay(input.step_delay);
- output->set_duration(input.duration);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::RampResponse input, RampResponse *output)
-{
- output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
- output->set_slope(input.slope);
- output->set_ramp_delay(input.ramp_delay);
- output->set_duration(input.duration);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::CustomDataSelection input, CustomDataSelection *output)
-{
- output->clear_channel();
- for(int i = 0; i < input.channel.size(); i++)
- {
- output->add_channel(CustomDataIndex(input.channel[i]));
- }
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::CommandModeInformation input, CommandModeInformation *output)
-{
- output->set_command_mode((Kinova::Api::ActuatorConfig::CommandMode)input.command_mode);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::Servoing input, Servoing *output)
-{
- output->set_enabled(input.enabled);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::PositionCommand input, PositionCommand *output)
-{
- output->set_position(input.position);
- output->set_velocity(input.velocity);
- output->set_acceleration(input.acceleration);
-
- return 0;
-}
diff --git a/kortex_actuator_driver/src/actuatorconfig_proto_converter.h b/kortex_actuator_driver/src/actuatorconfig_proto_converter.h
deleted file mode 100644
index 78ffe9f7..00000000
--- a/kortex_actuator_driver/src/actuatorconfig_proto_converter.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_ActuatorConfigPROTO_CONVERTER_H_
-#define _KORTEX_ActuatorConfigPROTO_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_actuator_driver/AxisPosition.h"
-#include "kortex_actuator_driver/AxisOffsets.h"
-#include "kortex_actuator_driver/TorqueCalibration.h"
-#include "kortex_actuator_driver/TorqueOffset.h"
-#include "kortex_actuator_driver/ControlModeInformation.h"
-#include "kortex_actuator_driver/ControlLoop.h"
-#include "kortex_actuator_driver/LoopSelection.h"
-#include "kortex_actuator_driver/VectorDriveParameters.h"
-#include "kortex_actuator_driver/EncoderDerivativeParameters.h"
-#include "kortex_actuator_driver/ControlLoopParameters.h"
-#include "kortex_actuator_driver/FrequencyResponse.h"
-#include "kortex_actuator_driver/StepResponse.h"
-#include "kortex_actuator_driver/RampResponse.h"
-#include "kortex_actuator_driver/CustomDataSelection.h"
-#include "kortex_actuator_driver/CommandModeInformation.h"
-#include "kortex_actuator_driver/Servoing.h"
-#include "kortex_actuator_driver/PositionCommand.h"
-
-
-using namespace Kinova::Api::ActuatorConfig;
-
-int ToProtoData(kortex_actuator_driver::AxisPosition intput, AxisPosition *output);
-int ToProtoData(kortex_actuator_driver::AxisOffsets intput, AxisOffsets *output);
-int ToProtoData(kortex_actuator_driver::TorqueCalibration intput, TorqueCalibration *output);
-int ToProtoData(kortex_actuator_driver::TorqueOffset intput, TorqueOffset *output);
-int ToProtoData(kortex_actuator_driver::ControlModeInformation intput, ControlModeInformation *output);
-int ToProtoData(kortex_actuator_driver::ControlLoop intput, ControlLoop *output);
-int ToProtoData(kortex_actuator_driver::LoopSelection intput, LoopSelection *output);
-int ToProtoData(kortex_actuator_driver::VectorDriveParameters intput, VectorDriveParameters *output);
-int ToProtoData(kortex_actuator_driver::EncoderDerivativeParameters intput, EncoderDerivativeParameters *output);
-int ToProtoData(kortex_actuator_driver::ControlLoopParameters intput, ControlLoopParameters *output);
-int ToProtoData(kortex_actuator_driver::FrequencyResponse intput, FrequencyResponse *output);
-int ToProtoData(kortex_actuator_driver::StepResponse intput, StepResponse *output);
-int ToProtoData(kortex_actuator_driver::RampResponse intput, RampResponse *output);
-int ToProtoData(kortex_actuator_driver::CustomDataSelection intput, CustomDataSelection *output);
-int ToProtoData(kortex_actuator_driver::CommandModeInformation intput, CommandModeInformation *output);
-int ToProtoData(kortex_actuator_driver::Servoing intput, Servoing *output);
-int ToProtoData(kortex_actuator_driver::PositionCommand intput, PositionCommand *output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_actuator_driver/src/actuatorconfig_ros_converter.cpp b/kortex_actuator_driver/src/actuatorconfig_ros_converter.cpp
deleted file mode 100644
index f9c7698e..00000000
--- a/kortex_actuator_driver/src/actuatorconfig_ros_converter.cpp
+++ /dev/null
@@ -1,172 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "actuatorconfig_ros_converter.h"
-
-#include "common_ros_converter.h"
-
-
-int ToRosData(AxisPosition input, kortex_actuator_driver::AxisPosition &output)
-{
- output.position = input.position();
-
- return 0;
-}
-int ToRosData(AxisOffsets input, kortex_actuator_driver::AxisOffsets &output)
-{
- output.absolute_offset = input.absolute_offset();
- output.relative_offset = input.relative_offset();
-
- return 0;
-}
-int ToRosData(TorqueCalibration input, kortex_actuator_driver::TorqueCalibration &output)
-{
- output.global_gain = input.global_gain();
- output.global_offset = input.global_offset();
-
- output.gain.clear();
- for(int i = 0; i < input.gain_size(); i++)
- {
- output.gain.push_back(input.gain(i));
- }
-
- output.offset.clear();
- for(int i = 0; i < input.offset_size(); i++)
- {
- output.offset.push_back(input.offset(i));
- }
-
- return 0;
-}
-int ToRosData(TorqueOffset input, kortex_actuator_driver::TorqueOffset &output)
-{
- output.torque_offset = input.torque_offset();
-
- return 0;
-}
-int ToRosData(ControlModeInformation input, kortex_actuator_driver::ControlModeInformation &output)
-{
- output.control_mode = input.control_mode();
-
- return 0;
-}
-int ToRosData(ControlLoop input, kortex_actuator_driver::ControlLoop &output)
-{
- output.control_loop = input.control_loop();
-
- return 0;
-}
-int ToRosData(LoopSelection input, kortex_actuator_driver::LoopSelection &output)
-{
- output.loop_selection = input.loop_selection();
-
- return 0;
-}
-int ToRosData(VectorDriveParameters input, kortex_actuator_driver::VectorDriveParameters &output)
-{
- output.kpq = input.kpq();
- output.kiq = input.kiq();
- output.kpd = input.kpd();
- output.kid = input.kid();
-
- return 0;
-}
-int ToRosData(EncoderDerivativeParameters input, kortex_actuator_driver::EncoderDerivativeParameters &output)
-{
- output.max_window_width = input.max_window_width();
- output.min_encoder_tick_count = input.min_encoder_tick_count();
-
- return 0;
-}
-int ToRosData(ControlLoopParameters input, kortex_actuator_driver::ControlLoopParameters &output)
-{
- output.loop_selection = input.loop_selection();
- output.error_saturation = input.error_saturation();
- output.output_saturation = input.output_saturation();
-
- output.kAz.clear();
- for(int i = 0; i < input.kaz_size(); i++)
- {
- output.kAz.push_back(input.kaz(i));
- }
-
- output.kBz.clear();
- for(int i = 0; i < input.kbz_size(); i++)
- {
- output.kBz.push_back(input.kbz(i));
- }
-
- return 0;
-}
-int ToRosData(FrequencyResponse input, kortex_actuator_driver::FrequencyResponse &output)
-{
- output.loop_selection = input.loop_selection();
- output.min_frequency = input.min_frequency();
- output.max_frequency = input.max_frequency();
- output.amplitude = input.amplitude();
- output.duration = input.duration();
-
- return 0;
-}
-int ToRosData(StepResponse input, kortex_actuator_driver::StepResponse &output)
-{
- output.loop_selection = input.loop_selection();
- output.amplitude = input.amplitude();
- output.step_delay = input.step_delay();
- output.duration = input.duration();
-
- return 0;
-}
-int ToRosData(RampResponse input, kortex_actuator_driver::RampResponse &output)
-{
- output.loop_selection = input.loop_selection();
- output.slope = input.slope();
- output.ramp_delay = input.ramp_delay();
- output.duration = input.duration();
-
- return 0;
-}
-int ToRosData(CustomDataSelection input, kortex_actuator_driver::CustomDataSelection &output)
-{
-
- output.channel.clear();
- for(int i = 0; i < input.channel_size(); i++)
- {
- output.channel.push_back(input.channel(i));
- }
-
- return 0;
-}
-int ToRosData(CommandModeInformation input, kortex_actuator_driver::CommandModeInformation &output)
-{
- output.command_mode = input.command_mode();
-
- return 0;
-}
-int ToRosData(Servoing input, kortex_actuator_driver::Servoing &output)
-{
- output.enabled = input.enabled();
-
- return 0;
-}
-int ToRosData(PositionCommand input, kortex_actuator_driver::PositionCommand &output)
-{
- output.position = input.position();
- output.velocity = input.velocity();
- output.acceleration = input.acceleration();
-
- return 0;
-}
diff --git a/kortex_actuator_driver/src/actuatorconfig_ros_converter.h b/kortex_actuator_driver/src/actuatorconfig_ros_converter.h
deleted file mode 100644
index 39f37707..00000000
--- a/kortex_actuator_driver/src/actuatorconfig_ros_converter.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_ActuatorConfigROS_CONVERTER_H_
-#define _KORTEX_ActuatorConfigROS_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_actuator_driver/AxisPosition.h"
-#include "kortex_actuator_driver/AxisOffsets.h"
-#include "kortex_actuator_driver/TorqueCalibration.h"
-#include "kortex_actuator_driver/TorqueOffset.h"
-#include "kortex_actuator_driver/ControlModeInformation.h"
-#include "kortex_actuator_driver/ControlLoop.h"
-#include "kortex_actuator_driver/LoopSelection.h"
-#include "kortex_actuator_driver/VectorDriveParameters.h"
-#include "kortex_actuator_driver/EncoderDerivativeParameters.h"
-#include "kortex_actuator_driver/ControlLoopParameters.h"
-#include "kortex_actuator_driver/FrequencyResponse.h"
-#include "kortex_actuator_driver/StepResponse.h"
-#include "kortex_actuator_driver/RampResponse.h"
-#include "kortex_actuator_driver/CustomDataSelection.h"
-#include "kortex_actuator_driver/CommandModeInformation.h"
-#include "kortex_actuator_driver/Servoing.h"
-#include "kortex_actuator_driver/PositionCommand.h"
-
-
-using namespace Kinova::Api::ActuatorConfig;
-
-int ToRosData(AxisPosition input, kortex_actuator_driver::AxisPosition &output);
-int ToRosData(AxisOffsets input, kortex_actuator_driver::AxisOffsets &output);
-int ToRosData(TorqueCalibration input, kortex_actuator_driver::TorqueCalibration &output);
-int ToRosData(TorqueOffset input, kortex_actuator_driver::TorqueOffset &output);
-int ToRosData(ControlModeInformation input, kortex_actuator_driver::ControlModeInformation &output);
-int ToRosData(ControlLoop input, kortex_actuator_driver::ControlLoop &output);
-int ToRosData(LoopSelection input, kortex_actuator_driver::LoopSelection &output);
-int ToRosData(VectorDriveParameters input, kortex_actuator_driver::VectorDriveParameters &output);
-int ToRosData(EncoderDerivativeParameters input, kortex_actuator_driver::EncoderDerivativeParameters &output);
-int ToRosData(ControlLoopParameters input, kortex_actuator_driver::ControlLoopParameters &output);
-int ToRosData(FrequencyResponse input, kortex_actuator_driver::FrequencyResponse &output);
-int ToRosData(StepResponse input, kortex_actuator_driver::StepResponse &output);
-int ToRosData(RampResponse input, kortex_actuator_driver::RampResponse &output);
-int ToRosData(CustomDataSelection input, kortex_actuator_driver::CustomDataSelection &output);
-int ToRosData(CommandModeInformation input, kortex_actuator_driver::CommandModeInformation &output);
-int ToRosData(Servoing input, kortex_actuator_driver::Servoing &output);
-int ToRosData(PositionCommand input, kortex_actuator_driver::PositionCommand &output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_actuator_driver/src/actuatorcyclic_proto_converter.h b/kortex_actuator_driver/src/actuatorcyclic_proto_converter.h
deleted file mode 100644
index ca58ab6f..00000000
--- a/kortex_actuator_driver/src/actuatorcyclic_proto_converter.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_ActuatorCyclicPROTO_CONVERTER_H_
-#define _KORTEX_ActuatorCyclicPROTO_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_actuator_driver/MessageId.h"
-#include "kortex_actuator_driver/Command.h"
-#include "kortex_actuator_driver/Feedback.h"
-#include "kortex_actuator_driver/CustomData.h"
-
-
-using namespace Kinova::Api::ActuatorCyclic;
-
-int ToProtoData(kortex_actuator_driver::MessageId intput, MessageId *output);
-int ToProtoData(kortex_actuator_driver::Command intput, Command *output);
-int ToProtoData(kortex_actuator_driver::Feedback intput, Feedback *output);
-int ToProtoData(kortex_actuator_driver::CustomData intput, CustomData *output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_actuator_driver/src/actuatorcyclic_ros_converter.h b/kortex_actuator_driver/src/actuatorcyclic_ros_converter.h
deleted file mode 100644
index b96bb569..00000000
--- a/kortex_actuator_driver/src/actuatorcyclic_ros_converter.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_ActuatorCyclicROS_CONVERTER_H_
-#define _KORTEX_ActuatorCyclicROS_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_actuator_driver/MessageId.h"
-#include "kortex_actuator_driver/Command.h"
-#include "kortex_actuator_driver/Feedback.h"
-#include "kortex_actuator_driver/CustomData.h"
-
-
-using namespace Kinova::Api::ActuatorCyclic;
-
-int ToRosData(MessageId input, kortex_actuator_driver::MessageId &output);
-int ToRosData(Command input, kortex_actuator_driver::Command &output);
-int ToRosData(Feedback input, kortex_actuator_driver::Feedback &output);
-int ToRosData(CustomData input, kortex_actuator_driver::CustomData &output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_actuator_driver/src/common_proto_converter.cpp b/kortex_actuator_driver/src/common_proto_converter.cpp
deleted file mode 100644
index 51241a2c..00000000
--- a/kortex_actuator_driver/src/common_proto_converter.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "common_proto_converter.h"
-
-
-int ToProtoData(kortex_actuator_driver::DeviceHandle input, DeviceHandle *output)
-{
- output->set_device_type((Kinova::Api::Common::DeviceTypes)input.device_type);
- output->set_device_identifier(input.device_identifier);
- output->set_order(input.order);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::Empty input, Empty *output)
-{
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::NotificationOptions input, NotificationOptions *output)
-{
- output->set_type((Kinova::Api::Common::NotificationType)input.type);
- output->set_rate_m_sec(input.rate_m_sec);
- output->set_threshold_value(input.threshold_value);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::SafetyHandle input, SafetyHandle *output)
-{
- output->set_identifier(input.identifier);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::NotificationHandle input, NotificationHandle *output)
-{
- output->set_identifier(input.identifier);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::SafetyNotification input, SafetyNotification *output)
-{
- ToProtoData(input.safety_handle, output->mutable_safety_handle());
- output->set_value((Kinova::Api::Common::SafetyStatusValue)input.value);
- ToProtoData(input.timestamp, output->mutable_timestamp());
- ToProtoData(input.user_handle, output->mutable_user_handle());
- ToProtoData(input.connection, output->mutable_connection());
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::Timestamp input, Timestamp *output)
-{
- output->set_sec(input.sec);
- output->set_usec(input.usec);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::UserProfileHandle input, UserProfileHandle *output)
-{
- output->set_identifier(input.identifier);
- output->set_permission(input.permission);
-
- return 0;
-}
-int ToProtoData(kortex_actuator_driver::Connection input, Connection *output)
-{
- ToProtoData(input.user_handle, output->mutable_user_handle());
- output->set_connection_information(input.connection_information);
- output->set_connection_identifier(input.connection_identifier);
-
- return 0;
-}
diff --git a/kortex_actuator_driver/src/common_proto_converter.h b/kortex_actuator_driver/src/common_proto_converter.h
deleted file mode 100644
index 4112a508..00000000
--- a/kortex_actuator_driver/src/common_proto_converter.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_CommonPROTO_CONVERTER_H_
-#define _KORTEX_CommonPROTO_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_actuator_driver/DeviceHandle.h"
-#include "kortex_actuator_driver/Empty.h"
-#include "kortex_actuator_driver/NotificationOptions.h"
-#include "kortex_actuator_driver/SafetyHandle.h"
-#include "kortex_actuator_driver/NotificationHandle.h"
-#include "kortex_actuator_driver/SafetyNotification.h"
-#include "kortex_actuator_driver/Timestamp.h"
-#include "kortex_actuator_driver/UserProfileHandle.h"
-#include "kortex_actuator_driver/Connection.h"
-
-
-using namespace Kinova::Api::Common;
-
-int ToProtoData(kortex_actuator_driver::DeviceHandle intput, DeviceHandle *output);
-int ToProtoData(kortex_actuator_driver::Empty intput, Empty *output);
-int ToProtoData(kortex_actuator_driver::NotificationOptions intput, NotificationOptions *output);
-int ToProtoData(kortex_actuator_driver::SafetyHandle intput, SafetyHandle *output);
-int ToProtoData(kortex_actuator_driver::NotificationHandle intput, NotificationHandle *output);
-int ToProtoData(kortex_actuator_driver::SafetyNotification intput, SafetyNotification *output);
-int ToProtoData(kortex_actuator_driver::Timestamp intput, Timestamp *output);
-int ToProtoData(kortex_actuator_driver::UserProfileHandle intput, UserProfileHandle *output);
-int ToProtoData(kortex_actuator_driver::Connection intput, Connection *output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_actuator_driver/src/common_ros_converter.cpp b/kortex_actuator_driver/src/common_ros_converter.cpp
deleted file mode 100644
index 57946201..00000000
--- a/kortex_actuator_driver/src/common_ros_converter.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "common_ros_converter.h"
-
-
-int ToRosData(DeviceHandle input, kortex_actuator_driver::DeviceHandle &output)
-{
- output.device_type = input.device_type();
- output.device_identifier = input.device_identifier();
- output.order = input.order();
-
- return 0;
-}
-int ToRosData(Empty input, kortex_actuator_driver::Empty &output)
-{
-
- return 0;
-}
-int ToRosData(NotificationOptions input, kortex_actuator_driver::NotificationOptions &output)
-{
- output.type = input.type();
- output.rate_m_sec = input.rate_m_sec();
- output.threshold_value = input.threshold_value();
-
- return 0;
-}
-int ToRosData(SafetyHandle input, kortex_actuator_driver::SafetyHandle &output)
-{
- output.identifier = input.identifier();
-
- return 0;
-}
-int ToRosData(NotificationHandle input, kortex_actuator_driver::NotificationHandle &output)
-{
- output.identifier = input.identifier();
-
- return 0;
-}
-int ToRosData(SafetyNotification input, kortex_actuator_driver::SafetyNotification &output)
-{
- ToRosData(input.safety_handle(), output.safety_handle);
- output.value = input.value();
- ToRosData(input.timestamp(), output.timestamp);
- ToRosData(input.user_handle(), output.user_handle);
- ToRosData(input.connection(), output.connection);
-
- return 0;
-}
-int ToRosData(Timestamp input, kortex_actuator_driver::Timestamp &output)
-{
- output.sec = input.sec();
- output.usec = input.usec();
-
- return 0;
-}
-int ToRosData(UserProfileHandle input, kortex_actuator_driver::UserProfileHandle &output)
-{
- output.identifier = input.identifier();
- output.permission = input.permission();
-
- return 0;
-}
-int ToRosData(Connection input, kortex_actuator_driver::Connection &output)
-{
- ToRosData(input.user_handle(), output.user_handle);
- output.connection_information = input.connection_information();
- output.connection_identifier = input.connection_identifier();
-
- return 0;
-}
diff --git a/kortex_actuator_driver/src/common_ros_converter.h b/kortex_actuator_driver/src/common_ros_converter.h
deleted file mode 100644
index 505d5764..00000000
--- a/kortex_actuator_driver/src/common_ros_converter.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_CommonROS_CONVERTER_H_
-#define _KORTEX_CommonROS_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_actuator_driver/DeviceHandle.h"
-#include "kortex_actuator_driver/Empty.h"
-#include "kortex_actuator_driver/NotificationOptions.h"
-#include "kortex_actuator_driver/SafetyHandle.h"
-#include "kortex_actuator_driver/NotificationHandle.h"
-#include "kortex_actuator_driver/SafetyNotification.h"
-#include "kortex_actuator_driver/Timestamp.h"
-#include "kortex_actuator_driver/UserProfileHandle.h"
-#include "kortex_actuator_driver/Connection.h"
-
-
-using namespace Kinova::Api::Common;
-
-int ToRosData(DeviceHandle input, kortex_actuator_driver::DeviceHandle &output);
-int ToRosData(Empty input, kortex_actuator_driver::Empty &output);
-int ToRosData(NotificationOptions input, kortex_actuator_driver::NotificationOptions &output);
-int ToRosData(SafetyHandle input, kortex_actuator_driver::SafetyHandle &output);
-int ToRosData(NotificationHandle input, kortex_actuator_driver::NotificationHandle &output);
-int ToRosData(SafetyNotification input, kortex_actuator_driver::SafetyNotification &output);
-int ToRosData(Timestamp input, kortex_actuator_driver::Timestamp &output);
-int ToRosData(UserProfileHandle input, kortex_actuator_driver::UserProfileHandle &output);
-int ToRosData(Connection input, kortex_actuator_driver::Connection &output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_actuator_driver/src/main.cpp b/kortex_actuator_driver/src/main.cpp
deleted file mode 100644
index e28767ce..00000000
--- a/kortex_actuator_driver/src/main.cpp
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "node.h"
-#include "math_util.h"
-
-#include
-#include
-
-int main(int argc, char **argv)
-{
- ros::init(argc, argv, "Actuator_Services");
-
- uint32_t cyclic_data_rate = 100;
- uint32_t device_id = 0;
-
- ros::NodeHandle n;
- bool valid_ip = false;
-
- if(argc > 3)
- {
- stringstream tempId;
- tempId << argv[3];
- tempId >> device_id;
-
- if(tempId.fail() || tempId.bad())
- {
- ROS_INFO("ERROR - Bad device ID, shutting down the node...");
- ros::shutdown();
- return 0;
- }
- }
- else if(argc > 2)
- {
- //Converting the second parameter(the cyclic rate) to an unsigned int variable.
- stringstream tempRate;
- tempRate << argv[2];
- tempRate >> cyclic_data_rate;
- if(tempRate.fail() || tempRate.bad())
- {
- ROS_INFO("ERROR - Bad error rate, shutting down the node...");
- ros::shutdown();
- return 0;
- }
- ROS_INFO("Connecting to IP = %s - node refresh rate = %s, device ID = %d", argv[1], argv[2], device_id);
- }
- else
- {
- ROS_INFO("You need to provide an IP adresse as the first parameter and optionnaly a second parameter to specify the cyclic \
- rate and a third parameter(optionnal) to specify a device ID. ex: rosrun package node 127.0.0.1 100 4");
- ros::shutdown();
- return 0;
- }
-
- Actuator_Services services_object(argv[1], n, device_id);
-
- ros::ServiceServer serviceSetDeviceID = n.advertiseService("SetDeviceID", &Actuator_Services::SetDeviceID, &services_object);
- ros::ServiceServer serviceSetApiOptions = n.advertiseService("SetApiOptions", &Actuator_Services::SetApiOptions, &services_object);
- ros::ServiceServer serviceSetCyclicStatus = n.advertiseService("SetCyclicStatus", &Actuator_Services::SetCyclicStatus, &services_object);
- ros::ServiceServer serviceGetCyclicStatus = n.advertiseService("GetCyclicStatus", &Actuator_Services::GetCyclicStatus, &services_object);
-
- ros::ServiceServer serviceGetAxisOffsets = n.advertiseService("GetAxisOffsets", &Actuator_Services::GetAxisOffsets, &services_object);
- ros::ServiceServer serviceSetAxisOffsets = n.advertiseService("SetAxisOffsets", &Actuator_Services::SetAxisOffsets, &services_object);
- ros::ServiceServer serviceReadTorqueCalibration = n.advertiseService("ReadTorqueCalibration", &Actuator_Services::ReadTorqueCalibration, &services_object);
- ros::ServiceServer serviceWriteTorqueCalibration = n.advertiseService("WriteTorqueCalibration", &Actuator_Services::WriteTorqueCalibration, &services_object);
- ros::ServiceServer serviceSetTorqueOffset = n.advertiseService("SetTorqueOffset", &Actuator_Services::SetTorqueOffset, &services_object);
- ros::ServiceServer serviceGetControlMode = n.advertiseService("GetControlMode", &Actuator_Services::GetControlMode, &services_object);
- ros::ServiceServer serviceSetControlMode = n.advertiseService("SetControlMode", &Actuator_Services::SetControlMode, &services_object);
- ros::ServiceServer serviceGetActivatedControlLoop = n.advertiseService("GetActivatedControlLoop", &Actuator_Services::GetActivatedControlLoop, &services_object);
- ros::ServiceServer serviceSetActivatedControlLoop = n.advertiseService("SetActivatedControlLoop", &Actuator_Services::SetActivatedControlLoop, &services_object);
- ros::ServiceServer serviceGetVectorDriveParameters = n.advertiseService("GetVectorDriveParameters", &Actuator_Services::GetVectorDriveParameters, &services_object);
- ros::ServiceServer serviceSetVectorDriveParameters = n.advertiseService("SetVectorDriveParameters", &Actuator_Services::SetVectorDriveParameters, &services_object);
- ros::ServiceServer serviceGetEncoderDerivativeParameters = n.advertiseService("GetEncoderDerivativeParameters", &Actuator_Services::GetEncoderDerivativeParameters, &services_object);
- ros::ServiceServer serviceSetEncoderDerivativeParameters = n.advertiseService("SetEncoderDerivativeParameters", &Actuator_Services::SetEncoderDerivativeParameters, &services_object);
- ros::ServiceServer serviceGetControlLoopParameters = n.advertiseService("GetControlLoopParameters", &Actuator_Services::GetControlLoopParameters, &services_object);
- ros::ServiceServer serviceSetControlLoopParameters = n.advertiseService("SetControlLoopParameters", &Actuator_Services::SetControlLoopParameters, &services_object);
- ros::ServiceServer serviceStartFrequencyResponse = n.advertiseService("StartFrequencyResponse", &Actuator_Services::StartFrequencyResponse, &services_object);
- ros::ServiceServer serviceStopFrequencyResponse = n.advertiseService("StopFrequencyResponse", &Actuator_Services::StopFrequencyResponse, &services_object);
- ros::ServiceServer serviceStartStepResponse = n.advertiseService("StartStepResponse", &Actuator_Services::StartStepResponse, &services_object);
- ros::ServiceServer serviceStopStepResponse = n.advertiseService("StopStepResponse", &Actuator_Services::StopStepResponse, &services_object);
- ros::ServiceServer serviceStartRampResponse = n.advertiseService("StartRampResponse", &Actuator_Services::StartRampResponse, &services_object);
- ros::ServiceServer serviceStopRampResponse = n.advertiseService("StopRampResponse", &Actuator_Services::StopRampResponse, &services_object);
- ros::ServiceServer serviceSelectCustomData = n.advertiseService("SelectCustomData", &Actuator_Services::SelectCustomData, &services_object);
- ros::ServiceServer serviceGetSelectedCustomData = n.advertiseService("GetSelectedCustomData", &Actuator_Services::GetSelectedCustomData, &services_object);
- ros::ServiceServer serviceSetCommandMode = n.advertiseService("SetCommandMode", &Actuator_Services::SetCommandMode, &services_object);
- ros::ServiceServer serviceClearFaults = n.advertiseService("ClearFaults", &Actuator_Services::ClearFaults, &services_object);
- ros::ServiceServer serviceSetServoing = n.advertiseService("SetServoing", &Actuator_Services::SetServoing, &services_object);
- ros::ServiceServer serviceMoveToPosition = n.advertiseService("MoveToPosition", &Actuator_Services::MoveToPosition, &services_object);
- ros::ServiceServer serviceGetCommandMode = n.advertiseService("GetCommandMode", &Actuator_Services::GetCommandMode, &services_object);
- ros::ServiceServer serviceGetServoing = n.advertiseService("GetServoing", &Actuator_Services::GetServoing, &services_object);
- ros::ServiceServer serviceGetTorqueOffset = n.advertiseService("GetTorqueOffset", &Actuator_Services::GetTorqueOffset, &services_object);
- ros::ServiceServer serviceRefresh = n.advertiseService("Refresh", &Actuator_Services::Refresh, &services_object);
- ros::ServiceServer serviceRefreshCommand = n.advertiseService("RefreshCommand", &Actuator_Services::RefreshCommand, &services_object);
- ros::ServiceServer serviceRefreshFeedback = n.advertiseService("RefreshFeedback", &Actuator_Services::RefreshFeedback, &services_object);
- ros::ServiceServer serviceRefreshCustomData = n.advertiseService("RefreshCustomData", &Actuator_Services::RefreshCustomData, &services_object);
-
-
- ROS_INFO("Node's services initialized correctly.");
-
- ros::Publisher pub_feedback = n.advertise("actuator_feedback", 1000);
- ros::Publisher pub_joint_state = n.advertise("actuator_feedback/joint_state", 1000);
-
- kortex_actuator_driver::Feedback feedback;
- kortex_actuator_driver::RefreshFeedback::Request req;
- kortex_actuator_driver::RefreshFeedback::Response res;
-
- sensor_msgs::JointState joint_state;
-
- joint_state.position.resize(1);
- joint_state.velocity.resize(1);
- joint_state.effort.resize(1);
- joint_state.name.resize(1);
-
- ros::Rate rate(cyclic_data_rate);
- while (!ros::isShuttingDown())
- {
- try
- {
- if(services_object.IsCyclicActive())
- {
- services_object.RefreshFeedback(req, res);
-
- feedback.feedback_id = res.output.feedback_id;
-
- feedback.status_flags = res.output.status_flags;
- feedback.jitter_comm = res.output.jitter_comm;
- feedback.position = res.output.position;
- feedback.velocity = res.output.velocity;
- feedback.torque = res.output.torque;
- feedback.current_motor = res.output.current_motor;
- feedback.voltage = res.output.voltage;
- feedback.temperature_motor = res.output.temperature_motor;
- feedback.temperature_core = res.output.temperature_core;
- feedback.fault_bank_a = res.output.fault_bank_a;
- feedback.fault_bank_b = res.output.fault_bank_b;
- feedback.warning_bank_a = res.output.warning_bank_a;
- feedback.warning_bank_b = res.output.warning_bank_b;
-
- joint_state.header.stamp = ros::Time::now();
- joint_state.header.frame_id = std::to_string(res.output.feedback_id.identifier);
-
- joint_state.name[0] = "Actuator";
- joint_state.position[0] = TO_RAD(res.output.position);
- joint_state.velocity[0] = TO_RAD(res.output.velocity);
- joint_state.effort[0] = res.output.torque;
-
- pub_feedback.publish(feedback);
- pub_joint_state.publish(joint_state);
- }
- }
-
- catch (KDetailedException& ex)
- {
- ROS_INFO("KINOVA exception: %d\n", ex.getErrorInfo().getError().error_sub_code());
- }
- catch (std::runtime_error& ex2)
- {
- ROS_INFO("RUN TIME ERROR: %s\n", ex2.what());
- }
-
- ros::spinOnce();
-
- rate.sleep();
- }
-
- return 1;
-}
\ No newline at end of file
diff --git a/kortex_actuator_driver/src/node.cpp b/kortex_actuator_driver/src/node.cpp
deleted file mode 100644
index a8e29cdb..00000000
--- a/kortex_actuator_driver/src/node.cpp
+++ /dev/null
@@ -1,1112 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "node.h"
-#include "common_ros_converter.h"
-#include "common_proto_converter.h"
-#include "actuatorconfig_ros_converter.h"
-#include "actuatorconfig_proto_converter.h"
-#include "actuatorcyclic_ros_converter.h"
-#include "actuatorcyclic_proto_converter.h"
-Actuator_Services::Actuator_Services(char* ip, ros::NodeHandle& n, uint32_t device_id) : m_n(n)
-{
- m_transport = new TransportClientUdp();
- m_transport->connect(ip, 10000);
-
- m_router = new RouterClient(m_transport, [](KError err) { cout << "_________ callback error _________" << err.toString(); });
- m_CurrentDeviceID = device_id;
- m_apiOptions.timeout_ms = 3000;
-
- m_actuatorconfig = new ActuatorConfig::ActuatorConfigClient(m_router);
- m_actuatorcyclic = new ActuatorCyclic::ActuatorCyclicClient(m_router);
- //If the Device ID is different than 0, it means that we are using the feature DEVICE ROUTING.
- if(m_CurrentDeviceID != 0)
- {
- m_SessionManager = new SessionManager(m_router);
- auto createSessionInfo = Kinova::Api::Session::CreateSessionInfo();
-
- createSessionInfo.set_username("admin");
- createSessionInfo.set_password("admin");
- createSessionInfo.set_session_inactivity_timeout(35000);
-
- m_SessionManager->CreateSession(createSessionInfo);
- }
-
- m_pub_Error = m_n.advertise("KortexError", 1000);std::this_thread::sleep_for(std::chrono::milliseconds(2000));
-}
-
-bool Actuator_Services::SetDeviceID(kortex_actuator_driver::SetDeviceID::Request &req, kortex_actuator_driver::SetDeviceID::Response &res)
-{
- if(m_CurrentDeviceID == 0)
- {
- auto sessionManager = new SessionManager(m_router);
- auto createSessionInfo = Kinova::Api::Session::CreateSessionInfo();
-
- createSessionInfo.set_username("admin");
- createSessionInfo.set_password("admin");
- createSessionInfo.set_session_inactivity_timeout(35000);
-
- sessionManager->CreateSession(createSessionInfo);
- }
-
- m_CurrentDeviceID = req.device_id;
-}
-
-bool Actuator_Services::SetApiOptions(kortex_actuator_driver::SetApiOptions::Request &req, kortex_actuator_driver::SetApiOptions::Response &res)
-{
- m_apiOptions.timeout_ms = req.input.timeout_ms;
-
- return true;
-}
-
-bool Actuator_Services::GetCyclicStatus(kortex_actuator_driver::GetCyclicStatus::Request &req, kortex_actuator_driver::GetCyclicStatus::Response &res)
-{
- res.status.isActive = m_cyclicActive;
-}
-
-bool Actuator_Services::SetCyclicStatus(kortex_actuator_driver::SetCyclicStatus::Request &req, kortex_actuator_driver::SetCyclicStatus::Response &res)
-{
- m_cyclicActive = req.status.isActive;
-}
-
-bool Actuator_Services::IsCyclicActive()
-{
- return m_cyclicActive;
-}
-
-
-
-
-bool Actuator_Services::GetAxisOffsets(kortex_actuator_driver::GetAxisOffsets::Request &req, kortex_actuator_driver::GetAxisOffsets::Response &res)
-{
- Empty input;
- AxisOffsets output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetAxisOffsets(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::SetAxisOffsets(kortex_actuator_driver::SetAxisOffsets::Request &req, kortex_actuator_driver::SetAxisOffsets::Response &res)
-{
- AxisPosition input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SetAxisOffsets(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::ReadTorqueCalibration(kortex_actuator_driver::ReadTorqueCalibration::Request &req, kortex_actuator_driver::ReadTorqueCalibration::Response &res)
-{
- Empty input;
- TorqueCalibration output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->ReadTorqueCalibration(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::WriteTorqueCalibration(kortex_actuator_driver::WriteTorqueCalibration::Request &req, kortex_actuator_driver::WriteTorqueCalibration::Response &res)
-{
- TorqueCalibration input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->WriteTorqueCalibration(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::SetTorqueOffset(kortex_actuator_driver::SetTorqueOffset::Request &req, kortex_actuator_driver::SetTorqueOffset::Response &res)
-{
- TorqueOffset input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SetTorqueOffset(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::GetControlMode(kortex_actuator_driver::GetControlMode::Request &req, kortex_actuator_driver::GetControlMode::Response &res)
-{
- Empty input;
- ControlModeInformation output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetControlMode(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::SetControlMode(kortex_actuator_driver::SetControlMode::Request &req, kortex_actuator_driver::SetControlMode::Response &res)
-{
- ControlModeInformation input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SetControlMode(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::GetActivatedControlLoop(kortex_actuator_driver::GetActivatedControlLoop::Request &req, kortex_actuator_driver::GetActivatedControlLoop::Response &res)
-{
- Empty input;
- ControlLoop output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetActivatedControlLoop(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::SetActivatedControlLoop(kortex_actuator_driver::SetActivatedControlLoop::Request &req, kortex_actuator_driver::SetActivatedControlLoop::Response &res)
-{
- ControlLoop input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SetActivatedControlLoop(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::GetVectorDriveParameters(kortex_actuator_driver::GetVectorDriveParameters::Request &req, kortex_actuator_driver::GetVectorDriveParameters::Response &res)
-{
- Empty input;
- VectorDriveParameters output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetVectorDriveParameters(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::SetVectorDriveParameters(kortex_actuator_driver::SetVectorDriveParameters::Request &req, kortex_actuator_driver::SetVectorDriveParameters::Response &res)
-{
- VectorDriveParameters input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SetVectorDriveParameters(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::GetEncoderDerivativeParameters(kortex_actuator_driver::GetEncoderDerivativeParameters::Request &req, kortex_actuator_driver::GetEncoderDerivativeParameters::Response &res)
-{
- Empty input;
- EncoderDerivativeParameters output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetEncoderDerivativeParameters(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::SetEncoderDerivativeParameters(kortex_actuator_driver::SetEncoderDerivativeParameters::Request &req, kortex_actuator_driver::SetEncoderDerivativeParameters::Response &res)
-{
- EncoderDerivativeParameters input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SetEncoderDerivativeParameters(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::GetControlLoopParameters(kortex_actuator_driver::GetControlLoopParameters::Request &req, kortex_actuator_driver::GetControlLoopParameters::Response &res)
-{
- LoopSelection input;
- ToProtoData(req.input, &input);
- ControlLoopParameters output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetControlLoopParameters(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::SetControlLoopParameters(kortex_actuator_driver::SetControlLoopParameters::Request &req, kortex_actuator_driver::SetControlLoopParameters::Response &res)
-{
- ControlLoopParameters input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SetControlLoopParameters(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::StartFrequencyResponse(kortex_actuator_driver::StartFrequencyResponse::Request &req, kortex_actuator_driver::StartFrequencyResponse::Response &res)
-{
- FrequencyResponse input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->StartFrequencyResponse(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::StopFrequencyResponse(kortex_actuator_driver::StopFrequencyResponse::Request &req, kortex_actuator_driver::StopFrequencyResponse::Response &res)
-{
- Empty input;
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->StopFrequencyResponse(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::StartStepResponse(kortex_actuator_driver::StartStepResponse::Request &req, kortex_actuator_driver::StartStepResponse::Response &res)
-{
- StepResponse input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->StartStepResponse(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::StopStepResponse(kortex_actuator_driver::StopStepResponse::Request &req, kortex_actuator_driver::StopStepResponse::Response &res)
-{
- Empty input;
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->StopStepResponse(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::StartRampResponse(kortex_actuator_driver::StartRampResponse::Request &req, kortex_actuator_driver::StartRampResponse::Response &res)
-{
- RampResponse input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->StartRampResponse(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::StopRampResponse(kortex_actuator_driver::StopRampResponse::Request &req, kortex_actuator_driver::StopRampResponse::Response &res)
-{
- Empty input;
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->StopRampResponse(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::SelectCustomData(kortex_actuator_driver::SelectCustomData::Request &req, kortex_actuator_driver::SelectCustomData::Response &res)
-{
- CustomDataSelection input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SelectCustomData(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::GetSelectedCustomData(kortex_actuator_driver::GetSelectedCustomData::Request &req, kortex_actuator_driver::GetSelectedCustomData::Response &res)
-{
- Empty input;
- CustomDataSelection output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetSelectedCustomData(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::SetCommandMode(kortex_actuator_driver::SetCommandMode::Request &req, kortex_actuator_driver::SetCommandMode::Response &res)
-{
- CommandModeInformation input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SetCommandMode(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::ClearFaults(kortex_actuator_driver::ClearFaults::Request &req, kortex_actuator_driver::ClearFaults::Response &res)
-{
- Empty input;
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->ClearFaults(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::SetServoing(kortex_actuator_driver::SetServoing::Request &req, kortex_actuator_driver::SetServoing::Response &res)
-{
- Servoing input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->SetServoing(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::MoveToPosition(kortex_actuator_driver::MoveToPosition::Request &req, kortex_actuator_driver::MoveToPosition::Response &res)
-{
- PositionCommand input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorconfig->MoveToPosition(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::GetCommandMode(kortex_actuator_driver::GetCommandMode::Request &req, kortex_actuator_driver::GetCommandMode::Response &res)
-{
- Empty input;
- CommandModeInformation output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetCommandMode(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::GetServoing(kortex_actuator_driver::GetServoing::Request &req, kortex_actuator_driver::GetServoing::Response &res)
-{
- Empty input;
- Servoing output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetServoing(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::GetTorqueOffset(kortex_actuator_driver::GetTorqueOffset::Request &req, kortex_actuator_driver::GetTorqueOffset::Response &res)
-{
- Empty input;
- TorqueOffset output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorconfig->GetTorqueOffset(m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-
-bool Actuator_Services::Refresh(kortex_actuator_driver::Refresh::Request &req, kortex_actuator_driver::Refresh::Response &res)
-{
- Command input;
- ToProtoData(req.input, &input);
- Feedback output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorcyclic->Refresh(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::RefreshCommand(kortex_actuator_driver::RefreshCommand::Request &req, kortex_actuator_driver::RefreshCommand::Response &res)
-{
- Command input;
- ToProtoData(req.input, &input);
- Empty output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- m_actuatorcyclic->RefreshCommand(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- return true;
-}
-
-bool Actuator_Services::RefreshFeedback(kortex_actuator_driver::RefreshFeedback::Request &req, kortex_actuator_driver::RefreshFeedback::Response &res)
-{
- MessageId input;
- ToProtoData(req.input, &input);
- Feedback output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorcyclic->RefreshFeedback(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
-
-bool Actuator_Services::RefreshCustomData(kortex_actuator_driver::RefreshCustomData::Request &req, kortex_actuator_driver::RefreshCustomData::Response &res)
-{
- MessageId input;
- ToProtoData(req.input, &input);
- CustomData output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- output = m_actuatorcyclic->RefreshCustomData(input, m_CurrentDeviceID, m_apiOptions);
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- ToRosData(output, res.output);
- return true;
-}
diff --git a/kortex_actuator_driver/src/node.h b/kortex_actuator_driver/src/node.h
deleted file mode 100644
index 6c743e23..00000000
--- a/kortex_actuator_driver/src/node.h
+++ /dev/null
@@ -1,154 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_SERVICES_H_
-#define _KORTEX_SERVICES_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-#include
-#include
-#include "kortex_actuator_driver/GetAxisOffsets.h"
-#include "kortex_actuator_driver/SetAxisOffsets.h"
-#include "kortex_actuator_driver/ReadTorqueCalibration.h"
-#include "kortex_actuator_driver/WriteTorqueCalibration.h"
-#include "kortex_actuator_driver/SetTorqueOffset.h"
-#include "kortex_actuator_driver/GetControlMode.h"
-#include "kortex_actuator_driver/SetControlMode.h"
-#include "kortex_actuator_driver/GetActivatedControlLoop.h"
-#include "kortex_actuator_driver/SetActivatedControlLoop.h"
-#include "kortex_actuator_driver/GetVectorDriveParameters.h"
-#include "kortex_actuator_driver/SetVectorDriveParameters.h"
-#include "kortex_actuator_driver/GetEncoderDerivativeParameters.h"
-#include "kortex_actuator_driver/SetEncoderDerivativeParameters.h"
-#include "kortex_actuator_driver/GetControlLoopParameters.h"
-#include "kortex_actuator_driver/SetControlLoopParameters.h"
-#include "kortex_actuator_driver/StartFrequencyResponse.h"
-#include "kortex_actuator_driver/StopFrequencyResponse.h"
-#include "kortex_actuator_driver/StartStepResponse.h"
-#include "kortex_actuator_driver/StopStepResponse.h"
-#include "kortex_actuator_driver/StartRampResponse.h"
-#include "kortex_actuator_driver/StopRampResponse.h"
-#include "kortex_actuator_driver/SelectCustomData.h"
-#include "kortex_actuator_driver/GetSelectedCustomData.h"
-#include "kortex_actuator_driver/SetCommandMode.h"
-#include "kortex_actuator_driver/ClearFaults.h"
-#include "kortex_actuator_driver/SetServoing.h"
-#include "kortex_actuator_driver/MoveToPosition.h"
-#include "kortex_actuator_driver/GetCommandMode.h"
-#include "kortex_actuator_driver/GetServoing.h"
-#include "kortex_actuator_driver/GetTorqueOffset.h"
-#include "kortex_actuator_driver/Refresh.h"
-#include "kortex_actuator_driver/RefreshCommand.h"
-#include "kortex_actuator_driver/RefreshFeedback.h"
-#include "kortex_actuator_driver/RefreshCustomData.h"
-#include "kortex_actuator_driver/KortexError.h"
-#include "kortex_actuator_driver/SetDeviceID.h"
-#include "kortex_actuator_driver/SetApiOptions.h"
-#include "kortex_actuator_driver/SetCyclicStatus.h"
-#include "kortex_actuator_driver/GetCyclicStatus.h"
-#include "kortex_actuator_driver/ApiOptions.h"
-#include "kortex_actuator_driver/CyclicStatus.h"
-
-using namespace std;
-using namespace Kinova::Api;
-using namespace Kinova::Api::Common;
-using namespace Kinova::Api::ActuatorConfig;
-using namespace Kinova::Api::ActuatorCyclic;
-
-class Actuator_Services
-{
- public:
- Actuator_Services(char* ip, ros::NodeHandle& n, uint32_t device_id);
- bool SetDeviceID(kortex_actuator_driver::SetDeviceID::Request &req, kortex_actuator_driver::SetDeviceID::Response &res);
- bool SetApiOptions(kortex_actuator_driver::SetApiOptions::Request &req, kortex_actuator_driver::SetApiOptions::Response &res);
- bool GetCyclicStatus(kortex_actuator_driver::GetCyclicStatus::Request &req, kortex_actuator_driver::GetCyclicStatus::Response &res);
- bool SetCyclicStatus(kortex_actuator_driver::SetCyclicStatus::Request &req, kortex_actuator_driver::SetCyclicStatus::Response &res);
- bool IsCyclicActive();
-
-
- bool GetAxisOffsets(kortex_actuator_driver::GetAxisOffsets::Request &req, kortex_actuator_driver::GetAxisOffsets::Response &res);
- bool SetAxisOffsets(kortex_actuator_driver::SetAxisOffsets::Request &req, kortex_actuator_driver::SetAxisOffsets::Response &res);
- bool ReadTorqueCalibration(kortex_actuator_driver::ReadTorqueCalibration::Request &req, kortex_actuator_driver::ReadTorqueCalibration::Response &res);
- bool WriteTorqueCalibration(kortex_actuator_driver::WriteTorqueCalibration::Request &req, kortex_actuator_driver::WriteTorqueCalibration::Response &res);
- bool SetTorqueOffset(kortex_actuator_driver::SetTorqueOffset::Request &req, kortex_actuator_driver::SetTorqueOffset::Response &res);
- bool GetControlMode(kortex_actuator_driver::GetControlMode::Request &req, kortex_actuator_driver::GetControlMode::Response &res);
- bool SetControlMode(kortex_actuator_driver::SetControlMode::Request &req, kortex_actuator_driver::SetControlMode::Response &res);
- bool GetActivatedControlLoop(kortex_actuator_driver::GetActivatedControlLoop::Request &req, kortex_actuator_driver::GetActivatedControlLoop::Response &res);
- bool SetActivatedControlLoop(kortex_actuator_driver::SetActivatedControlLoop::Request &req, kortex_actuator_driver::SetActivatedControlLoop::Response &res);
- bool GetVectorDriveParameters(kortex_actuator_driver::GetVectorDriveParameters::Request &req, kortex_actuator_driver::GetVectorDriveParameters::Response &res);
- bool SetVectorDriveParameters(kortex_actuator_driver::SetVectorDriveParameters::Request &req, kortex_actuator_driver::SetVectorDriveParameters::Response &res);
- bool GetEncoderDerivativeParameters(kortex_actuator_driver::GetEncoderDerivativeParameters::Request &req, kortex_actuator_driver::GetEncoderDerivativeParameters::Response &res);
- bool SetEncoderDerivativeParameters(kortex_actuator_driver::SetEncoderDerivativeParameters::Request &req, kortex_actuator_driver::SetEncoderDerivativeParameters::Response &res);
- bool GetControlLoopParameters(kortex_actuator_driver::GetControlLoopParameters::Request &req, kortex_actuator_driver::GetControlLoopParameters::Response &res);
- bool SetControlLoopParameters(kortex_actuator_driver::SetControlLoopParameters::Request &req, kortex_actuator_driver::SetControlLoopParameters::Response &res);
- bool StartFrequencyResponse(kortex_actuator_driver::StartFrequencyResponse::Request &req, kortex_actuator_driver::StartFrequencyResponse::Response &res);
- bool StopFrequencyResponse(kortex_actuator_driver::StopFrequencyResponse::Request &req, kortex_actuator_driver::StopFrequencyResponse::Response &res);
- bool StartStepResponse(kortex_actuator_driver::StartStepResponse::Request &req, kortex_actuator_driver::StartStepResponse::Response &res);
- bool StopStepResponse(kortex_actuator_driver::StopStepResponse::Request &req, kortex_actuator_driver::StopStepResponse::Response &res);
- bool StartRampResponse(kortex_actuator_driver::StartRampResponse::Request &req, kortex_actuator_driver::StartRampResponse::Response &res);
- bool StopRampResponse(kortex_actuator_driver::StopRampResponse::Request &req, kortex_actuator_driver::StopRampResponse::Response &res);
- bool SelectCustomData(kortex_actuator_driver::SelectCustomData::Request &req, kortex_actuator_driver::SelectCustomData::Response &res);
- bool GetSelectedCustomData(kortex_actuator_driver::GetSelectedCustomData::Request &req, kortex_actuator_driver::GetSelectedCustomData::Response &res);
- bool SetCommandMode(kortex_actuator_driver::SetCommandMode::Request &req, kortex_actuator_driver::SetCommandMode::Response &res);
- bool ClearFaults(kortex_actuator_driver::ClearFaults::Request &req, kortex_actuator_driver::ClearFaults::Response &res);
- bool SetServoing(kortex_actuator_driver::SetServoing::Request &req, kortex_actuator_driver::SetServoing::Response &res);
- bool MoveToPosition(kortex_actuator_driver::MoveToPosition::Request &req, kortex_actuator_driver::MoveToPosition::Response &res);
- bool GetCommandMode(kortex_actuator_driver::GetCommandMode::Request &req, kortex_actuator_driver::GetCommandMode::Response &res);
- bool GetServoing(kortex_actuator_driver::GetServoing::Request &req, kortex_actuator_driver::GetServoing::Response &res);
- bool GetTorqueOffset(kortex_actuator_driver::GetTorqueOffset::Request &req, kortex_actuator_driver::GetTorqueOffset::Response &res);
-
- bool Refresh(kortex_actuator_driver::Refresh::Request &req, kortex_actuator_driver::Refresh::Response &res);
- bool RefreshCommand(kortex_actuator_driver::RefreshCommand::Request &req, kortex_actuator_driver::RefreshCommand::Response &res);
- bool RefreshFeedback(kortex_actuator_driver::RefreshFeedback::Request &req, kortex_actuator_driver::RefreshFeedback::Response &res);
- bool RefreshCustomData(kortex_actuator_driver::RefreshCustomData::Request &req, kortex_actuator_driver::RefreshCustomData::Response &res);
-
-
-private:
- TransportClientUdp* m_transport;
- RouterClient* m_router;
-
- ActuatorConfigClient* m_actuatorconfig;
- ActuatorCyclicClient* m_actuatorcyclic;
- uint32_t m_CurrentDeviceID;
- RouterClientSendOptions m_apiOptions;
-
- SessionManager* m_SessionManager;
- bool m_cyclicActive = false;
-
- ros::NodeHandle m_n;
- ros::Publisher m_pub_Error;
-};
-#endif
diff --git a/kortex_actuator_driver/src/util/diagnostic.h b/kortex_actuator_driver/src/util/diagnostic.h
deleted file mode 100644
index f0199870..00000000
--- a/kortex_actuator_driver/src/util/diagnostic.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * Copyright (c) 2018 Kinova inc. All rights reserved.
- *
- * This software may be modified and distributed under the
- * terms of the BSD 3-Clause license.
- *
- * Refer to the LICENSE file for details.
- *
- */
-#include
-
-struct kortex_error
-{
- int error_code;
- std::string description;
-};
\ No newline at end of file
diff --git a/kortex_actuator_driver/src/util/math_util.h b/kortex_actuator_driver/src/util/math_util.h
deleted file mode 100644
index bf935386..00000000
--- a/kortex_actuator_driver/src/util/math_util.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/*
- * Copyright (c) 2018 Kinova inc. All rights reserved.
- *
- * This software may be modified and distributed under the
- * terms of the BSD 3-Clause license.
- *
- * Refer to the LICENSE file for details.
- *
- */
-#include
-
-#define TO_RAD(degree) degree * M_PI / 180.0
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/GetControlMode.srv b/kortex_actuator_driver/srv/GetControlMode.srv
deleted file mode 100644
index 6eb15fb1..00000000
--- a/kortex_actuator_driver/srv/GetControlMode.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-Empty input
----
-ControlModeInformation output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/GetEncoderDerivativeParameters.srv b/kortex_actuator_driver/srv/GetEncoderDerivativeParameters.srv
deleted file mode 100644
index 7815939b..00000000
--- a/kortex_actuator_driver/srv/GetEncoderDerivativeParameters.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-Empty input
----
-EncoderDerivativeParameters output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/GetVectorDriveParameters.srv b/kortex_actuator_driver/srv/GetVectorDriveParameters.srv
deleted file mode 100644
index e6ea88c5..00000000
--- a/kortex_actuator_driver/srv/GetVectorDriveParameters.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-Empty input
----
-VectorDriveParameters output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/ReadTorqueCalibration.srv b/kortex_actuator_driver/srv/ReadTorqueCalibration.srv
deleted file mode 100644
index 45dec9f4..00000000
--- a/kortex_actuator_driver/srv/ReadTorqueCalibration.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-Empty input
----
-TorqueCalibration output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/Refresh.srv b/kortex_actuator_driver/srv/Refresh.srv
deleted file mode 100644
index 432de516..00000000
--- a/kortex_actuator_driver/srv/Refresh.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-Command input
----
-Feedback output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/RefreshCommand.srv b/kortex_actuator_driver/srv/RefreshCommand.srv
deleted file mode 100644
index 9bd2e9fc..00000000
--- a/kortex_actuator_driver/srv/RefreshCommand.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-Command input
----
-Empty output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/RefreshCustomData.srv b/kortex_actuator_driver/srv/RefreshCustomData.srv
deleted file mode 100644
index 5822ae31..00000000
--- a/kortex_actuator_driver/srv/RefreshCustomData.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-MessageId input
----
-CustomData output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/RefreshFeedback.srv b/kortex_actuator_driver/srv/RefreshFeedback.srv
deleted file mode 100644
index f850c63d..00000000
--- a/kortex_actuator_driver/srv/RefreshFeedback.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-MessageId input
----
-Feedback output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/SetControlMode.srv b/kortex_actuator_driver/srv/SetControlMode.srv
deleted file mode 100644
index d5a258a6..00000000
--- a/kortex_actuator_driver/srv/SetControlMode.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-ControlModeInformation input
----
-Empty output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/SetEncoderDerivativeParameters.srv b/kortex_actuator_driver/srv/SetEncoderDerivativeParameters.srv
deleted file mode 100644
index d6d6530d..00000000
--- a/kortex_actuator_driver/srv/SetEncoderDerivativeParameters.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-EncoderDerivativeParameters input
----
-Empty output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/SetVectorDriveParameters.srv b/kortex_actuator_driver/srv/SetVectorDriveParameters.srv
deleted file mode 100644
index 68aba166..00000000
--- a/kortex_actuator_driver/srv/SetVectorDriveParameters.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-VectorDriveParameters input
----
-Empty output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/StartFrequencyResponse.srv b/kortex_actuator_driver/srv/StartFrequencyResponse.srv
deleted file mode 100644
index 38761145..00000000
--- a/kortex_actuator_driver/srv/StartFrequencyResponse.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-FrequencyResponse input
----
-Empty output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/StartRampResponse.srv b/kortex_actuator_driver/srv/StartRampResponse.srv
deleted file mode 100644
index 246d7fa3..00000000
--- a/kortex_actuator_driver/srv/StartRampResponse.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-RampResponse input
----
-Empty output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/StartStepResponse.srv b/kortex_actuator_driver/srv/StartStepResponse.srv
deleted file mode 100644
index d5f063e6..00000000
--- a/kortex_actuator_driver/srv/StartStepResponse.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-StepResponse input
----
-Empty output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/WriteTorqueCalibration.srv b/kortex_actuator_driver/srv/WriteTorqueCalibration.srv
deleted file mode 100644
index cf4dac5d..00000000
--- a/kortex_actuator_driver/srv/WriteTorqueCalibration.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-TorqueCalibration input
----
-Empty output
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/non_generated/GetCyclicStatus.srv b/kortex_actuator_driver/srv/non_generated/GetCyclicStatus.srv
deleted file mode 100644
index 2ec06d8c..00000000
--- a/kortex_actuator_driver/srv/non_generated/GetCyclicStatus.srv
+++ /dev/null
@@ -1,2 +0,0 @@
----
-CyclicStatus status
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/non_generated/SetApiOptions.srv b/kortex_actuator_driver/srv/non_generated/SetApiOptions.srv
deleted file mode 100644
index cab7c810..00000000
--- a/kortex_actuator_driver/srv/non_generated/SetApiOptions.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-ApiOptions input
----
-
diff --git a/kortex_actuator_driver/srv/non_generated/SetCyclicStatus.srv b/kortex_actuator_driver/srv/non_generated/SetCyclicStatus.srv
deleted file mode 100644
index 05417e2c..00000000
--- a/kortex_actuator_driver/srv/non_generated/SetCyclicStatus.srv
+++ /dev/null
@@ -1,2 +0,0 @@
-CyclicStatus status
----
\ No newline at end of file
diff --git a/kortex_actuator_driver/srv/non_generated/SetDeviceID.srv b/kortex_actuator_driver/srv/non_generated/SetDeviceID.srv
deleted file mode 100644
index 396957c5..00000000
--- a/kortex_actuator_driver/srv/non_generated/SetDeviceID.srv
+++ /dev/null
@@ -1,2 +0,0 @@
-uint32 device_id
----
diff --git a/kortex_actuator_driver/templates/NodeServices.cpp.jinja2 b/kortex_actuator_driver/templates/NodeServices.cpp.jinja2
deleted file mode 100644
index 164e248e..00000000
--- a/kortex_actuator_driver/templates/NodeServices.cpp.jinja2
+++ /dev/null
@@ -1,170 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "node.h"
-{% for package in detailedPackages %}
-{%- if package.HasMessage == 1 -%}
-#include "{{package.filename|lower}}_ros_converter.h"
-#include "{{package.filename|lower}}_proto_converter.h"
-{%- endif %}
-{% endfor -%}
-
-Actuator_Services::Actuator_Services(char* ip, ros::NodeHandle& n, uint32_t device_id) : m_n(n)
-{
- m_transport = new TransportClientUdp();
- m_transport->connect(ip, 10000);
-
- m_router = new RouterClient(m_transport, [](KError err) { cout << "_________ callback error _________" << err.toString(); });
- m_CurrentDeviceID = device_id;
- m_apiOptions.timeout_ms = 3000;
-{% for package in detailedPackages %}
- {%- if package.HasRPC == 1 %}
- m_{{package.name|lower}} = new {{package.name}}::{{package.name}}Client(m_router);
- {%- endif -%}
-{% endfor %}
- //If the Device ID is different than 0, it means that we are using the feature DEVICE ROUTING.
- if(m_CurrentDeviceID != 0)
- {
- m_SessionManager = new SessionManager(m_router);
- auto createSessionInfo = Kinova::Api::Session::CreateSessionInfo();
-
- createSessionInfo.set_username("admin");
- createSessionInfo.set_password("admin");
- createSessionInfo.set_session_inactivity_timeout(35000);
-
- m_SessionManager->CreateSession(createSessionInfo);
- }
-
- m_pub_Error = m_n.advertise("KortexError", 1000);
-{%- for package in detailedPackages -%}
-{%- for method in package.service.method -%}
-{%- if 'Topic' in method.name %}
- m_pub_{{method.name}} = m_n.advertise("{{method.name}}", 1000);
-{%- endif -%}
-{%- endfor -%}
-{%- endfor -%}
-
- std::this_thread::sleep_for(std::chrono::milliseconds(2000));
-}
-
-bool Actuator_Services::SetDeviceID(kortex_actuator_driver::SetDeviceID::Request &req, kortex_actuator_driver::SetDeviceID::Response &res)
-{
- if(m_CurrentDeviceID == 0)
- {
- auto sessionManager = new SessionManager(m_router);
- auto createSessionInfo = Kinova::Api::Session::CreateSessionInfo();
-
- createSessionInfo.set_username("admin");
- createSessionInfo.set_password("admin");
- createSessionInfo.set_session_inactivity_timeout(35000);
-
- sessionManager->CreateSession(createSessionInfo);
- }
-
- m_CurrentDeviceID = req.device_id;
-}
-
-bool Actuator_Services::SetApiOptions(kortex_actuator_driver::SetApiOptions::Request &req, kortex_actuator_driver::SetApiOptions::Response &res)
-{
- m_apiOptions.timeout_ms = req.input.timeout_ms;
-
- return true;
-}
-
-bool Actuator_Services::GetCyclicStatus(kortex_actuator_driver::GetCyclicStatus::Request &req, kortex_actuator_driver::GetCyclicStatus::Response &res)
-{
- res.status.isActive = m_cyclicActive;
-}
-
-bool Actuator_Services::SetCyclicStatus(kortex_actuator_driver::SetCyclicStatus::Request &req, kortex_actuator_driver::SetCyclicStatus::Response &res)
-{
- m_cyclicActive = req.status.isActive;
-}
-
-bool Actuator_Services::IsCyclicActive()
-{
- return m_cyclicActive;
-}
-
-{% for package in detailedPackages %}
-{% for method in package.service.method %}
-{%- if 'Topic' in method.name %}
-bool Actuator_Services::OnNotification{{method.name}}(kortex_actuator_driver::OnNotification{{method.name}}::Request &req, kortex_actuator_driver::OnNotification{{method.name}}::Response &res)
-{%- else %}
-bool Actuator_Services::{{method.name}}(kortex_actuator_driver::{{method.name}}::Request &req, kortex_actuator_driver::{{method.name}}::Response &res)
-{%- endif %}
-{
- {%- set splitInputTypeName = method.input_type.split('.') -%}
- {% set splitOutputTypeName = method.output_type.split('.') %}
- {{splitInputTypeName[4]}} input;
- {%- if not method.input_type.split('.')[4] == "Empty" %}
- ToProtoData(req.input, &input);
- {%- endif %}
- {{splitOutputTypeName[4]}} output;
- kortex_actuator_driver::KortexError result_error;
-
- try
- {
- {%- if not method.output_type.split('.')[4] == "Empty" %}
- {%- if not method.input_type.split('.')[4] == "Empty" %}
- {%- if 'Topic' in method.name %}
- std::function< void ({{package.name}}::{{method.name|replace("Topic", "")}}Notification) > callback = std::bind(&BaseServices::cb_{{method.name}}, this, std::placeholders::_1);
- output = m_{{package.name|lower}}->OnNotification{{method.name}}(callback, input);
- {%- else %}
- output = m_{{package.name|lower}}->{{method.name}}(input, m_CurrentDeviceID, m_apiOptions);
- {%- endif %}
- {%- else %}
- output = m_{{package.name|lower}}->{{method.name}}(m_CurrentDeviceID, m_apiOptions);
- {%- endif %}
- {%- else %}
- {%- if not method.input_type.split('.')[4] == "Empty" %}
- m_{{package.name|lower}}->{{method.name}}(input, m_CurrentDeviceID, m_apiOptions);
- {%- else %}
- m_{{package.name|lower}}->{{method.name}}(m_CurrentDeviceID, m_apiOptions);
- {%- endif %}
- {%- endif %}
- }
- catch (KDetailedException& ex)
- {
- result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
- result_error.code = ex.getErrorInfo().getError().error_code();
- result_error.description = ex.toString();
- m_pub_Error.publish(result_error);
- ROS_INFO("Kortex exception");
- ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
- ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
- ROS_INFO("KINOVA exception description: %s\n", ex.what());
- return false;
- }
- catch (std::runtime_error& ex2)
- {
- return false;
- }
- {%- if not method.output_type.split('.')[4] == "Empty" %}
- ToRosData(output, res.output);
- {%- endif %}
- return true;
-}
-{%- if 'Topic' in method.name %}
-void Actuator_Services::cb_{{method.name}}({{package.name}}::{{method.name|replace("Topic", "")}}Notification notif)
-{
- kortex_actuator_driver::{{method.name|replace("Topic", "")}}Notification ros_msg;
- ToRosData(notif, ros_msg);
- m_pub_{{method.name}}.publish(ros_msg);
-}
-{%- endif %}
-{% endfor -%}
-{% endfor -%}
\ No newline at end of file
diff --git a/kortex_actuator_driver/templates/NodeServices.h.jinja2 b/kortex_actuator_driver/templates/NodeServices.h.jinja2
deleted file mode 100644
index 385115d6..00000000
--- a/kortex_actuator_driver/templates/NodeServices.h.jinja2
+++ /dev/null
@@ -1,118 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_{{packageName}}SERVICES_H_
-#define _KORTEX_{{packageName}}SERVICES_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-{%- for package in detailedPackages %}
-#include <{{package.filename}}.pb.h>
-{%- endfor %}
-
-#include
-#include
-
-#include
-#include
-
-{%- for package in detailedPackages %}
-{%- if package.HasRPC == 1 %}
-#include <{{package.name}}ClientRpc.h>
-{%- endif %}
-{%- endfor %}
-#include
-#include
-
-{%- for package in detailedPackages %}
-{%- for method in package.service.method %}
-{%- if 'Topic' in method.name %}
-#include "kortex_actuator_driver/OnNotification{{method.name}}.h"
-#include "kortex_actuator_driver/{{method.name|replace("Topic", "")}}Notification.h"
-{%- else %}
-#include "kortex_actuator_driver/{{method.name}}.h"
-{%- endif %}
-{%- endfor %}
-{%- endfor %}
-#include "kortex_actuator_driver/KortexError.h"
-#include "kortex_actuator_driver/SetDeviceID.h"
-#include "kortex_actuator_driver/SetApiOptions.h"
-#include "kortex_actuator_driver/SetCyclicStatus.h"
-#include "kortex_actuator_driver/GetCyclicStatus.h"
-#include "kortex_actuator_driver/ApiOptions.h"
-#include "kortex_actuator_driver/CyclicStatus.h"
-
-using namespace std;
-using namespace Kinova::Api;
-{%- for package in detailedPackages %}
-using namespace {{package.namespace}};
-{%- endfor %}
-
-class Actuator_Services
-{
- public:
- Actuator_Services(char* ip, ros::NodeHandle& n, uint32_t device_id);
- bool SetDeviceID(kortex_actuator_driver::SetDeviceID::Request &req, kortex_actuator_driver::SetDeviceID::Response &res);
- bool SetApiOptions(kortex_actuator_driver::SetApiOptions::Request &req, kortex_actuator_driver::SetApiOptions::Response &res);
- bool GetCyclicStatus(kortex_actuator_driver::GetCyclicStatus::Request &req, kortex_actuator_driver::GetCyclicStatus::Response &res);
- bool SetCyclicStatus(kortex_actuator_driver::SetCyclicStatus::Request &req, kortex_actuator_driver::SetCyclicStatus::Response &res);
- bool IsCyclicActive();
-{% for package in detailedPackages %}
-{%- for method in package.service.method %}
-{%- if 'Topic' in method.name %}
- bool OnNotification{{method.name}}(kortex_actuator_driver::OnNotification{{method.name}}::Request &req, kortex_actuator_driver::OnNotification{{method.name}}::Response &res);
- void cb_{{method.name}}({{method.name|replace("Topic", "")}}Notification notif);
-{%- else %}
- bool {{method.name}}(kortex_actuator_driver::{{method.name}}::Request &req, kortex_actuator_driver::{{method.name}}::Response &res);
-{%- endif %}
-{%- endfor %}
-{% endfor %}
-
-private:
- TransportClientUdp* m_transport;
- RouterClient* m_router;
- {% for package in detailedPackages %}
- {%- if package.HasRPC == 1 %}
- {{package.name}}Client* m_{{package.name|lower}};
- {%- endif -%}
- {% endfor %}
- uint32_t m_CurrentDeviceID;
- RouterClientSendOptions m_apiOptions;
-
- SessionManager* m_SessionManager;
- bool m_cyclicActive = false;
-
- ros::NodeHandle m_n;
- ros::Publisher m_pub_Error;
-
- {%- for package in detailedPackages %}
- {%- for method in package.service.method %}
- {%- if 'Topic' in method.name %}
- ros::Publisher m_pub_{{method.name}};
- {%- endif %}
- {%- endfor %}
- {%- endfor %}
-};
-#endif
-
diff --git a/kortex_actuator_driver/templates/main.jinja2 b/kortex_actuator_driver/templates/main.jinja2
deleted file mode 100644
index 450afef8..00000000
--- a/kortex_actuator_driver/templates/main.jinja2
+++ /dev/null
@@ -1,148 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "node.h"
-#include "math_util.h"
-
-#include
-#include
-
-int main(int argc, char **argv)
-{
- ros::init(argc, argv, "Actuator_Services");
-
- uint32_t cyclic_data_rate = 100;
- uint32_t device_id = 0;
-
- ros::NodeHandle n;
- bool valid_ip = false;
-
- if(argc > 3)
- {
- stringstream tempId;
- tempId << argv[3];
- tempId >> device_id;
-
- if(tempId.fail() || tempId.bad())
- {
- ROS_INFO("ERROR - Bad device ID, shutting down the node...");
- ros::shutdown();
- return 0;
- }
- }
- else if(argc > 2)
- {
- //Converting the second parameter(the cyclic rate) to an unsigned int variable.
- stringstream tempRate;
- tempRate << argv[2];
- tempRate >> cyclic_data_rate;
- if(tempRate.fail() || tempRate.bad())
- {
- ROS_INFO("ERROR - Bad error rate, shutting down the node...");
- ros::shutdown();
- return 0;
- }
- ROS_INFO("Connecting to IP = %s - node refresh rate = %s, device ID = %d", argv[1], argv[2], device_id);
- }
- else
- {
- ROS_INFO("You need to provide an IP adresse as the first parameter and optionnaly a second parameter to specify the cyclic \
- rate and a third parameter(optionnal) to specify a device ID. ex: rosrun package node 127.0.0.1 100 4");
- ros::shutdown();
- return 0;
- }
-
- Actuator_Services services_object(argv[1], n, device_id);
-
- ros::ServiceServer serviceSetDeviceID = n.advertiseService("SetDeviceID", &Actuator_Services::SetDeviceID, &services_object);
- ros::ServiceServer serviceSetApiOptions = n.advertiseService("SetApiOptions", &Actuator_Services::SetApiOptions, &services_object);
- ros::ServiceServer serviceSetCyclicStatus = n.advertiseService("SetCyclicStatus", &Actuator_Services::SetCyclicStatus, &services_object);
- ros::ServiceServer serviceGetCyclicStatus = n.advertiseService("GetCyclicStatus", &Actuator_Services::GetCyclicStatus, &services_object);
-
- {% for function in list_function -%}
- ros::ServiceServer service{{function}} = n.advertiseService("{{function}}", &Actuator_Services::{{function}}, &services_object);
- {% endfor %}
-
- ROS_INFO("Node's services initialized correctly.");
-
- ros::Publisher pub_feedback = n.advertise("actuator_feedback", 1000);
- ros::Publisher pub_joint_state = n.advertise("actuator_feedback/joint_state", 1000);
-
- kortex_actuator_driver::Feedback feedback;
- kortex_actuator_driver::RefreshFeedback::Request req;
- kortex_actuator_driver::RefreshFeedback::Response res;
-
- sensor_msgs::JointState joint_state;
-
- joint_state.position.resize(1);
- joint_state.velocity.resize(1);
- joint_state.effort.resize(1);
- joint_state.name.resize(1);
-
- ros::Rate rate(cyclic_data_rate);
- while (!ros::isShuttingDown())
- {
- try
- {
- if(services_object.IsCyclicActive())
- {
- services_object.RefreshFeedback(req, res);
-
- feedback.feedback_id = res.output.feedback_id;
-
- feedback.status_flags = res.output.status_flags;
- feedback.jitter_comm = res.output.jitter_comm;
- feedback.position = res.output.position;
- feedback.velocity = res.output.velocity;
- feedback.torque = res.output.torque;
- feedback.current_motor = res.output.current_motor;
- feedback.voltage = res.output.voltage;
- feedback.temperature_motor = res.output.temperature_motor;
- feedback.temperature_core = res.output.temperature_core;
- feedback.fault_bank_a = res.output.fault_bank_a;
- feedback.fault_bank_b = res.output.fault_bank_b;
- feedback.warning_bank_a = res.output.warning_bank_a;
- feedback.warning_bank_b = res.output.warning_bank_b;
-
- joint_state.header.stamp = ros::Time::now();
- joint_state.header.frame_id = std::to_string(res.output.feedback_id.identifier);
-
- joint_state.name[0] = "Actuator";
- joint_state.position[0] = TO_RAD(res.output.position);
- joint_state.velocity[0] = TO_RAD(res.output.velocity);
- joint_state.effort[0] = res.output.torque;
-
- pub_feedback.publish(feedback);
- pub_joint_state.publish(joint_state);
- }
- }
-
- catch (KDetailedException& ex)
- {
- ROS_INFO("KINOVA exception: %d\n", ex.getErrorInfo().getError().error_sub_code());
- }
- catch (std::runtime_error& ex2)
- {
- ROS_INFO("RUN TIME ERROR: %s\n", ex2.what());
- }
-
- ros::spinOnce();
-
- rate.sleep();
- }
-
- return 1;
-}
diff --git a/kortex_actuator_driver/templates/proto_converter.cpp.jinja2 b/kortex_actuator_driver/templates/proto_converter.cpp.jinja2
deleted file mode 100644
index 928fd160..00000000
--- a/kortex_actuator_driver/templates/proto_converter.cpp.jinja2
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "{{currentFilename|lower}}_proto_converter.h"
-{% if 'Common' not in currentPackageName %}
-#include "common_proto_converter.h"
-{% endif %}
-
-{% for detailed_message in item -%}
-int ToProtoData(kortex_actuator_driver::{{detailed_message.message.name}} input, {{detailed_message.message.name}} *output)
-{
- {%- for field in detailed_message.message.field %}
- {%- if not field.HasField("oneof_index") -%}
- {%- if field.label == 3 %} {# Si c'est un repeated #}
- {%- if field.type == 11 %}
- output->clear_{{field.name|lower}}();
- for(int i = 0; i < input.{{field.name}}.size(); i++)
- {
- ToProtoData(input.{{field.name}}[i], output->add_{{field.name|lower}}());
- }
- {%- elif field.type == 14 %} {# ENUM #}
- output->clear_{{field.name|lower}}();
- for(int i = 0; i < input.{{field.name}}.size(); i++)
- {
- {%- set list1 = field.type_name.split('.') -%} {# Cette ligne sert à enlever les namespace dans le nom du type #}
- output->add_{{field.name|lower}}({{list1[4]}}(input.{{field.name}}[i]));
- }
- {%- else %}
- output->clear_{{field.name|lower}}();
- for(int i = 0; i < input.{{field.name}}.size(); i++)
- {
- output->add_{{field.name|lower}}(input.{{field.name}}[i]);
- }
- {% endif -%}
- {% else -%}
- {%- if field.type == 11 %}
- ToProtoData(input.{{field.name}}, output->mutable_{{field.name}}());
- {%- elif field.type == 14 %}{# ENUM #}
- {%- set list1 = field.type_name.split('.') -%} {# Cette ligne sert à enlever les namespace dans le nom du type #}
- output->set_{{field.name}}(({{field.type_name|replace(".", "", 1)|replace(".", "::")}})input.{{field.name}});
- {%- elif field.type == 12 %}
- output->set_{{field.name}}(std::string(input.{{field.name}}.begin(), input.{{field.name}}.end()));
- {%- else %}
- output->set_{{field.name}}(input.{{field.name}});
- {%- endif -%}
- {%- endif -%}
- {%- endif -%}
- {%- endfor -%}
-
- {% if detailed_message.HasOneOf == "true" %}
-
- {% for field in detailed_message.message.field %}
- {%- if field.HasField("oneof_index") -%}
- if(input.oneof_{{detailed_message.message.ListFields()[-1][1][0].name}}.{{field.name}}.size() > 0)
- {
- {% if field.type == 11 -%}
- ToProtoData(input.oneof_{{detailed_message.message.ListFields()[-1][1][0].name}}.{{field.name}}[0], output->mutable_{{field.name}}());
- {%- elif field.type == 14 %}
- {%- set list1 = field.type_name.split('.') -%}
- output->set_{{field.name}}(({{list1[4]}})input.oneof_{{detailed_message.message.ListFields()[-1][1][0].name}}.{{field.name}}[0]);
- {%- else %}
- output->set_{{field.name}}(input.oneof_{{detailed_message.message.ListFields()[-1][1][0].name}}.{{field.name}}[0]);
- {%- endif %}
- }
- {% endif %}
- {%- endfor -%}
- {% endif %}
-
- return 0;
-}
-{% endfor %}
diff --git a/kortex_actuator_driver/templates/proto_converter.h.jinja2 b/kortex_actuator_driver/templates/proto_converter.h.jinja2
deleted file mode 100644
index 049cc9a2..00000000
--- a/kortex_actuator_driver/templates/proto_converter.h.jinja2
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_{{currentPackageName}}PROTO_CONVERTER_H_
-#define _KORTEX_{{currentPackageName}}PROTO_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include <{{currentFilename}}.pb.h>
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-{% for detailed_message in item -%}
-#include "kortex_actuator_driver/{{detailed_message.message.name}}.h"
-{% endfor %}
-
-using namespace {{currentNamespace}};
-
-{% for detailed_message in item -%}
-int ToProtoData(kortex_actuator_driver::{{detailed_message.message.name}} intput, {{detailed_message.message.name}} *output);
-{% endfor %}
-#endif
\ No newline at end of file
diff --git a/kortex_actuator_driver/templates/ros_converter.cpp.jinja2 b/kortex_actuator_driver/templates/ros_converter.cpp.jinja2
deleted file mode 100644
index 5776b1b2..00000000
--- a/kortex_actuator_driver/templates/ros_converter.cpp.jinja2
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "{{currentFilename|lower}}_ros_converter.h"
-{% if 'Common' not in currentPackageName %}
-#include "common_ros_converter.h"
-{% endif %}
-
-{% for detailed_message in item -%}
-int ToRosData({{detailed_message.message.name}} input, kortex_actuator_driver::{{detailed_message.message.name}} &output)
-{
- {%- for field in detailed_message.message.field %}
- {%- if not field.HasField("oneof_index") %}
- {%- if field.label == 3 %} {# Si c'est un repeated #}
- {% if field.type == 11 %}
- {%- set splitTypeName = field.type_name.split('.') -%}
- output.{{field.name}}.clear();
- for(int i = 0; i < input.{{field.name|lower}}_size(); i++)
- {
- kortex_actuator_driver::{{splitTypeName[4]}} temp;
- ToRosData(input.{{field.name}}(i), temp);
- output.{{field.name}}.push_back(temp);
- }
- {%- else %}
- output.{{field.name}}.clear();
- for(int i = 0; i < input.{{field.name|lower}}_size(); i++)
- {
- output.{{field.name}}.push_back(input.{{field.name|lower}}(i));
- }
- {%- endif %}
- {%- else %}
- {%- if field.type == 11 %}
- ToRosData(input.{{field.name}}(), output.{{field.name}});
- {%- elif field.type == 14 %}
- {%- set list1 = field.type_name.split('.') -%} {# Cette ligne sert à enlever les namespace dans le nom du type #}
- output.{{field.name}} = input.{{field.name}}();
- {%- elif field.type == 12 %}
- output.{{field.name}} = std::vector(input.{{field.name}}().begin(), input.{{field.name}}().end());
- {%- else %}
- output.{{field.name}} = input.{{field.name}}();
- {%- endif %}
- {%- endif %}
- {%- endif %}
- {%- endfor %}
-
- {% if detailed_message.HasOneOf == "true" %}
- auto oneof_type = input.{{detailed_message.message.ListFields()[-1][1][0].name}}_case();
-
- switch(oneof_type)
- {
- {%- for field in detailed_message.message.field -%}
- {%- if field.HasField("oneof_index") -%}
- {%- set splitTypeName = field.type_name.split('.') %}
- {%- set EnumName = field.name.replace("_", " ").title().replace(" ", "") %}
- case {{detailed_message.message.name}}::k{{EnumName}}:
- {
- {%- if field.type == 11 %}
- kortex_actuator_driver::{{splitTypeName[4]}} temp;
- ToRosData(input.{{field.name}}(), temp);
- output.oneof_{{detailed_message.message.ListFields()[-1][1][0].name}}.{{field.name}}.push_back(temp);
- {%- elif field.type == 14 %}
- output.oneof_{{detailed_message.message.ListFields()[-1][1][0].name}}.{{field.name}}.push_back(input.{{field.name}}());
- {% endif %}
- break;
- }
- {% endif %}
- {%- endfor %}
- }
- {% endif -%}
-
- return 0;
-}
-{% endfor %}
diff --git a/kortex_actuator_driver/templates/ros_converter.h.jinja2 b/kortex_actuator_driver/templates/ros_converter.h.jinja2
deleted file mode 100644
index 254292c2..00000000
--- a/kortex_actuator_driver/templates/ros_converter.h.jinja2
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_{{currentPackageName}}ROS_CONVERTER_H_
-#define _KORTEX_{{currentPackageName}}ROS_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include <{{currentFilename}}.pb.h>
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-{% for detailed_message in item -%}
-#include "kortex_actuator_driver/{{detailed_message.message.name}}.h"
-{% endfor %}
-
-using namespace {{currentNamespace}};
-
-{% for detailed_message in item -%}
-int ToRosData({{detailed_message.message.name}} input, kortex_actuator_driver::{{detailed_message.message.name}} &output);
-{% endfor %}
-#endif
\ No newline at end of file
diff --git a/kortex_actuator_driver/templates/ros_enum.jinja2 b/kortex_actuator_driver/templates/ros_enum.jinja2
deleted file mode 100644
index 164146fc..00000000
--- a/kortex_actuator_driver/templates/ros_enum.jinja2
+++ /dev/null
@@ -1,3 +0,0 @@
-{% for member in item.value %}
-uint32 {{member.name}} = {{member.number}}
-{% endfor %}
diff --git a/kortex_actuator_driver/templates/ros_message.jinja2 b/kortex_actuator_driver/templates/ros_message.jinja2
deleted file mode 100644
index 167f685f..00000000
--- a/kortex_actuator_driver/templates/ros_message.jinja2
+++ /dev/null
@@ -1,44 +0,0 @@
-{%- for member in item.field -%}
-{%- if not member.HasField("oneof_index") -%}
-{%- if member.type == 9 %} {# TYPE_STRING #}
-string{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 12 %} {# TYPE_BYTES #}
-uint8[] {{member.name}}
-{%- elif member.type == 1 %} {# TYPE_DOUBLE #}
-float64{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 7 %} {# TYPE_FIXED32 #}
-uint32{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 6 %} {# TYPE_FIXED64 #}
-uint64{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 2 %} {# TYPE_FLOAT #}
-float32{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 5 %} {# TYPE_INT32 #}
-int32{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 3 %} {# TYPE_INT64 #}
-int64{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 15 %} {# TYPE_SFIXED32 #}
-int32{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 16 %} {# TYPE_SFIXED64 #}
-int64{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 17 %} {# TYPE_SINT32 #}
-int32{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 18 %} {# TYPE_SINT64 #}
-int64{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 13 %} {# TYPE_UINT32 #}
-uint32{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 4 %} {# TYPE_UINT64 #}
-uint64{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 14 -%} {# TYPE_ENUM #}
-{% set list1 = member.type_name.split('.') %}
-uint32{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- elif member.type == 8 %} {# TYPE_BOOL #}
-bool {{member.name}}
-{%- elif member.type == 11 %}{# TYPE MESSAGE #}
-{% set list1 = member.type_name.split('.') %}
-{{list1|last}}{%- if member.label == 3 -%}[]{% endif %} {{member.name}}
-{%- endif -%}
-{%- endif -%}
-{%- endfor -%}
-{%- if HasOneOf %}
-{{item.name}}_{{item.ListFields()[-1][1][0].name}} oneof_{{item.ListFields()[-1][1][0].name}}
-{%- endif -%}
\ No newline at end of file
diff --git a/kortex_actuator_driver/templates/ros_oneof.jinja2 b/kortex_actuator_driver/templates/ros_oneof.jinja2
deleted file mode 100644
index 4fac302a..00000000
--- a/kortex_actuator_driver/templates/ros_oneof.jinja2
+++ /dev/null
@@ -1,9 +0,0 @@
-{%- for member in item.field -%}
-{% if member.HasField("oneof_index") %}
-{% if member.type == 11 %}
-{% set list1 = member.type_name.split('.') %}{{list1[4]}}[] {{member.name}}
-{%- else -%}
-uint32[] {{member.name}}
-{%- endif -%}
-{%- endif -%}
-{% endfor %}
\ No newline at end of file
diff --git a/kortex_actuator_driver/templates/ros_service.jinja2 b/kortex_actuator_driver/templates/ros_service.jinja2
deleted file mode 100644
index cc015cf8..00000000
--- a/kortex_actuator_driver/templates/ros_service.jinja2
+++ /dev/null
@@ -1,5 +0,0 @@
-{% set split_input_type = item.input_type.split('.') %}
-{%- set split_output_type = item.output_type.split('.') -%}
-{{split_input_type[4]}} input
----
-{{split_output_type[4]}} output
\ No newline at end of file
diff --git a/kortex_api/.gitignore b/kortex_api/.gitignore
new file mode 100644
index 00000000..349cf4e2
--- /dev/null
+++ b/kortex_api/.gitignore
@@ -0,0 +1,2 @@
+include
+lib
diff --git a/kortex_api/include/.gitignore b/kortex_api/include/.gitignore
deleted file mode 100644
index 7c286318..00000000
--- a/kortex_api/include/.gitignore
+++ /dev/null
@@ -1,5 +0,0 @@
-client/
-client_stubs/
-common/
-google/
-messages/
diff --git a/kortex_api/lib/.gitignore b/kortex_api/lib/.gitignore
deleted file mode 100644
index e67bfe38..00000000
--- a/kortex_api/lib/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-libKortexApi.a
\ No newline at end of file
diff --git a/kortex_api/readme.md b/kortex_api/readme.md
index 3bfe9d9f..dc16f5b0 100644
--- a/kortex_api/readme.md
+++ b/kortex_api/readme.md
@@ -11,32 +11,13 @@
* -->
# Kortex API
-This package contains all the C++ files used by the driver nodes and the device manager. This package is mandatory because most of the other packages call it. More detailed documentation is available on the Kortex API [repository](https://github.com/Kinovarobotics/kortex).
+This package contains all the C++ files used by the driver node. This package is mandatory because most of the other packages use it. More detailed documentation is available on the Kortex API [repository](https://github.com/Kinovarobotics/kortex).
-
+## Downloading the Kortex API
-1. [Install C++ Kortex API & the needed dependencies](#install-cpp-kortex-api-the-needed-dependencies)
-1. [Content](#content)
- 1. [include](#include)
- 1. [lib](#lib)
+When you use `catkin_make` to build `ros_kortex`, the [download_kortex_api](./scripts/download_kortex_api.bash) script automatically checks whether or not the API was downloaded. If it is not present, the script downloads and extracts it in the correct folders.
-
-
-
-
-
-
-
-
-
diff --git a/kortex_bringup/launch/kortex_device_manager.launch b/kortex_bringup/launch/kortex_device_manager.launch
deleted file mode 100644
index 89eb42d0..00000000
--- a/kortex_bringup/launch/kortex_device_manager.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-
-
-
-
diff --git a/kortex_bringup/launch/kortex_driver.launch b/kortex_bringup/launch/kortex_driver.launch
deleted file mode 100644
index 7771ff35..00000000
--- a/kortex_bringup/launch/kortex_driver.launch
+++ /dev/null
@@ -1,38 +0,0 @@
-
-
-
-
-
-
-
- [base_feedback/joint_state]
-
-
-
diff --git a/kortex_bringup/launch/kortex_vision_config_driver.launch b/kortex_bringup/launch/kortex_vision_config_driver.launch
deleted file mode 100644
index 699dc56e..00000000
--- a/kortex_bringup/launch/kortex_vision_config_driver.launch
+++ /dev/null
@@ -1,22 +0,0 @@
-
-
-
-
-
-
-
-
diff --git a/kortex_bringup/package.xml b/kortex_bringup/package.xml
deleted file mode 100644
index 06c924cb..00000000
--- a/kortex_bringup/package.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-
- kortex_bringup
- 1.0.0
-
- This package contains the launch files for the Gen3 Kortex drivers
-
- KINOVA
- BSD
- catkin
- roslaunch
- joint_state_publisher
- robot_state_publisher
- rviz
- joint_state_publisher
- xacro
- kortex_description
-
-
-
diff --git a/kortex_bringup/readme.md b/kortex_bringup/readme.md
deleted file mode 100644
index ec73fc14..00000000
--- a/kortex_bringup/readme.md
+++ /dev/null
@@ -1,112 +0,0 @@
-
-
-# Kortex bringup
-
-## Overview
-This package contains the parametrized files that launch the nodes and load the correct parameters and robot description to the Parameter Server.
-
-
-
-1. [kortex_actuator_driver](#actuator-driver)
-1. [kortex_device_manager](#device_manager)
-1. [kortex_driver](#driver)
-1. [kortex_vision_config_driver](#vision_config)
-
-
-
-
-roslaunch kortex_bringup kortex_actuator_driver.launch ip_address:=192.168.1.10
-
-To launch it with optional arguments, run the following command in a terminal :
-
-roslaunch kortex_bringup kortex_actuator_driver.launch ip_address:=192.168.1.10 robot_name:=my_extraordinary_robot cycle_rate:=50 device_id:=2
-
-roslaunch kortex_bringup kortex_device_manager.launch ip_address:=192.168.1.10
-
-roslaunch kortex_bringup kortex_driver.launch ip_address:=192.168.1.10
-
-To launch it with optional arguments, run the following command in a terminal :
-
-roslaunch kortex_bringup kortex_driver.launch ip_address:=192.168.1.10 robot_name:=my_extraordinary_gen3_robot cycle_rate:=50 start_rviz:=false
-
-roslaunch kortex_bringup kortex_vision_config.launch ip_address:=192.168.1.10
-
-To launch it with optional arguments, run the following command in a terminal :
-
-roslaunch kortex_bringup kortex_vision_config.launch ip_address:=192.168.1.10 robot_name:=my_extraordinary_vision_device cycle_rate:=50 start_device_manager:=false
-
diff --git a/kortex_control/CMakeLists.txt b/kortex_control/CMakeLists.txt
new file mode 100644
index 00000000..81df28cd
--- /dev/null
+++ b/kortex_control/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(kortex_control)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+ install(DIRECTORY ${dir}/
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/kortex_control/arms/gen3/config/joint_position_controllers.yaml b/kortex_control/arms/gen3/config/joint_position_controllers.yaml
new file mode 100644
index 00000000..bb6fa834
--- /dev/null
+++ b/kortex_control/arms/gen3/config/joint_position_controllers.yaml
@@ -0,0 +1,85 @@
+# Publish all joint states -----------------------------------
+joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 50
+
+gen3_joint_trajectory_controller:
+ type: effort_controllers/JointTrajectoryController
+ joints:
+ - joint_1
+ - joint_2
+ - joint_3
+ - joint_4
+ - joint_5
+ - joint_6
+ - joint_7
+ constraints:
+ goal_time: 1.0
+ stopped_velocity_tolerance: 0.5
+ stop_trajectory_duration: 1.0
+ state_publish_rate: 25
+ action_monitor_rate: 25
+ gains:
+ joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
+ joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
+ joint_3: {p: 3000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+ joint_4: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+ joint_5: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
+ joint_6: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+ joint_7: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
+
+joint_1_position_controller:
+ joint: joint_1
+ pid:
+ p: 3000.0
+ i: 0.0
+ d: 2.0
+ type: effort_controllers/JointPositionController
+
+joint_2_position_controller:
+ joint: joint_2
+ pid:
+ p: 50000.0
+ i: 0.0
+ d: 0.0
+ type: effort_controllers/JointPositionController
+
+joint_3_position_controller:
+ joint: joint_3
+ pid:
+ p: 3000.0
+ i: 0.0
+ d: 0.0
+ type: effort_controllers/JointPositionController
+
+joint_4_position_controller:
+ joint: joint_4
+ pid:
+ p: 50000.0
+ i: 0.0
+ d: 0.0
+ type: effort_controllers/JointPositionController
+
+joint_5_position_controller:
+ joint: joint_5
+ pid:
+ p: 750.0
+ i: 0.0
+ d: 0.2
+ type: effort_controllers/JointPositionController
+
+joint_6_position_controller:
+ joint: joint_6
+ pid:
+ p: 5000.0
+ i: 0.0
+ d: 1.0
+ type: effort_controllers/JointPositionController
+
+joint_7_position_controller:
+ joint: joint_7
+ pid:
+ p: 100.0
+ i: 0.0
+ d: 0.0
+ type: effort_controllers/JointPositionController
diff --git a/kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml b/kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml
new file mode 100644
index 00000000..090141f8
--- /dev/null
+++ b/kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml
@@ -0,0 +1,13 @@
+robotiq_2f_85_gripper_controller:
+ type: position_controllers/GripperActionController
+ joint: gripper_finger1_joint
+ action_monitor_rate: 100
+
+gazebo_ros_control:
+ pid_gains:
+ gripper_finger1_joint: {p: 10.0, i: 0.0, d: 0.01}
+ gripper_finger2_joint: {p: 10.0, i: 0.0, d: 0.01}
+ gripper_finger1_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01}
+ gripper_finger2_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01}
+ gripper_finger1_finger_tip_joint: {p: 10.0, i: 0.0, d: 0.00}
+ gripper_finger2_finger_tip_joint: {p: 10.0, i: 0.0, d: 0.00}
\ No newline at end of file
diff --git a/kortex_control/package.xml b/kortex_control/package.xml
new file mode 100644
index 00000000..56f2364a
--- /dev/null
+++ b/kortex_control/package.xml
@@ -0,0 +1,25 @@
+
+ kortex_control
+ 2.0.0
+
+ Gazebo Ros Control package for Kortex robots
+ This package contains launch and configuration files for the ros_control controllers for simulation
+
+ Alexandre Vannobel
+ BSD
+ catkin
+ roslaunch
+ robot_state_publisher
+ rviz
+ joint_state_publisher
+ gazebo
+ xacro
+ gazebo_ros
+ gazebo_ros_control
+ ros_control
+ ros_controllers
+
+
+
diff --git a/kortex_control/readme.md b/kortex_control/readme.md
new file mode 100644
index 00000000..f90d68cf
--- /dev/null
+++ b/kortex_control/readme.md
@@ -0,0 +1,24 @@
+
+
+# Kortex Control
+
+## Overview
+This package contains the configuration files for the [ros_control controllers](http://wiki.ros.org/ros_control) used to control the simulated arms.
+
+## Loading and starting the controllers for simulation
+
+The `joint_position_controllers.yaml` file for the chosen arm is loaded to the Parameter Server from the [spawn_kortex_robot.launch](../kortex_gazebo/launch/spawn_kortex_robot.launch) file. The `controller_manager` node is then called to load and start the controllers as [Gazebo plugins](http://wiki.ros.org/gazebo_ros_control).
+
+## ROS Control support for the real arm
+
+ROS Control support for the Kinova Gen3 Ultra lightweight robot is not currently available and will be part of a future release.
diff --git a/kortex_description/arms/gen3/config/joint_limits.yaml b/kortex_description/arms/gen3/config/joint_limits.yaml
new file mode 100644
index 00000000..37f3ee5b
--- /dev/null
+++ b/kortex_description/arms/gen3/config/joint_limits.yaml
@@ -0,0 +1,8 @@
+joint_names:
+ - joint_1
+ - joint_2
+ - joint_3
+ - joint_4
+ - joint_5
+ - joint_6
+ - joint_7
\ No newline at end of file
diff --git a/kortex_description/arms/gen3/meshes/end_effector_link.STL b/kortex_description/arms/gen3/meshes/end_effector_link.STL
new file mode 100644
index 00000000..6dc3cfa9
Binary files /dev/null and b/kortex_description/arms/gen3/meshes/end_effector_link.STL differ
diff --git a/kortex_description/arms/gen3/urdf/GEN3_URDF_V12.urdf b/kortex_description/arms/gen3/urdf/GEN3_URDF_V12.urdf
new file mode 100644
index 00000000..43044418
--- /dev/null
+++ b/kortex_description/arms/gen3/urdf/GEN3_URDF_V12.urdf
@@ -0,0 +1,234 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
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+
+
+
+
+
+
+
+
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+
+
+
+
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+
diff --git a/kortex_description/arms/gen3/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/urdf/gen3_macro.xacro
index c5c5f426..a963c603 100644
--- a/kortex_description/arms/gen3/urdf/gen3_macro.xacro
+++ b/kortex_description/arms/gen3/urdf/gen3_macro.xacro
@@ -6,92 +6,54 @@
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
-
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-
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+
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-
+
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+
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-
-
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-
-
-
-
+
-
-
-
-
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ 1
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ 1
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ 1
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ 1
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ 1
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ 1
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ 1
+
+
+
+
+
+
\ No newline at end of file
diff --git a/kortex_description/grippers/robotiq_2f_85/LICENSE b/kortex_description/grippers/robotiq_2f_85/LICENSE
new file mode 100644
index 00000000..9b28cd85
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/LICENSE
@@ -0,0 +1,14 @@
+This repository contains content covered by multiple licenses.
+
+For contents or modifications not covered by a separate license, the following license applies:
+Copyright 2015, Stanley Innovation, Inc.
+
+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.
\ No newline at end of file
diff --git a/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml b/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml
new file mode 100644
index 00000000..b566f703
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml
@@ -0,0 +1,5 @@
+gripper_joint_names:
+ - gripper_finger1_joint
+
+gripper_joint_limits:
+ - 0.804
\ No newline at end of file
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/kinova_robotiq_coupler.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/kinova_robotiq_coupler.stl
new file mode 100755
index 00000000..af139fe0
Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_85/meshes/collision/kinova_robotiq_coupler.stl differ
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_base_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_base_link.stl
new file mode 100644
index 00000000..5f51dbc3
Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_base_link.stl differ
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_link.stl
new file mode 100644
index 00000000..d1ff9530
Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_link.stl differ
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_tip_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_tip_link.stl
new file mode 100644
index 00000000..4d5ce52c
Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_finger_tip_link.stl differ
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_inner_knuckle_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_inner_knuckle_link.stl
new file mode 100644
index 00000000..aef20afe
Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_inner_knuckle_link.stl differ
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_knuckle_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_knuckle_link.stl
new file mode 100644
index 00000000..c593f301
Binary files /dev/null and b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_85_knuckle_link.stl differ
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/kinova_robotiq_coupler.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/kinova_robotiq_coupler.dae
new file mode 100644
index 00000000..db8d81c6
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/kinova_robotiq_coupler.dae
@@ -0,0 +1,100 @@
+
+
+
+
+ Blender User
+ Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830
+
+ 2017-07-24T12:59:53
+ 2017-07-24T12:59:53
+ Z_UP
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+
+ 0 0 0 1
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+ 0.04 0.04 0.04 1
+
+
+ 0.25 0.25 0.25 1
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+
+ 50
+
+
+ 1
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+
+
+
+
+
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+
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index 00000000..b30b77cd
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_finger_link.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_finger_link.dae
new file mode 100644
index 00000000..69dddc52
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_finger_link.dae
@@ -0,0 +1,277 @@
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_finger_tip_link.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_finger_tip_link.dae
new file mode 100644
index 00000000..3fd6fda5
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_finger_tip_link.dae
@@ -0,0 +1,142 @@
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_inner_knuckle_link.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_inner_knuckle_link.dae
new file mode 100644
index 00000000..779f2446
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_inner_knuckle_link.dae
@@ -0,0 +1,241 @@
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_knuckle_link.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_85_knuckle_link.dae
new file mode 100644
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620 395 621 418 621 419 621 409 622 420 622 396 622 396 623 420 623 421 623 396 624 421 624 422 624 412 625 423 625 395 625 395 626 423 626 424 626 395 627 424 627 413 627 425 628 426 628 422 628 422 629 426 629 427 629 422 630 427 630 396 630 425 631 428 631 426 631 426 632 428 632 429 632 426 633 429 633 430 633 431 634 432 634 433 634 227 635 225 635 434 635 224 636 435 636 225 636 225 637 435 637 436 637 225 638 436 638 434 638 214 639 437 639 216 639 216 640 437 640 438 640 216 641 438 641 224 641 224 642 438 642 439 642 224 643 439 643 435 643 219 644 440 644 213 644 213 645 440 645 441 645 213 646 441 646 214 646 220 647 442 647 219 647 219 648 442 648 443 648 219 649 443 649 440 649 243 650 444 650 220 650 220 651 444 651 445 651 220 652 445 652 442 652 446 653 447 653 223 653 223 654 447 654 448 654 223 655 448 655 243 655 243 656 448 656 449 656 243 657 449 657 444 657 234 658 233 658 450 658 450 659 451 659 234 659 234 660 451 660 452 660 234 661 452 661 244 661 452 662 453 662 244 662 244 663 453 663 454 663 244 664 454 664 245 664 454 665 455 665 245 665 245 666 455 666 456 666 245 667 456 667 246 667 456 668 457 668 246 668 246 669 457 669 458 669 246 670 458 670 248 670 458 671 459 671 248 671 248 672 459 672 460 672 248 673 460 673 249 673 460 674 461 674 249 674 249 675 461 675 462 675 249 676 462 676 231 676 462 677 463 677 231 677 231 678 463 678 464 678 231 679 464 679 226 679 464 680 465 680 226 680 226 681 465 681 466 681 226 682 466 682 215 682 466 683 467 683 215 683 215 684 467 684 468 684 215 685 468 685 217 685 468 686 469 686 217 686 217 687 469 687 470 687 217 688 470 688 218 688 470 689 471 689 218 689 218 690 471 690 472 690 218 691 472 691 235 691 472 692 473 692 235 692 235 693 473 693 474 693 235 694 474 694 236 694 474 695 475 695 236 695 236 696 475 696 476 696 236 697 476 697 237 697 476 698 477 698 237 698 237 699 477 699 478 699 237 700 478 700 242 700 478 701 479 701 242 701 242 702 479 702 480 702 242 703 480 703 221 703 480 704 481 704 221 704 221 705 481 705 482 705 221 706 482 706 238 706 482 707 483 707 238 707 238 708 483 708 484 708 238 709 484 709 239 709 484 710 485 710 239 710 239 711 485 711 486 711 239 712 486 712 241 712 486 713 487 713 241 713 241 714 487 714 488 714 241 715 488 715 240 715 488 716 489 716 240 716 240 717 489 717 490 717 240 718 490 718 222 718 490 719 491 719 222 719 222 720 491 720 492 720 222 721 492 721 223 721 223 722 492 722 493 722 223 723 493 723 446 723 434 724 431 724 227 724 227 725 431 725 433 725 227 726 433 726 228 726 433 727 494 727 228 727 228 728 494 728 495 728 228 729 495 729 229 729 495 730 496 730 229 730 229 731 496 731 497 731 229 732 497 732 230 732 497 733 498 733 230 733 230 734 498 734 499 734 230 735 499 735 247 735 499 736 500 736 247 736 247 737 500 737 501 737 247 738 501 738 232 738 501 739 502 739 232 739 232 740 502 740 503 740 232 741 503 741 233 741 233 742 503 742 504 742 233 743 504 743 450 743 432 1034 610 1034 433 1034 433 1035 610 1035 611 1035 433 1036 611 1036 494 1036 494 1037 611 1037 495 1037 495 1038 611 1038 612 1038 495 1039 612 1039 496 1039 496 1040 612 1040 497 1040 497 1041 612 1041 613 1041 497 1042 613 1042 498 1042 498 1043 613 1043 499 1043 499 1044 613 1044 614 1044 499 1045 614 1045 500 1045 500 1046 614 1046 501 1046 501 1047 614 1047 615 1047 501 1048 615 1048 502 1048 502 1049 615 1049 503 1049 503 1050 615 1050 616 1050 503 1051 616 1051 504 1051 504 1052 616 1052 450 1052 450 1053 616 1053 617 1053 450 1054 617 1054 451 1054 451 1055 617 1055 452 1055 452 1056 617 1056 618 1056 452 1057 618 1057 453 1057 453 1058 618 1058 454 1058 454 1059 618 1059 619 1059 454 1060 619 1060 455 1060 455 1061 619 1061 456 1061 456 1062 619 1062 620 1062 456 1063 620 1063 457 1063 457 1064 620 1064 458 1064 458 1065 620 1065 621 1065 458 1066 621 1066 459 1066 459 1067 621 1067 460 1067 460 1068 621 1068 622 1068 460 1069 622 1069 461 1069 461 1070 622 1070 462 1070 462 1071 622 1071 623 1071 462 1072 623 1072 463 1072 463 1073 623 1073 464 1073 464 1074 623 1074 624 1074 464 1075 624 1075 465 1075 465 1076 624 1076 466 1076 466 1077 624 1077 625 1077 466 1078 625 1078 467 1078 467 1079 625 1079 468 1079 468 1080 625 1080 626 1080 468 1081 626 1081 469 1081 469 1082 626 1082 470 1082 470 1083 626 1083 627 1083 470 1084 627 1084 471 1084 471 1085 627 1085 472 1085 472 1086 627 1086 628 1086 472 1087 628 1087 473 1087 473 1088 628 1088 474 1088 474 1089 628 1089 629 1089 474 1090 629 1090 475 1090 475 1091 629 1091 476 1091 476 1092 629 1092 630 1092 476 1093 630 1093 477 1093 477 1094 630 1094 478 1094 478 1095 630 1095 631 1095 478 1096 631 1096 479 1096 479 1097 631 1097 480 1097 480 1098 631 1098 632 1098 480 1099 632 1099 481 1099 481 1100 632 1100 482 1100 482 1101 632 1101 633 1101 482 1102 633 1102 483 1102 483 1103 633 1103 484 1103 484 1104 633 1104 634 1104 484 1105 634 1105 485 1105 485 1106 634 1106 486 1106 486 1107 634 1107 635 1107 486 1108 635 1108 487 1108 487 1109 635 1109 488 1109 488 1110 635 1110 636 1110 488 1111 636 1111 489 1111 489 1112 636 1112 490 1112 490 1113 636 1113 637 1113 490 1114 637 1114 491 1114 491 1115 637 1115 492 1115 492 1116 637 1116 638 1116 492 1117 638 1117 493 1117 493 1118 638 1118 446 1118 446 1119 638 1119 639 1119 446 1120 639 1120 447 1120 434 1121 610 1121 431 1121 431 1122 610 1122 432 1122 214 1123 441 1123 610 1123 610 1124 441 1124 440 1124 440 1125 443 1125 610 1125 610 1126 443 1126 442 1126 610 1127 442 1127 445 1127 447 1128 639 1128 448 1128 448 1129 639 1129 610 1129 434 1130 436 1130 610 1130 610 1131 436 1131 435 1131 610 1132 435 1132 439 1132 445 1133 444 1133 610 1133 610 1134 444 1134 449 1134 610 1135 449 1135 448 1135 439 1136 438 1136 610 1136 610 1137 438 1137 437 1137 610 1138 437 1138 214 1138
+
+
+
+
+
+
+
+ 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1
+
+
+ -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1
+
+
+ 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/kortex_description/grippers/robotiq_2f_85/readme.md b/kortex_description/grippers/robotiq_2f_85/readme.md
new file mode 100644
index 00000000..ae6811f7
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/readme.md
@@ -0,0 +1,18 @@
+This ROS package was cloned from https://github.com/waypointrobotics/robotiq_85_gripper into ros_kortex to use the description files for the Robotiq 2f 85 gripper. Only the robotiq_85_description folder was copied (along with this readme and the LICENSE file from the original repo).
+The repository was cloned at commit 7e09b0d4d90179cf4809193914c7f6d44a9140a6.
+
+The xacro files were modified to allow proper simulation of the gripper in Gazebo.
+
+The original readme file follows:
+
+# robotiq_85_gripper
+Common packages for the Robotiq 85 Gripper provided by Stanley Innovation
+
+Defaults to 'ttyUSB0' and 115200 baud rate
+
+Single gripper and left gripper (in dual gripper configuration) need to be configured as device 9 using the Robotiq User Interface
+Right gripper (in dual gripper configuration) need to be configured as device 9 using the Robotiq User Interface
+
+
+start with:
+roslaunch robotiq_85_bringup robotiq_85.launch run_test:=true
\ No newline at end of file
diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
new file mode 100644
index 00000000..975d2335
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
@@ -0,0 +1,335 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+ 100000
+ 100000
+ 100000000.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+ 100000
+ 100000
+ 100000000.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+ 100000
+ 100000
+ 100000000.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+ 100000
+ 100000
+ 100000000.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+ 100000
+ 100000
+ 100000000.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+ 100000
+ 100000
+ 100000000.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+ 100000
+ 100000
+ 100000000.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+ 100000
+ 100000
+ 100000000.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+ 100000
+ 100000
+ 100000000.0
+ 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
new file mode 100644
index 00000000..30d4bd9f
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro
@@ -0,0 +1,78 @@
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ 1
+ hardware_interface/PositionJointInterface
+
+
+
+
+
+ gripper_finger1_joint
+ gripper_finger2_joint
+ 1.0
+ 0.0
+ 5.0
+
+
+ gripper_finger1_joint
+ gripper_finger2_inner_knuckle_joint
+ 1.0
+ 0.0
+ 5.0
+
+
+ gripper_finger1_joint
+ gripper_finger1_inner_knuckle_joint
+ 1.0
+ 0.0
+ 5.0
+
+
+ gripper_finger1_joint
+ gripper_finger1_finger_tip_joint
+ -1.0
+ 0.0
+ 5.0
+
+
+ gripper_finger1_joint
+ gripper_finger2_finger_tip_joint
+ -1.0
+ 0.0
+ 5.0
+
+
+
+
+ my_robotiq_gripper
+ bracelet_link
+ gripper_finger1_finger_tip_link
+ gripper_finger2_finger_tip_link
+
+ 100
+ 10
+ 3
+ 10
+ 0.001
+ false
+ __default_topic__
+
+
+
+
+
+
diff --git a/kortex_description/package.xml b/kortex_description/package.xml
index 2ec5a3e2..10560d2e 100644
--- a/kortex_description/package.xml
+++ b/kortex_description/package.xml
@@ -1,12 +1,11 @@
kortex_description
- 1.0.0
+ 2.0.0
URDF Description package for Kortex-compatible robots
This package contains configuration data, 3D models and launch files
for Kortex-compatible arms and grippers
- me
BSD
catkin
diff --git a/kortex_description/readme.md b/kortex_description/readme.md
index f766fbcb..205f3768 100644
--- a/kortex_description/readme.md
+++ b/kortex_description/readme.md
@@ -11,8 +11,15 @@
* -->
# Kortex Description
-This package contains the URDF (Unified Robot Description Format) and STL files for the Kortex-compatible robots and end-effectors.
+This package contains the URDF (Unified Robot Description Format), STL and configuration files for the Kortex-compatible robots.
-
+## Usage
-
+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), and if you have a gripper, **GRIPPER** being your gripper's name (robotiq_2f_85).
+
+**Arguments**:
+- **sim** : If this argument is true, the Gazebo-specific files will be loaded. The default value is **false **.
+
+For example, if you want to load for simulation the Gen3 description with a Robotiq 2-F 85 gripper as the gripper, you would put in your launch file :
+
+
+
+
+
\ No newline at end of file
diff --git a/kortex_description/robots/kortex_robot.xacro b/kortex_description/robots/kortex_robot.xacro
index d510897f..85e5dce9 100644
--- a/kortex_description/robots/kortex_robot.xacro
+++ b/kortex_description/robots/kortex_robot.xacro
@@ -2,11 +2,12 @@
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+
-
+
\ No newline at end of file
diff --git a/kortex_device_manager/CMakeLists.txt b/kortex_device_manager/CMakeLists.txt
deleted file mode 100644
index 3629e59c..00000000
--- a/kortex_device_manager/CMakeLists.txt
+++ /dev/null
@@ -1,39 +0,0 @@
-
-cmake_minimum_required(VERSION 2.8.3)
-project(kortex_device_manager)
-
-add_compile_options(-std=c++11)
-add_definitions(-D_OS_UNIX)
-
-## find catkin and any catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation)
-
-file(GLOB_RECURSE cpp_list RELATIVE ${PROJECT_SOURCE_DIR} "src/*.cpp")
-
-## declare ROS messages and services
-add_message_files(DIRECTORY msg)
-add_message_files(DIRECTORY msg/non_generated)
-add_service_files(DIRECTORY srv)
-
-## generate added messages and services
-generate_messages(DEPENDENCIES std_msgs)
-
-## declare a catkin package
-catkin_package()
-
-include_directories(include ${catkin_INCLUDE_DIRS})
-include_directories(include ${PROJECT_SOURCE_DIR}/src)
-include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include)
-include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client)
-include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client_stubs)
-include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/messages)
-include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/common)
-include_directories(include ${PROJECT_SOURCE_DIR}/src/util)
-
-link_directories(${PROJECT_SOURCE_DIR}/../kortex_api/lib/release)
-
-add_executable(${PROJECT_NAME} ${cpp_list})
-
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} KortexApi gcov)
-
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencpp)
diff --git a/kortex_device_manager/RosGeneration.py b/kortex_device_manager/RosGeneration.py
deleted file mode 100644
index 26aeaad9..00000000
--- a/kortex_device_manager/RosGeneration.py
+++ /dev/null
@@ -1,223 +0,0 @@
-#!/usr/bin/env python
-###
-# KINOVA (R) KORTEX (TM)
-#
-# Copyright (c) 2018 Kinova inc. All rights reserved.
-#
-# This software may be modified and distributed
-# under the terms of the BSD 3-Clause license.
-#
-# Refer to the LICENSE file for details.
-#
-###
-
-import sys
-
-from google.protobuf.compiler import plugin_pb2 as plugin
-from google.protobuf import json_format as json_f
-
-import jinja2
-
-import itertools
-import json
-import types
-import os
-import sys
-
-from collections import OrderedDict
-
-from google.protobuf.descriptor_pb2 import DescriptorProto, EnumDescriptorProto, ServiceDescriptorProto, FieldDescriptorProto, OneofDescriptorProto
-
-# Class that holds a protobuf message and other details needed by the generator(Jinja2 template)
-class DetailedMessage:
- def __init__(self, message=None):
- self.message = message
- self.HasOneOf = "false"
- self.oneOfList = []
-
-# Class that holds a protobuf service and some other details needed by the generator(Jinja2 template)
-class DetailedPackage:
- def __init__(self, service=None):
- self.name = "NoName"
- self.service = service
-
-# Jinja2 function to render a file from a template
-def render(tpl_path, context):
- path, filename = os.path.split(tpl_path)
- return jinja2.Environment(loader=jinja2.FileSystemLoader(path or './')).get_template(filename).render(**context)
-
-# main plugin function
-def generate_code(request, response):
-
- # The context is the object sent to the Jinja2 template.
- context = types.SimpleNamespace()
- context.serviceVersion = 1
-
- context.detailedPackages = []
-
- MainFilePath = os.path.join(".", "src/main.cpp")
- function_list = []
- fileIndex = 0
- file_map = OrderedDict()
-
- for proto_file in request.proto_file:
- file_map[proto_file.name] = proto_file
-
- for filename, proto_file in file_map.items():
- context.detailedPackages.append(DetailedPackage())
- context.detailedPackages[fileIndex].name = proto_file.package.split(".")[-1]
- context.detailedPackages[fileIndex].filename = proto_file.name.split(".")[0]
- context.detailedPackages[fileIndex].namespace = proto_file.package.replace(".", "::")
- context.detailedPackages[fileIndex].HasRPC = 0
- context.detailedPackages[fileIndex].HasMessage = 0
-
- HeaderFilePath = os.path.join(".", "src/node.h")
- CppFilePath = os.path.join(".", "src/node.cpp")
-
- # We use lower case to respect ROS standard coding style.
- CppProtoConverterFilePath = os.path.join(".", "src/{}_proto_converter.cpp".format(proto_file.name.split(".")[0].lower()))
- HeaderProtoConverterFilePath = os.path.join(".", "src/{}_proto_converter.h".format(proto_file.name.split(".")[0].lower()))
- CppRosConverterFilePath = os.path.join(".", "src/{}_ros_converter.cpp".format(proto_file.name.split(".")[0].lower()))
- HeaderRosConverterFilePath = os.path.join(".", "src/{}_ros_converter.h".format(proto_file.name.split(".")[0].lower()))
-
- list_detailedMessage = []
- list_detailedMethod = []
-
- # for every item in the current proto file
- for item, package in traverse(proto_file):
- context.HasOneOf = 0
-
-
- if isinstance(item, EnumDescriptorProto):
- context.item = item
-
- ros_enumPath = os.path.join(".", "msg/{}.msg".format(item.name))
-
- with open(ros_enumPath, 'wt') as serviceFile:
- serviceFile.write(render("./templates/ros_enum.jinja2", context.__dict__))
- # if this is a message
- if isinstance(item, DescriptorProto):
- tempMessage = DetailedMessage(item)
- context.detailedPackages[fileIndex].HasMessage = 1
-
- for member in item.field:
- # If a member is part of a oneof, it will have this additional field.
- if member.HasField("oneof_index"):
- context.HasOneOf = 1
- tempMessage.HasOneOf = "true"
- else:
- context.HasOneOf = 0
- tempMessage.HasOneOf = "false"
-
- context.item = item
-
- # If the proto file contains a ONEOF we need to generate a separate file to handle it.
- if context.HasOneOf == 1:
-
- # This line gets the list of ONEOF that is in the current message.
- oneOfList = item.ListFields()[-1][1]
-
- tempMessage.oneOfList = item.ListFields()[-1][1]
- ros_oneofPath = os.path.join(".", "msg/{}_{}.msg".format(item.name, oneOfList[0].name))
-
- with open(ros_oneofPath, 'wt') as serviceFile:
- serviceFile.write(render("./templates/ros_oneof.jinja2", context.__dict__))
-
-
- list_detailedMessage.append(tempMessage)
- ros_messagePath = os.path.join(".", "msg/{}.msg".format(item.name))
-
- # We call Jinja2 to generate a ROS message.
- with open(ros_messagePath, 'wt') as serviceFile:
- serviceFile.write(render("./templates/ros_message.jinja2", context.__dict__))
-
- # if this is a service (a group of methods)
- if isinstance(item, ServiceDescriptorProto):
- for idx, method in enumerate(item.method):
- context.item = method
- if "Topic" not in method.name:
- function_list.append(method.name)
- ros_servicePath = os.path.join(".", "srv/{}.srv".format(method.name))
- else:
- function_list.append("OnNotification{}".format(method.name))
- ros_servicePath = os.path.join(".", "srv/OnNotification{}.srv".format(method.name))
-
- with open(ros_servicePath, 'wt') as serviceFile:
- serviceFile.write(render("./templates/ros_service.jinja2", context.__dict__))
-
- context.detailedPackages[fileIndex].service = item
- context.detailedPackages[fileIndex].HasRPC = 1
-
- context.currentPackageName = context.detailedPackages[fileIndex].name
- context.currentNamespace = proto_file.package.replace(".", "::")
- context.currentFilename = context.detailedPackages[fileIndex].filename
- context.item = list_detailedMessage
-
- if context.detailedPackages[fileIndex].HasMessage == 1:
- # We call Jinja2 to generate a proto/ROS converter for every protobuf message.
- with open(CppProtoConverterFilePath, 'wt') as converterFile:
- converterFile.write(render("./templates/proto_converter.cpp.jinja2", context.__dict__))
- with open(HeaderProtoConverterFilePath, 'wt') as converterFile:
- converterFile.write(render("./templates/proto_converter.h.jinja2", context.__dict__))
- with open(CppRosConverterFilePath, 'wt') as converterFile:
- converterFile.write(render("./templates/ros_converter.cpp.jinja2", context.__dict__))
- with open(HeaderRosConverterFilePath, 'wt') as converterFile:
- converterFile.write(render("./templates/ros_converter.h.jinja2", context.__dict__))
-
- fileIndex = fileIndex + 1
-
- context.list_function = function_list
-
- # We use Jinja2 to generate the ROS node.
- with open(HeaderFilePath, 'wt') as nodeFile:
- nodeFile.write(render("./templates/NodeServices.h.jinja2", context.__dict__))
- with open(CppFilePath, 'wt') as nodeFile:
- nodeFile.write(render("./templates/NodeServices.cpp.jinja2", context.__dict__))
- with open(MainFilePath, 'wt') as mainFile:
- mainFile.write(render("./templates/main.jinja2", context.__dict__))
-
-def traverse(proto_file):
- # recursive function that browses a protobof item
- def _traverse(package, items):
- for item in items:
- yield item, package
-
- if isinstance(item, DescriptorProto):
- for enum in item.enum_type:
- yield enum, package
-
- for nested in item.nested_type:
- nested_package = package + item.name
-
- for nested_item in _traverse(nested, nested_package):
- yield nested_item, nested_package
- if isinstance(item, ServiceDescriptorProto):
- for rpc in item.method:
- yield rpc, package
-
- # returns a list of everything found in the proto file
- return itertools.chain(
- _traverse(proto_file.package, proto_file.enum_type),
- _traverse(proto_file.package, proto_file.message_type),
- _traverse(proto_file.package, proto_file.service),
- )
-
-if __name__ == '__main__':
- # reads request message from stdin
- data = sys.stdin.buffer.read()
-
- # parses request
- request = plugin.CodeGeneratorRequest()
- request.ParseFromString(data)
-
- # creates response
- response = plugin.CodeGeneratorResponse()
-
- # generates code
- generate_code(request, response)
-
- # serialises response message
- output = response.SerializeToString()
-
- # writes to stdout
- sys.stdout.buffer.write(output)
\ No newline at end of file
diff --git a/kortex_device_manager/kortex_device_manager.sh b/kortex_device_manager/kortex_device_manager.sh
deleted file mode 100755
index 011eee96..00000000
--- a/kortex_device_manager/kortex_device_manager.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-
-python3 -u RosGeneration.py
-
diff --git a/kortex_device_manager/msg/ArmState.msg b/kortex_device_manager/msg/ArmState.msg
deleted file mode 100644
index 9d9db128..00000000
--- a/kortex_device_manager/msg/ArmState.msg
+++ /dev/null
@@ -1,22 +0,0 @@
-
-uint32 ARMSTATE_UNSPECIFIED = 0
-
-uint32 ARMSTATE_BASE_INITIALIZATION = 1
-
-uint32 ARMSTATE_IDLE = 2
-
-uint32 ARMSTATE_INITIALIZATION = 3
-
-uint32 ARMSTATE_IN_FAULT = 4
-
-uint32 ARMSTATE_MAINTENANCE = 5
-
-uint32 ARMSTATE_SERVOING_LOW_LEVEL = 6
-
-uint32 ARMSTATE_SERVOING_READY = 7
-
-uint32 ARMSTATE_SERVOING_PLAYING_SEQUENCE = 8
-
-uint32 ARMSTATE_SERVOING_MANUALLY_CONTROLLED = 9
-
-uint32 ARMSTATE_RESERVED = 255
diff --git a/kortex_device_manager/msg/Connection.msg b/kortex_device_manager/msg/Connection.msg
deleted file mode 100644
index ca08b6c8..00000000
--- a/kortex_device_manager/msg/Connection.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-
-
-UserProfileHandle user_handle
-string connection_information
-uint32 connection_identifier
\ No newline at end of file
diff --git a/kortex_device_manager/msg/DeviceHandle.msg b/kortex_device_manager/msg/DeviceHandle.msg
deleted file mode 100644
index 49f84366..00000000
--- a/kortex_device_manager/msg/DeviceHandle.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-
-
-uint32 device_type
-uint32 device_identifier
-uint32 order
\ No newline at end of file
diff --git a/kortex_device_manager/msg/DeviceTypes.msg b/kortex_device_manager/msg/DeviceTypes.msg
deleted file mode 100644
index 5a55df07..00000000
--- a/kortex_device_manager/msg/DeviceTypes.msg
+++ /dev/null
@@ -1,14 +0,0 @@
-
-uint32 UNSPECIFIED_DEVICE_TYPE = 0
-
-uint32 BASE = 1
-
-uint32 VISION = 2
-
-uint32 BIG_ACTUATOR = 3
-
-uint32 SMALL_ACTUATOR = 4
-
-uint32 INTERCONNECT = 5
-
-uint32 GRIPPER = 6
diff --git a/kortex_device_manager/msg/Empty.msg b/kortex_device_manager/msg/Empty.msg
deleted file mode 100644
index e69de29b..00000000
diff --git a/kortex_device_manager/msg/IPv4Settings.msg b/kortex_device_manager/msg/IPv4Settings.msg
deleted file mode 100644
index 5be19d99..00000000
--- a/kortex_device_manager/msg/IPv4Settings.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-
-uint32 ipv4_address
-uint32 ipv4_subnet_mask
-uint32 ipv4_default_gateway
\ No newline at end of file
diff --git a/kortex_device_manager/msg/NotificationHandle.msg b/kortex_device_manager/msg/NotificationHandle.msg
deleted file mode 100644
index bd72812b..00000000
--- a/kortex_device_manager/msg/NotificationHandle.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-
-uint32 identifier
\ No newline at end of file
diff --git a/kortex_device_manager/msg/NotificationOptions.msg b/kortex_device_manager/msg/NotificationOptions.msg
deleted file mode 100644
index 6ff46842..00000000
--- a/kortex_device_manager/msg/NotificationOptions.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-
-
-uint32 type
-uint32 rate_m_sec
-float32 threshold_value
\ No newline at end of file
diff --git a/kortex_device_manager/msg/NotificationType.msg b/kortex_device_manager/msg/NotificationType.msg
deleted file mode 100644
index 881cd9a6..00000000
--- a/kortex_device_manager/msg/NotificationType.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-
-uint32 NOTIFICATION_TYPE_UNSPECIFIED = 0
-
-uint32 NOTIFICATION_TYPE_THRESHOLD = 1
-
-uint32 NOTIFICATION_TYPE_FIX_RATE = 2
-
-uint32 NOTIFICATION_TYPE_EVENT = 3
diff --git a/kortex_device_manager/msg/Permission.msg b/kortex_device_manager/msg/Permission.msg
deleted file mode 100644
index c5399e9c..00000000
--- a/kortex_device_manager/msg/Permission.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-
-uint32 NO_PERMISSION = 0
-
-uint32 READ_PERMISSION = 1
-
-uint32 UPDATE_PERMISSION = 2
-
-uint32 DELETE_PERMISSION = 4
diff --git a/kortex_device_manager/msg/SafetyConfiguration.msg b/kortex_device_manager/msg/SafetyConfiguration.msg
deleted file mode 100644
index 6f1f0819..00000000
--- a/kortex_device_manager/msg/SafetyConfiguration.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-
-
-SafetyHandle handle
-float32 error_threshold
-float32 warning_threshold
-
-SafetyEnable enable
\ No newline at end of file
diff --git a/kortex_device_manager/msg/SafetyEnable.msg b/kortex_device_manager/msg/SafetyEnable.msg
deleted file mode 100644
index 771f7400..00000000
--- a/kortex_device_manager/msg/SafetyEnable.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-
-
-SafetyHandle handle
-bool enable
\ No newline at end of file
diff --git a/kortex_device_manager/msg/SafetyHandle.msg b/kortex_device_manager/msg/SafetyHandle.msg
deleted file mode 100644
index bd72812b..00000000
--- a/kortex_device_manager/msg/SafetyHandle.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-
-uint32 identifier
\ No newline at end of file
diff --git a/kortex_device_manager/msg/SafetyInformation.msg b/kortex_device_manager/msg/SafetyInformation.msg
deleted file mode 100644
index 66be9094..00000000
--- a/kortex_device_manager/msg/SafetyInformation.msg
+++ /dev/null
@@ -1,16 +0,0 @@
-
-
-SafetyHandle handle
-bool can_change_safety_state
-bool has_warning_threshold
-bool has_error_threshold
-
-uint32 limit_type
-float32 default_warning_threshold
-float32 default_error_threshold
-float32 upper_hard_limit
-float32 lower_hard_limit
-
-uint32 status
-
-uint32 unit
\ No newline at end of file
diff --git a/kortex_device_manager/msg/SafetyNotification.msg b/kortex_device_manager/msg/SafetyNotification.msg
deleted file mode 100644
index 36d88894..00000000
--- a/kortex_device_manager/msg/SafetyNotification.msg
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-SafetyHandle safety_handle
-
-uint32 value
-
-Timestamp timestamp
-
-UserProfileHandle user_handle
-
-Connection connection
\ No newline at end of file
diff --git a/kortex_device_manager/msg/SafetyStatusValue.msg b/kortex_device_manager/msg/SafetyStatusValue.msg
deleted file mode 100644
index 74ffcfcd..00000000
--- a/kortex_device_manager/msg/SafetyStatusValue.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-
-uint32 SAFETY_STATUS_UNSPECIFIED = 0
-
-uint32 SAFETY_STATUS_WARNING = 1
-
-uint32 SAFETY_STATUS_ERROR = 2
-
-uint32 SAFETY_STATUS_NORMAL = 3
diff --git a/kortex_device_manager/msg/SafetyThreshold.msg b/kortex_device_manager/msg/SafetyThreshold.msg
deleted file mode 100644
index b50b25e3..00000000
--- a/kortex_device_manager/msg/SafetyThreshold.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-
-
-SafetyHandle handle
-float32 value
\ No newline at end of file
diff --git a/kortex_device_manager/msg/Timestamp.msg b/kortex_device_manager/msg/Timestamp.msg
deleted file mode 100644
index 5e60508c..00000000
--- a/kortex_device_manager/msg/Timestamp.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-
-uint32 sec
-uint32 usec
\ No newline at end of file
diff --git a/kortex_device_manager/msg/Unit.msg b/kortex_device_manager/msg/Unit.msg
deleted file mode 100644
index c019aeba..00000000
--- a/kortex_device_manager/msg/Unit.msg
+++ /dev/null
@@ -1,28 +0,0 @@
-
-uint32 UNSPECIFIED_UNIT = 0
-
-uint32 CELSIUS = 1
-
-uint32 AMPERE = 2
-
-uint32 VOLT = 3
-
-uint32 METER_PER_SECOND = 4
-
-uint32 DEGREE_PER_SECOND = 5
-
-uint32 METER_PER_SECOND_2 = 6
-
-uint32 DEGREE_PER_SECOND_2 = 7
-
-uint32 NEWTON = 8
-
-uint32 NEWTON_METER = 9
-
-uint32 KILOGRAM = 10
-
-uint32 DEGREE = 11
-
-uint32 TICK = 12
-
-uint32 DEGREE_PER_MILLISECOND = 13
diff --git a/kortex_device_manager/msg/UserProfileHandle.msg b/kortex_device_manager/msg/UserProfileHandle.msg
deleted file mode 100644
index 3038380d..00000000
--- a/kortex_device_manager/msg/UserProfileHandle.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-
-uint32 identifier
-uint32 permission
\ No newline at end of file
diff --git a/kortex_device_manager/msg/non_generated/KortexError.msg b/kortex_device_manager/msg/non_generated/KortexError.msg
deleted file mode 100644
index 45392615..00000000
--- a/kortex_device_manager/msg/non_generated/KortexError.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-string description
-uint32 code
-uint32 subCode
\ No newline at end of file
diff --git a/kortex_device_manager/package.xml b/kortex_device_manager/package.xml
deleted file mode 100644
index 9c848b67..00000000
--- a/kortex_device_manager/package.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-
-
- kortex_device_manager
- 1.0.0
- The kortex package that act as a device manager.
-
- KINOVA
-
- BSD
-
- catkin
- roscpp
- rospy
- std_msgs
- roscpp
- rospy
- std_msgs
- roscpp
- rospy
- std_msgs
- message_generation
- message_runtime
-
-
-
-
-
-
-
-
diff --git a/kortex_device_manager/protos/Common.options b/kortex_device_manager/protos/Common.options
deleted file mode 100644
index fe8e4afe..00000000
--- a/kortex_device_manager/protos/Common.options
+++ /dev/null
@@ -1,16 +0,0 @@
-//
-// KINOVA (R) KORTEX (TM)
-//
-// Copyright (c) 2018 Kinova inc. All rights reserved.
-//
-// This software may be modified and distributed
-// under the terms of the BSD 3-Clause license.
-//
-// Refer to the LICENSE file for details.
-//
-//
-
-Kinova.Api.Common.DeviceTypes long_names:false
-Kinova.Api.Common.SafetyStatusValue long_names:false
-Kinova.Api.Common.NotificationType long_names:false
-Kinova.Api.Common.Unit long_names:false
\ No newline at end of file
diff --git a/kortex_device_manager/protos/Common.proto b/kortex_device_manager/protos/Common.proto
deleted file mode 100644
index ee69ed74..00000000
--- a/kortex_device_manager/protos/Common.proto
+++ /dev/null
@@ -1,140 +0,0 @@
-/*
- * KINOVA (R) KORTEX (TM)
- *
- * Copyright (c) 2018 Kinova inc. All rights reserved.
- *
- * This software may be modified and distributed
- * under the terms of the BSD 3-Clause license.
- *
- * Refer to the LICENSE file for details.
- *
- */
-
-syntax = "proto3";
-
-package Kinova.Api.Common;
-
-// List of admissible device types
-enum DeviceTypes {
- UNSPECIFIED_DEVICE_TYPE = 0; // Unspecified device type
- BASE = 1; // Base module
- VISION = 2; // Vision module
- BIG_ACTUATOR = 3; // Big actuator module
- SMALL_ACTUATOR = 4; // Small actuator module
- INTERCONNECT = 5; // Interconnect module
- GRIPPER = 6; // Gripper module
-}
-
-// Identifies a device
-message DeviceHandle {
- DeviceTypes device_type = 1; // Device type
- uint32 device_identifier = 2; // Unique device identifier (used with other services)
- uint32 order = 3; // Unique value indicating the order of that device versus the others to facilitate representation
-}
-
-// List of admissible safety statuses
-enum SafetyStatusValue {
- SAFETY_STATUS_UNSPECIFIED = 0; // Unspecified safety status
- SAFETY_STATUS_WARNING = 1; // Warning safety reached
- SAFETY_STATUS_ERROR = 2; // Error safety reached
- SAFETY_STATUS_NORMAL = 3; // Safety is off
-}
-
-// List of admissible permissions. Used as bitfields
-enum Permission {
- NO_PERMISSION = 0; // No permission
- READ_PERMISSION = 1; // Read permission. Refers to an entity that can be read
- UPDATE_PERMISSION = 2; // Update permission. Refers to an entity that can be modified
- DELETE_PERMISSION = 4; // Delete permission. Refers to an entity that can be deleted
-}
-
-// List of admissible notification types
-enum NotificationType {
- NOTIFICATION_TYPE_UNSPECIFIED = 0; // Unspecified notification
- NOTIFICATION_TYPE_THRESHOLD = 1; // Threshold notification. Refers to a notification sent beyond a specific threshold (future)
- NOTIFICATION_TYPE_FIX_RATE = 2; // Fix rate notification. Refers to a notification sent at a predetermined fix rate (future)
- NOTIFICATION_TYPE_EVENT = 3; // Event type notification. Refers to a notification sent in response to an event
-}
-
-// List of admissible units used throughout API methods
-enum Unit {
- UNSPECIFIED_UNIT = 0; // Unspecified unit
- CELSIUS = 1; // Degree Celsius
- AMPERE = 2; // Ampere
- VOLT = 3; // Volt
- METER_PER_SECOND = 4; // Meter per second
- DEGREE_PER_SECOND = 5; // Degree per second
- METER_PER_SECOND_2 = 6; // Meter per second squared
- DEGREE_PER_SECOND_2 = 7; // Degree per second squared
- NEWTON = 8; // Newton
- NEWTON_METER =9; // Newton * meter
- KILOGRAM = 10; // Kilogram
- DEGREE = 11; // Degree
- TICK = 12; // Tick
- DEGREE_PER_MILLISECOND = 13;// Degre per millisecond
-}
-
-// Message used when no information needs to be exchanged between client application and robot, and vice versa
-message Empty {
-}
-
-// Specifies options associated to a notification
-message NotificationOptions {
- NotificationType type = 1; // Type of notification
- uint32 rate_m_sec = 2; // Rate value (in meters per second) (if applicable)
- float threshold_value = 3; // Threshold value (if applicable)
-}
-
-// Identifies a safety
-message SafetyHandle {
- uint32 identifier = 1; // Safety identifier
-}
-
-// Identifies a notification
-message NotificationHandle {
- uint32 identifier = 1; // Notification identifier
-}
-
-// Message that contains a safety event
-message SafetyNotification {
- SafetyHandle safety_handle = 1; // Safety handle
- SafetyStatusValue value = 2; // New safety status
- Timestamp timestamp = 3; // Event timestamp
- UserProfileHandle user_handle = 4; // User that caused the safety event
- Connection connection = 5; // Connection that caused the safety event
-}
-
-// Timestamp based on Epoch (00:00:00 Thursday, January 1, 1970)
-message Timestamp {
- uint32 sec = 1; // Number of seconds that have elapsed since Epoch
- uint32 usec = 2; // Number of microseconds that have elapsed since the last second (0-999999)
-}
-
-// Identifies a user profile
-message UserProfileHandle {
- uint32 identifier = 1; // User profile identifier
- fixed32 permission = 2; // Must use 'Permission' as bitwise
-}
-
-// Idenfities a connection
-message Connection {
- UserProfileHandle user_handle = 1; // User profile handle, or set to zero if no user logged in
- string connection_information = 2; // Connection info (e.g. IP address with port number)
- uint32 connection_identifier = 3; // Connection identifier
-}
-
-// List of admissible arm states
-enum ArmState
-{
- ARMSTATE_UNSPECIFIED = 0; // Unspecified arm state
- ARMSTATE_BASE_INITIALIZATION = 1; // Cannot be reported as the Base initialization must be completed before allowing user connection
- ARMSTATE_IDLE = 2; // Base initialization succeeded
- ARMSTATE_INITIALIZATION = 3; // Arm is being initialized
- ARMSTATE_IN_FAULT = 4; // Arm is in fault
- ARMSTATE_MAINTENANCE = 5; // Arm is in maintenance
- ARMSTATE_SERVOING_LOW_LEVEL = 6; // Arm is in low-level servoing mode
- ARMSTATE_SERVOING_READY = 7; // Arm is ready to be controlled
- ARMSTATE_SERVOING_PLAYING_SEQUENCE = 8; // Arm is currently being controlled via a sequence
- ARMSTATE_SERVOING_MANUALLY_CONTROLLED = 9; // Arm is currently being controlled manually
- ARMSTATE_RESERVED = 255; // For debugging, this state must never be reported outside the base. this means that a state is not mapped correctly
-}
\ No newline at end of file
diff --git a/kortex_device_manager/protos/DeviceConfig.proto b/kortex_device_manager/protos/DeviceConfig.proto
deleted file mode 100644
index a25986c1..00000000
--- a/kortex_device_manager/protos/DeviceConfig.proto
+++ /dev/null
@@ -1,259 +0,0 @@
-/*
- * KINOVA (R) KORTEX (TM)
- *
- * Copyright (c) 2018 Kinova inc. All rights reserved.
- *
- * This software may be modified and distributed
- * under the terms of the BSD 3-Clause license.
- *
- * Refer to the LICENSE file for details.
- *
- */
-
-syntax = "proto3";
-
-import public "Common.proto";
-
-package Kinova.Api.DeviceConfig;
-
-// Service to get and set device configuration information
-service DeviceConfig {//@PROXY_ID=9 @ERROR=Kinova.Api.Error
-
- // Returns the run mode for the device (future)
- rpc GetRunMode (Kinova.Api.Common.Empty) returns (RunMode); //@RPC_ID=1
-
- // Sets the run mode for the device (future)
- rpc SetRunMode (RunMode) returns (Kinova.Api.Common.Empty); //@RPC_ID=2
-
- // Returns the type for the device
- rpc GetDeviceType (Kinova.Api.Common.Empty) returns (DeviceType); //@RPC_ID=3
-
- // Returns the device firmware version
- rpc GetFirmwareVersion (Kinova.Api.Common.Empty) returns (FirmwareVersion); //@RPC_ID=4
-
- // Returns the device bootloader version
- rpc GetBootloaderVersion (Kinova.Api.Common.Empty) returns (BootloaderVersion); //@RPC_ID=5
-
- // Returns the device model number
- rpc GetModelNumber (Kinova.Api.Common.Empty) returns (ModelNumber); //@RPC_ID=6
-
- // Returns the device part number
- rpc GetPartNumber (Kinova.Api.Common.Empty) returns (PartNumber); //@RPC_ID=7
-
- // Returns the device serial number
- rpc GetSerialNumber (Kinova.Api.Common.Empty) returns (SerialNumber); //@RPC_ID=8
-
- // Returns the device MAC address
- rpc GetMACAddress (Kinova.Api.Common.Empty) returns (MACAddress); //@RPC_ID=9
-
- // Returns the device IPv4 settings (not implemented on Base)
- rpc GetIPv4Settings (Kinova.Api.Common.Empty) returns (IPv4Settings); //@RPC_ID=10
-
- // Configures the device IPv4 settings (not implemented on Base)
- rpc SetIPv4Settings (IPv4Settings) returns (Kinova.Api.Common.Empty); //@RPC_ID=11
-
- // Returns the device part number revision
- rpc GetPartNumberRevision (Kinova.Api.Common.Empty) returns (PartNumberRevision); //@RPC_ID=12
-
- // Returns the result on the device power on self test (future)
- rpc GetPowerOnSelfTestResult (Kinova.Api.Common.Empty) returns (PowerOnSelfTestResult); //@RPC_ID=13
-
- // Sends a request to the device to reboot
- rpc RebootRequest (RebootRqst) returns (Kinova.Api.Common.Empty); //@RPC_ID=14
-
- // Enables (disable) the specified safety (future)
- rpc SetSafetyEnable (SafetyEnable) returns (Kinova.Api.Common.Empty); //@RPC_ID=15
-
- // Sets the Error threshold for the specified safety (future)
- rpc SetSafetyErrorThreshold (SafetyThreshold) returns (Kinova.Api.Common.Empty); //@RPC_ID=16
-
- // Sets the Warning threshold for the specified safety (future)
- rpc SetSafetyWarningThreshold (SafetyThreshold) returns (Kinova.Api.Common.Empty); //@RPC_ID=17
-
- // Configures the specified safety (i.e. sets error and warning thresholds) (future)
- rpc SetSafetyConfiguration (SafetyConfiguration) returns (Kinova.Api.Common.Empty); //@RPC_ID=18
-
- // Retrieves configuration about the specified safety
- rpc GetSafetyConfiguration (Kinova.Api.Common.SafetyHandle) returns (SafetyConfiguration); //@RPC_ID=19
-
- // Retrieves information about the specified safety
- rpc GetSafetyInformation (Kinova.Api.Common.SafetyHandle) returns (SafetyInformation); //@RPC_ID=20
-
- // Indicates if specified safety is enabled (or disabled)
- rpc GetSafetyEnable (Kinova.Api.Common.SafetyHandle) returns (SafetyEnable); //@RPC_ID=21
-
- // Indicates if the specified safety is raised
- rpc GetSafetyStatus (Kinova.Api.Common.SafetyHandle) returns (SafetyStatus); //@RPC_ID=22
-
- // Clear all safety status for this device if they are no longer raised
- rpc ClearAllSafetyStatus (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=23
-
- // Clear a specific safety status if it is no longer raised
- rpc ClearSafetyStatus (Kinova.Api.Common.SafetyHandle) returns (Kinova.Api.Common.Empty); //@RPC_ID=24
-
- // Gets configuration on every safeties
- rpc GetAllSafetyConfiguration (Kinova.Api.Common.Empty) returns (SafetyConfigurationList); //@RPC_ID=25
-
- // Gets information on every safeties
- rpc GetAllSafetyInformation (Kinova.Api.Common.Empty) returns (SafetyInformationList); //@RPC_ID=26
-
- // Puts back all safety configuration to factory defaults (future)
- rpc ResetSafetyDefaults (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=27
-
- // Subscribes to safety notifications (future)
- rpc SafetyTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle); //@RPC_ID=28 @PUB_SUB=Kinova.Api.Common.SafetyNotification
-
- // Sets the device model number (intented for Kinova Production) (future)
- rpc SetModelNumber (ModelNumber) returns (Kinova.Api.Common.Empty); //@RPC_ID=29
-
- // Sets the device part number (intented for Kinova Production) (future)
- rpc SetPartNumber (PartNumber) returns (Kinova.Api.Common.Empty); //@RPC_ID=30
-
- // Sets the device part number revision (intented for Kinova Production) (future)
- rpc SetPartNumberRevision (PartNumberRevision) returns (Kinova.Api.Common.Empty); //@RPC_ID=31
-
- // Sets the device serial number (intented for Kinova Production) (future)
- rpc SetSerialNumber (SerialNumber) returns (Kinova.Api.Common.Empty); //@RPC_ID=32
-
- // Sets the device MAC address (intented for Kinova Production) (future)
- rpc SetMACAddress (MACAddress) returns (Kinova.Api.Common.Empty); //@RPC_ID=33
-}
-
-// Enumeration used to identify DeviceConfig current version
-enum ServiceVersion {
- RESERVED_0 = 0; // Reserved
- CURRENT_VERSION = 1; // Current version
-}
-
-// Options for the run mode for the device
-enum RunModes {
- RUN_MODE = 0;
- CALIBRATION_MODE = 1; // calibration mode
- CONFIGURATION_MODE = 2; // configuration mode
- DEBUG_MODE = 3; // debug mode
- TUNING_MODE = 4; // tuning mode
-}
-
-// Message specifying the device type
-message DeviceType {
- Kinova.Api.Common.DeviceTypes device_type = 1; // Device type
-}
-
-
-// Message specifying the run mode
-message RunMode {
- RunModes run_mode = 1; // Run mode
-}
-
-// Message specifying the firmware version for the device
-message FirmwareVersion {
- uint32 firmware_version = 1; // Firmware version
-}
-
-// Message specifying the bootloader version for the device
-message BootloaderVersion {
- uint32 bootloader_version = 1; // Bootloader version
-}
-
-// Message specifying the model number for the device
-message ModelNumber {
- string model_number = 1; // Model number of size 25 including null character
-}
-
-// String specifiying the part number for the device
-message PartNumber {
- string part_number = 1; // Part number of size 25 including null character
-}
-
-// String specifying the serial number for the device
-message SerialNumber {
- string serial_number = 1; // Serial number of size 25 including null character
-}
-
-// MAC address for the device
-message MACAddress {
- bytes mac_address = 1; // MAC address
-}
-
-// Message containing the IPv4 settings for the device, including address, subnet mask, and default gateway
-message IPv4Settings {
- uint32 ipv4_address = 1; // IPv4Address
- uint32 ipv4_subnet_mask = 2; // IPv4SubnetMask
- uint32 ipv4_default_gateway = 3; // IPv4DefaultGateway
-}
-
-// String specifying part number revision for the device
-message PartNumberRevision {
- string part_number_revision = 1; // Part number revision
-}
-
-// Result of power on self test
-message PowerOnSelfTestResult {
- uint32 power_on_self_test_result = 1; // Power on self test result
-}
-
-// Reboot request with bootloader delay
-message RebootRqst {
- uint32 delay = 1; // Bootloader delay
-}
-
-// Types of safeties limits
-enum SafetyLimitType {
- UNSPECIFIED_SAFETY_LIMIT_TYPE = 0;
- MINIMAL_LIMIT = 1; // Safety that will kick in below a certain Minimum threshold (e.g. Minimum temperature safety)
- MAXIMAL_LIMIT = 2; // Safety that will kick in above a certain Maximum threshold (e.g. Maximum voltage safety)
- EVENT_LIMIT = 3; // Safety that will kick in in reaction to a specific event (e.g. motor drive fault)
-
-}
-
-// Information about a particular safety
-message SafetyInformation {
- Kinova.Api.Common.SafetyHandle handle = 1; // Safety handle that this information is about
- bool can_change_safety_state = 2; // True if related safety configuration can be modified
- bool has_warning_threshold = 3; // True if safety status can go in Warning
- bool has_error_threshold = 4; // True if safety status can go in Error
- SafetyLimitType limit_type = 5; // Safety limit type
- float default_warning_threshold = 6; // Default warning threshold (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT and 'has_warning_threshold' is true)
- float default_error_threshold = 7; // Default error threshold (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT and 'has_error_threshold' is true)
- float upper_hard_limit = 8; // Maximal threshold value (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT)
- float lower_hard_limit = 9; // Minimal threshold value (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT)
- Kinova.Api.Common.SafetyStatusValue status = 11;// Current Safety status
- Kinova.Api.Common.Unit unit = 12; // Unit that the safety status is in
-}
-
-
-// Array of safety information
-message SafetyInformationList {
- repeated SafetyInformation information = 1;
-}
-
-// Enable or disable a specific safety
-message SafetyEnable {
- Kinova.Api.Common.SafetyHandle handle = 1; // Identifies safety to enable or disable
- bool enable = 2; // Safety enable state
-}
-
-// Configure threshold of a specific safety
-message SafetyThreshold {
- Kinova.Api.Common.SafetyHandle handle = 1; // Identifies safety to configure
- float value = 2; // Safety threshold value
-}
-
-// Configure a safety
-message SafetyConfiguration {
- Kinova.Api.Common.SafetyHandle handle = 1; // Identifies safety to configure
- float error_threshold = 2; // Safety error threshold value
- float warning_threshold = 3; // Safety warning threshold value
- SafetyEnable enable = 4; // Safety enable state
-}
-
-// Array of safety configuration
-message SafetyConfigurationList {
- repeated SafetyConfiguration configuration = 1; // Safety configuration
-}
-
-// Provides safety status
-message SafetyStatus {
- Kinova.Api.Common.SafetyStatusValue value = 1; // Safety status (e.g. in error, warning or normal state)
-}
-
diff --git a/kortex_device_manager/readme.md b/kortex_device_manager/readme.md
deleted file mode 100644
index 8566e772..00000000
--- a/kortex_device_manager/readme.md
+++ /dev/null
@@ -1,133 +0,0 @@
-
-
-# Kortex Device Manager
-
-## Overview
-This package implements a ROS node that allows basic communication with every device supported by the Kortex framework. Use this package if you want to:
-
-* List all the devices available on a specific Gen3 robot.
-* Retrieve generic information of a given device.
-* Get the firmware version of a given device.
-* Get the serial number of a given device.
-* Set the IPv4 settings of a given device.
-* Get the safety information of a given device.
-
-### License
-
-The source code is released under a [BSD 3-Clause license](../LICENSE).
-
-**Author: Kinova inc.rosrun kortex\_device\_manager kortex\_device\_manager 192.168.1.10
-
-The command above would run the kortex\_device\_manager node on a Gen3 robot with IP address 192.168.1.10.
-
-## Nodes
-
-### Published Topics
-
-* **`/KortexError`**
- Every Kortex error will be published here.
-
- | Type | Name | Description |
- |:---:|:---:|:---:|
- | uint32 | code | Error code, see enum in the ErrorCodes class. |
- | uint32 | subcode | Sub error code, see enum in the ErrorCodes class. |
- | string | description | Details of the error. |
-
-### Services
-Most of the services supported by this node are generated from the [C++ Kortex API](https://github.com/Kinovarobotics/kortex). You can find the documentation [here](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/index.md).
-
-Example:
-If you want to call the ROS service **`GetActuatorCount`** generated by the C++ method [GetActuatorCount](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/references/summary_DeviceManager.md), you would initialize your service as follows:
-
- ros::ServiceClient client_ClearSafetyStatus = n.serviceClient("ClearSafetyStatus");
-
-### Messages
-Most of the messages supported by this node are generated from the [ C++ Kortex API](https://github.com/Kinovarobotics/kortex). You can find the documentation [here](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/index.md).
-
-#### Non-generated
-
-* **`KortexError`**
- Represents a Kortex API error.
-
-### Protos files
-The folder **protos** contains the protobuf files from where the MSG, SRV and source files are generated. The content of this folder should not be modified.
-
-### Template files
-The folder **templates** contains all the JINJA2 files needed by the protoc generator. For more details on the generation process, see the **generation** section.
-
-| Filename | Description |
-|:---:|:---:|
-| main.jinja2 | Used to generate src/main.cpp |
-| NodeServices.cpp.jinja2 | Used to generate src/node.cpp |
-| NodeServices.h.jinja2 | Used to generate src/node.h |
-| proto_converterCPP.jinja2 | Used to generate every src/*_proto\_converter.cpp file |
-| proto_converterHeader.jinja2 | Used to generate every src/*_proto\_converter.h file |
-| ros_converterCPP.jinja2 | Used to generate every src/*_ros\_converter.cpp file |
-| ros_converterHeader.jinja2 | Used to generate every src/*_proto\_converter.h file |
-| ros_enum.jinja2 | Use to generated every msg/*.msg file that represents a protobuf enum |
-| ros_message.jinja2 | Used to generate every msg/*.msg file that represents a protobuf message |
-| ros_oneof.jinja2 | Used to generate every msg/*.msg file that represents a protobuf oneof |
-| ros_service.jinja2 | Used to generate every msg/*.msg file that represents a protobuf RPC |
-
-## Generation
-
-The generation process is based on a custom protobuf plugin. Most of the generation process is in the RosGeneration.py file located in the package root directory.
-
-
-To launch the generation of this package:
-
-1. Open a terminal window.
-1. Browse to the root directory of this package [YOUR\_ROS\_WORKSPACE]/src/ros\_kortex/kortex\_device\_manager/
-1. Ensure that the file kortex_driver.sh can be executed. If not then chmod +x kortex_device_manager.sh
-1. Run this command: protoc --plugin=protoc-gen-custom=kortex_device_manager.sh -I./protos/ --custom_out=./build ./protos/\*.prot
-1. The result of the generation will be in the following directories:
- * /src
- * /msg
- * /srv
-
diff --git a/kortex_device_manager/src/common_proto_converter.cpp b/kortex_device_manager/src/common_proto_converter.cpp
deleted file mode 100644
index f6bcd03f..00000000
--- a/kortex_device_manager/src/common_proto_converter.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "common_proto_converter.h"
-
-
-int ToProtoData(kortex_device_manager::DeviceHandle input, DeviceHandle *output)
-{
- output->set_device_type((Kinova::Api::Common::DeviceTypes)input.device_type);
- output->set_device_identifier(input.device_identifier);
- output->set_order(input.order);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::Empty input, Empty *output)
-{
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::NotificationOptions input, NotificationOptions *output)
-{
- output->set_type((Kinova::Api::Common::NotificationType)input.type);
- output->set_rate_m_sec(input.rate_m_sec);
- output->set_threshold_value(input.threshold_value);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SafetyHandle input, SafetyHandle *output)
-{
- output->set_identifier(input.identifier);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::NotificationHandle input, NotificationHandle *output)
-{
- output->set_identifier(input.identifier);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SafetyNotification input, SafetyNotification *output)
-{
- ToProtoData(input.safety_handle, output->mutable_safety_handle());
- output->set_value((Kinova::Api::Common::SafetyStatusValue)input.value);
- ToProtoData(input.timestamp, output->mutable_timestamp());
- ToProtoData(input.user_handle, output->mutable_user_handle());
- ToProtoData(input.connection, output->mutable_connection());
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::Timestamp input, Timestamp *output)
-{
- output->set_sec(input.sec);
- output->set_usec(input.usec);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::UserProfileHandle input, UserProfileHandle *output)
-{
- output->set_identifier(input.identifier);
- output->set_permission(input.permission);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::Connection input, Connection *output)
-{
- ToProtoData(input.user_handle, output->mutable_user_handle());
- output->set_connection_information(input.connection_information);
- output->set_connection_identifier(input.connection_identifier);
-
- return 0;
-}
diff --git a/kortex_device_manager/src/common_proto_converter.h b/kortex_device_manager/src/common_proto_converter.h
deleted file mode 100644
index c16d8738..00000000
--- a/kortex_device_manager/src/common_proto_converter.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_CommonPROTO_CONVERTER_H_
-#define _KORTEX_CommonPROTO_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_device_manager/DeviceHandle.h"
-#include "kortex_device_manager/Empty.h"
-#include "kortex_device_manager/NotificationOptions.h"
-#include "kortex_device_manager/SafetyHandle.h"
-#include "kortex_device_manager/NotificationHandle.h"
-#include "kortex_device_manager/SafetyNotification.h"
-#include "kortex_device_manager/Timestamp.h"
-#include "kortex_device_manager/UserProfileHandle.h"
-#include "kortex_device_manager/Connection.h"
-
-
-using namespace Kinova::Api::Common;
-
-int ToProtoData(kortex_device_manager::DeviceHandle intput, DeviceHandle *output);
-int ToProtoData(kortex_device_manager::Empty intput, Empty *output);
-int ToProtoData(kortex_device_manager::NotificationOptions intput, NotificationOptions *output);
-int ToProtoData(kortex_device_manager::SafetyHandle intput, SafetyHandle *output);
-int ToProtoData(kortex_device_manager::NotificationHandle intput, NotificationHandle *output);
-int ToProtoData(kortex_device_manager::SafetyNotification intput, SafetyNotification *output);
-int ToProtoData(kortex_device_manager::Timestamp intput, Timestamp *output);
-int ToProtoData(kortex_device_manager::UserProfileHandle intput, UserProfileHandle *output);
-int ToProtoData(kortex_device_manager::Connection intput, Connection *output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_device_manager/src/common_ros_converter.cpp b/kortex_device_manager/src/common_ros_converter.cpp
deleted file mode 100644
index bdfd6e33..00000000
--- a/kortex_device_manager/src/common_ros_converter.cpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "common_ros_converter.h"
-
-
-int ToRosData(DeviceHandle input, kortex_device_manager::DeviceHandle &output)
-{
- output.device_type = input.device_type();
- output.device_identifier = input.device_identifier();
- output.order = input.order();
-
- return 0;
-}
-int ToRosData(Empty input, kortex_device_manager::Empty &output)
-{
-
- return 0;
-}
-int ToRosData(NotificationOptions input, kortex_device_manager::NotificationOptions &output)
-{
- output.type = input.type();
- output.rate_m_sec = input.rate_m_sec();
- output.threshold_value = input.threshold_value();
-
- return 0;
-}
-int ToRosData(SafetyHandle input, kortex_device_manager::SafetyHandle &output)
-{
- output.identifier = input.identifier();
-
- return 0;
-}
-int ToRosData(NotificationHandle input, kortex_device_manager::NotificationHandle &output)
-{
- output.identifier = input.identifier();
-
- return 0;
-}
-int ToRosData(SafetyNotification input, kortex_device_manager::SafetyNotification &output)
-{
- ToRosData(input.safety_handle(), output.safety_handle);
- output.value = input.value();
- ToRosData(input.timestamp(), output.timestamp);
- ToRosData(input.user_handle(), output.user_handle);
- ToRosData(input.connection(), output.connection);
-
- return 0;
-}
-int ToRosData(Timestamp input, kortex_device_manager::Timestamp &output)
-{
- output.sec = input.sec();
- output.usec = input.usec();
-
- return 0;
-}
-int ToRosData(UserProfileHandle input, kortex_device_manager::UserProfileHandle &output)
-{
- output.identifier = input.identifier();
- output.permission = input.permission();
-
- return 0;
-}
-int ToRosData(Connection input, kortex_device_manager::Connection &output)
-{
- ToRosData(input.user_handle(), output.user_handle);
- output.connection_information = input.connection_information();
- output.connection_identifier = input.connection_identifier();
-
- return 0;
-}
diff --git a/kortex_device_manager/src/common_ros_converter.h b/kortex_device_manager/src/common_ros_converter.h
deleted file mode 100644
index 164b3a3f..00000000
--- a/kortex_device_manager/src/common_ros_converter.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_CommonROS_CONVERTER_H_
-#define _KORTEX_CommonROS_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_device_manager/DeviceHandle.h"
-#include "kortex_device_manager/Empty.h"
-#include "kortex_device_manager/NotificationOptions.h"
-#include "kortex_device_manager/SafetyHandle.h"
-#include "kortex_device_manager/NotificationHandle.h"
-#include "kortex_device_manager/SafetyNotification.h"
-#include "kortex_device_manager/Timestamp.h"
-#include "kortex_device_manager/UserProfileHandle.h"
-#include "kortex_device_manager/Connection.h"
-
-
-using namespace Kinova::Api::Common;
-
-int ToRosData(DeviceHandle input, kortex_device_manager::DeviceHandle &output);
-int ToRosData(Empty input, kortex_device_manager::Empty &output);
-int ToRosData(NotificationOptions input, kortex_device_manager::NotificationOptions &output);
-int ToRosData(SafetyHandle input, kortex_device_manager::SafetyHandle &output);
-int ToRosData(NotificationHandle input, kortex_device_manager::NotificationHandle &output);
-int ToRosData(SafetyNotification input, kortex_device_manager::SafetyNotification &output);
-int ToRosData(Timestamp input, kortex_device_manager::Timestamp &output);
-int ToRosData(UserProfileHandle input, kortex_device_manager::UserProfileHandle &output);
-int ToRosData(Connection input, kortex_device_manager::Connection &output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_device_manager/src/deviceconfig_proto_converter.cpp b/kortex_device_manager/src/deviceconfig_proto_converter.cpp
deleted file mode 100644
index a3a2d11b..00000000
--- a/kortex_device_manager/src/deviceconfig_proto_converter.cpp
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "deviceconfig_proto_converter.h"
-
-#include "common_proto_converter.h"
-
-
-int ToProtoData(kortex_device_manager::DeviceType input, DeviceType *output)
-{
- output->set_device_type((Kinova::Api::Common::DeviceTypes)input.device_type);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::RunMode input, RunMode *output)
-{
- output->set_run_mode((Kinova::Api::DeviceConfig::RunModes)input.run_mode);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::FirmwareVersion input, FirmwareVersion *output)
-{
- output->set_firmware_version(input.firmware_version);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::BootloaderVersion input, BootloaderVersion *output)
-{
- output->set_bootloader_version(input.bootloader_version);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::ModelNumber input, ModelNumber *output)
-{
- output->set_model_number(input.model_number);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::PartNumber input, PartNumber *output)
-{
- output->set_part_number(input.part_number);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SerialNumber input, SerialNumber *output)
-{
- output->set_serial_number(input.serial_number);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::MACAddress input, MACAddress *output)
-{
- output->set_mac_address(std::string(input.mac_address.begin(), input.mac_address.end()));
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::IPv4Settings input, IPv4Settings *output)
-{
- output->set_ipv4_address(input.ipv4_address);
- output->set_ipv4_subnet_mask(input.ipv4_subnet_mask);
- output->set_ipv4_default_gateway(input.ipv4_default_gateway);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::PartNumberRevision input, PartNumberRevision *output)
-{
- output->set_part_number_revision(input.part_number_revision);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::PowerOnSelfTestResult input, PowerOnSelfTestResult *output)
-{
- output->set_power_on_self_test_result(input.power_on_self_test_result);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::RebootRqst input, RebootRqst *output)
-{
- output->set_delay(input.delay);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SafetyInformation input, SafetyInformation *output)
-{
- ToProtoData(input.handle, output->mutable_handle());
- output->set_can_change_safety_state(input.can_change_safety_state);
- output->set_has_warning_threshold(input.has_warning_threshold);
- output->set_has_error_threshold(input.has_error_threshold);
- output->set_limit_type((Kinova::Api::DeviceConfig::SafetyLimitType)input.limit_type);
- output->set_default_warning_threshold(input.default_warning_threshold);
- output->set_default_error_threshold(input.default_error_threshold);
- output->set_upper_hard_limit(input.upper_hard_limit);
- output->set_lower_hard_limit(input.lower_hard_limit);
- output->set_status((Kinova::Api::Common::SafetyStatusValue)input.status);
- output->set_unit((Kinova::Api::Common::Unit)input.unit);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SafetyInformationList input, SafetyInformationList *output)
-{
- output->clear_information();
- for(int i = 0; i < input.information.size(); i++)
- {
- ToProtoData(input.information[i], output->add_information());
- }
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SafetyEnable input, SafetyEnable *output)
-{
- ToProtoData(input.handle, output->mutable_handle());
- output->set_enable(input.enable);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SafetyThreshold input, SafetyThreshold *output)
-{
- ToProtoData(input.handle, output->mutable_handle());
- output->set_value(input.value);
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SafetyConfiguration input, SafetyConfiguration *output)
-{
- ToProtoData(input.handle, output->mutable_handle());
- output->set_error_threshold(input.error_threshold);
- output->set_warning_threshold(input.warning_threshold);
- ToProtoData(input.enable, output->mutable_enable());
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SafetyConfigurationList input, SafetyConfigurationList *output)
-{
- output->clear_configuration();
- for(int i = 0; i < input.configuration.size(); i++)
- {
- ToProtoData(input.configuration[i], output->add_configuration());
- }
-
- return 0;
-}
-int ToProtoData(kortex_device_manager::SafetyStatus input, SafetyStatus *output)
-{
- output->set_value((Kinova::Api::Common::SafetyStatusValue)input.value);
-
- return 0;
-}
diff --git a/kortex_device_manager/src/deviceconfig_proto_converter.h b/kortex_device_manager/src/deviceconfig_proto_converter.h
deleted file mode 100644
index 9be3f0ba..00000000
--- a/kortex_device_manager/src/deviceconfig_proto_converter.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_DeviceConfigPROTO_CONVERTER_H_
-#define _KORTEX_DeviceConfigPROTO_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_device_manager/DeviceType.h"
-#include "kortex_device_manager/RunMode.h"
-#include "kortex_device_manager/FirmwareVersion.h"
-#include "kortex_device_manager/BootloaderVersion.h"
-#include "kortex_device_manager/ModelNumber.h"
-#include "kortex_device_manager/PartNumber.h"
-#include "kortex_device_manager/SerialNumber.h"
-#include "kortex_device_manager/MACAddress.h"
-#include "kortex_device_manager/IPv4Settings.h"
-#include "kortex_device_manager/PartNumberRevision.h"
-#include "kortex_device_manager/PowerOnSelfTestResult.h"
-#include "kortex_device_manager/RebootRqst.h"
-#include "kortex_device_manager/SafetyInformation.h"
-#include "kortex_device_manager/SafetyInformationList.h"
-#include "kortex_device_manager/SafetyEnable.h"
-#include "kortex_device_manager/SafetyThreshold.h"
-#include "kortex_device_manager/SafetyConfiguration.h"
-#include "kortex_device_manager/SafetyConfigurationList.h"
-#include "kortex_device_manager/SafetyStatus.h"
-
-
-using namespace Kinova::Api::DeviceConfig;
-
-int ToProtoData(kortex_device_manager::DeviceType intput, DeviceType *output);
-int ToProtoData(kortex_device_manager::RunMode intput, RunMode *output);
-int ToProtoData(kortex_device_manager::FirmwareVersion intput, FirmwareVersion *output);
-int ToProtoData(kortex_device_manager::BootloaderVersion intput, BootloaderVersion *output);
-int ToProtoData(kortex_device_manager::ModelNumber intput, ModelNumber *output);
-int ToProtoData(kortex_device_manager::PartNumber intput, PartNumber *output);
-int ToProtoData(kortex_device_manager::SerialNumber intput, SerialNumber *output);
-int ToProtoData(kortex_device_manager::MACAddress intput, MACAddress *output);
-int ToProtoData(kortex_device_manager::IPv4Settings intput, IPv4Settings *output);
-int ToProtoData(kortex_device_manager::PartNumberRevision intput, PartNumberRevision *output);
-int ToProtoData(kortex_device_manager::PowerOnSelfTestResult intput, PowerOnSelfTestResult *output);
-int ToProtoData(kortex_device_manager::RebootRqst intput, RebootRqst *output);
-int ToProtoData(kortex_device_manager::SafetyInformation intput, SafetyInformation *output);
-int ToProtoData(kortex_device_manager::SafetyInformationList intput, SafetyInformationList *output);
-int ToProtoData(kortex_device_manager::SafetyEnable intput, SafetyEnable *output);
-int ToProtoData(kortex_device_manager::SafetyThreshold intput, SafetyThreshold *output);
-int ToProtoData(kortex_device_manager::SafetyConfiguration intput, SafetyConfiguration *output);
-int ToProtoData(kortex_device_manager::SafetyConfigurationList intput, SafetyConfigurationList *output);
-int ToProtoData(kortex_device_manager::SafetyStatus intput, SafetyStatus *output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_device_manager/src/deviceconfig_ros_converter.cpp b/kortex_device_manager/src/deviceconfig_ros_converter.cpp
deleted file mode 100644
index 1fefb387..00000000
--- a/kortex_device_manager/src/deviceconfig_ros_converter.cpp
+++ /dev/null
@@ -1,164 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "deviceconfig_ros_converter.h"
-
-#include "common_ros_converter.h"
-
-
-int ToRosData(DeviceType input, kortex_device_manager::DeviceType &output)
-{
- output.device_type = input.device_type();
-
- return 0;
-}
-int ToRosData(RunMode input, kortex_device_manager::RunMode &output)
-{
- output.run_mode = input.run_mode();
-
- return 0;
-}
-int ToRosData(FirmwareVersion input, kortex_device_manager::FirmwareVersion &output)
-{
- output.firmware_version = input.firmware_version();
-
- return 0;
-}
-int ToRosData(BootloaderVersion input, kortex_device_manager::BootloaderVersion &output)
-{
- output.bootloader_version = input.bootloader_version();
-
- return 0;
-}
-int ToRosData(ModelNumber input, kortex_device_manager::ModelNumber &output)
-{
- output.model_number = input.model_number();
-
- return 0;
-}
-int ToRosData(PartNumber input, kortex_device_manager::PartNumber &output)
-{
- output.part_number = input.part_number();
-
- return 0;
-}
-int ToRosData(SerialNumber input, kortex_device_manager::SerialNumber &output)
-{
- output.serial_number = input.serial_number();
-
- return 0;
-}
-int ToRosData(MACAddress input, kortex_device_manager::MACAddress &output)
-{
- output.mac_address = std::vector(input.mac_address().begin(), input.mac_address().end());
-
- return 0;
-}
-int ToRosData(IPv4Settings input, kortex_device_manager::IPv4Settings &output)
-{
- output.ipv4_address = input.ipv4_address();
- output.ipv4_subnet_mask = input.ipv4_subnet_mask();
- output.ipv4_default_gateway = input.ipv4_default_gateway();
-
- return 0;
-}
-int ToRosData(PartNumberRevision input, kortex_device_manager::PartNumberRevision &output)
-{
- output.part_number_revision = input.part_number_revision();
-
- return 0;
-}
-int ToRosData(PowerOnSelfTestResult input, kortex_device_manager::PowerOnSelfTestResult &output)
-{
- output.power_on_self_test_result = input.power_on_self_test_result();
-
- return 0;
-}
-int ToRosData(RebootRqst input, kortex_device_manager::RebootRqst &output)
-{
- output.delay = input.delay();
-
- return 0;
-}
-int ToRosData(SafetyInformation input, kortex_device_manager::SafetyInformation &output)
-{
- ToRosData(input.handle(), output.handle);
- output.can_change_safety_state = input.can_change_safety_state();
- output.has_warning_threshold = input.has_warning_threshold();
- output.has_error_threshold = input.has_error_threshold();
- output.limit_type = input.limit_type();
- output.default_warning_threshold = input.default_warning_threshold();
- output.default_error_threshold = input.default_error_threshold();
- output.upper_hard_limit = input.upper_hard_limit();
- output.lower_hard_limit = input.lower_hard_limit();
- output.status = input.status();
- output.unit = input.unit();
-
- return 0;
-}
-int ToRosData(SafetyInformationList input, kortex_device_manager::SafetyInformationList &output)
-{
- output.information.clear();
- for(int i = 0; i < input.information_size(); i++)
- {
- kortex_device_manager::SafetyInformation temp;
- ToRosData(input.information(i), temp);
- output.information.push_back(temp);
- }
-
- return 0;
-}
-int ToRosData(SafetyEnable input, kortex_device_manager::SafetyEnable &output)
-{
- ToRosData(input.handle(), output.handle);
- output.enable = input.enable();
-
- return 0;
-}
-int ToRosData(SafetyThreshold input, kortex_device_manager::SafetyThreshold &output)
-{
- ToRosData(input.handle(), output.handle);
- output.value = input.value();
-
- return 0;
-}
-int ToRosData(SafetyConfiguration input, kortex_device_manager::SafetyConfiguration &output)
-{
- ToRosData(input.handle(), output.handle);
- output.error_threshold = input.error_threshold();
- output.warning_threshold = input.warning_threshold();
- ToRosData(input.enable(), output.enable);
-
- return 0;
-}
-int ToRosData(SafetyConfigurationList input, kortex_device_manager::SafetyConfigurationList &output)
-{
- output.configuration.clear();
- for(int i = 0; i < input.configuration_size(); i++)
- {
- kortex_device_manager::SafetyConfiguration temp;
- ToRosData(input.configuration(i), temp);
- output.configuration.push_back(temp);
- }
-
- return 0;
-}
-int ToRosData(SafetyStatus input, kortex_device_manager::SafetyStatus &output)
-{
- output.value = input.value();
-
- return 0;
-}
diff --git a/kortex_device_manager/src/deviceconfig_ros_converter.h b/kortex_device_manager/src/deviceconfig_ros_converter.h
deleted file mode 100644
index cc1632c7..00000000
--- a/kortex_device_manager/src/deviceconfig_ros_converter.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_DeviceConfigROS_CONVERTER_H_
-#define _KORTEX_DeviceConfigROS_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-
-#include "kortex_device_manager/DeviceType.h"
-#include "kortex_device_manager/RunMode.h"
-#include "kortex_device_manager/FirmwareVersion.h"
-#include "kortex_device_manager/BootloaderVersion.h"
-#include "kortex_device_manager/ModelNumber.h"
-#include "kortex_device_manager/PartNumber.h"
-#include "kortex_device_manager/SerialNumber.h"
-#include "kortex_device_manager/MACAddress.h"
-#include "kortex_device_manager/IPv4Settings.h"
-#include "kortex_device_manager/PartNumberRevision.h"
-#include "kortex_device_manager/PowerOnSelfTestResult.h"
-#include "kortex_device_manager/RebootRqst.h"
-#include "kortex_device_manager/SafetyInformation.h"
-#include "kortex_device_manager/SafetyInformationList.h"
-#include "kortex_device_manager/SafetyEnable.h"
-#include "kortex_device_manager/SafetyThreshold.h"
-#include "kortex_device_manager/SafetyConfiguration.h"
-#include "kortex_device_manager/SafetyConfigurationList.h"
-#include "kortex_device_manager/SafetyStatus.h"
-
-
-using namespace Kinova::Api::DeviceConfig;
-
-int ToRosData(DeviceType input, kortex_device_manager::DeviceType &output);
-int ToRosData(RunMode input, kortex_device_manager::RunMode &output);
-int ToRosData(FirmwareVersion input, kortex_device_manager::FirmwareVersion &output);
-int ToRosData(BootloaderVersion input, kortex_device_manager::BootloaderVersion &output);
-int ToRosData(ModelNumber input, kortex_device_manager::ModelNumber &output);
-int ToRosData(PartNumber input, kortex_device_manager::PartNumber &output);
-int ToRosData(SerialNumber input, kortex_device_manager::SerialNumber &output);
-int ToRosData(MACAddress input, kortex_device_manager::MACAddress &output);
-int ToRosData(IPv4Settings input, kortex_device_manager::IPv4Settings &output);
-int ToRosData(PartNumberRevision input, kortex_device_manager::PartNumberRevision &output);
-int ToRosData(PowerOnSelfTestResult input, kortex_device_manager::PowerOnSelfTestResult &output);
-int ToRosData(RebootRqst input, kortex_device_manager::RebootRqst &output);
-int ToRosData(SafetyInformation input, kortex_device_manager::SafetyInformation &output);
-int ToRosData(SafetyInformationList input, kortex_device_manager::SafetyInformationList &output);
-int ToRosData(SafetyEnable input, kortex_device_manager::SafetyEnable &output);
-int ToRosData(SafetyThreshold input, kortex_device_manager::SafetyThreshold &output);
-int ToRosData(SafetyConfiguration input, kortex_device_manager::SafetyConfiguration &output);
-int ToRosData(SafetyConfigurationList input, kortex_device_manager::SafetyConfigurationList &output);
-int ToRosData(SafetyStatus input, kortex_device_manager::SafetyStatus &output);
-
-#endif
\ No newline at end of file
diff --git a/kortex_device_manager/src/devicemanager_proto_converter.cpp b/kortex_device_manager/src/devicemanager_proto_converter.cpp
deleted file mode 100644
index ec89c604..00000000
--- a/kortex_device_manager/src/devicemanager_proto_converter.cpp
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#include "devicemanager_proto_converter.h"
-
-#include "common_proto_converter.h"
-
-
-int ToProtoData(kortex_device_manager::DeviceHandles input, DeviceHandles *output)
-{
- output->clear_device_handle();
- for(int i = 0; i < input.device_handle.size(); i++)
- {
- ToProtoData(input.device_handle[i], output->add_device_handle());
- }
-
- return 0;
-}
diff --git a/kortex_device_manager/src/devicemanager_proto_converter.h b/kortex_device_manager/src/devicemanager_proto_converter.h
deleted file mode 100644
index d04d1eae..00000000
--- a/kortex_device_manager/src/devicemanager_proto_converter.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-* KINOVA (R) KORTEX (TM)
-*
-* Copyright (c) 2018 Kinova inc. All rights reserved.
-*
-* This software may be modified and distributed under the
-* terms of the BSD 3-Clause license.
-*
-* Refer to the LICENSE file for details.
-*
-*/
-
-/*
- * This file has been auto-generated and should not be modified.
- */
-
-#ifndef _KORTEX_DeviceManagerPROTO_CONVERTER_H_
-#define _KORTEX_DeviceManagerPROTO_CONVERTER_H_
-
-#include "ros/ros.h"
-
-#include
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#include
-#include
-
-#include