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Merge release 2.3 to kinetic-devel (#154)
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* Update driver for release 2.3

* Update examples for release 2.3

* Update MoveIt config files for release 2.3

* Update readme
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@alexvannobel
alexvannobel authored Jun 4, 2021
1 parent 996ffaf commit f021809
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Showing 132 changed files with 3,298 additions and 635 deletions.
6 changes: 4 additions & 2 deletions kortex_driver/CMakeLists.txt
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Expand Up @@ -54,11 +54,13 @@ foreach(sub_dir ${srv_generated_dir_list})
add_service_files(DIRECTORY srv/generated/${sub_dir})
endforeach()

add_action_files(DIRECTORY action/non_generated)

## generate added messages and services
generate_messages(DEPENDENCIES std_msgs)
generate_messages(DEPENDENCIES std_msgs actionlib_msgs)

## declare a catkin package
catkin_package()
catkin_package(CATKIN_DEPENDS actionlib_msgs)

if(USE_CONAN)
# Include conan.cmake module and download Kortex API from artifactory
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15 changes: 15 additions & 0 deletions kortex_driver/action/non_generated/FollowCartesianTrajectory.action
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@@ -0,0 +1,15 @@
#The trajectory to follow
CartesianWaypoint[] trajectory
duration goal_time_tolerance
bool use_optimal_blending
---
#result definition
string error_string
int32 error_code
int32 SUCCESSFUL = 0
int32 INVALID_GOAL = -1
int32 PATH_TOLERANCE_VIOLATED = -2

---
#feedback
CartesianWaypoint actual
2 changes: 1 addition & 1 deletion kortex_driver/conanfile.py
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Expand Up @@ -6,4 +6,4 @@
class ROSKortexConan(ConanFile):

def requirements(self):
self.requires("kortex_api_cpp/2.2.0-r.31@kortex/stable")
self.requires("kortex_api_cpp/2.3.0-r.34@kortex/stable")
20 changes: 16 additions & 4 deletions kortex_driver/include/kortex_driver/generated/interfaces/base_services_interface.h
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Expand Up @@ -84,8 +84,8 @@
#include "kortex_driver/ConfigurationChangeNotification.h"
#include "kortex_driver/OnNotificationMappingInfoTopic.h"
#include "kortex_driver/MappingInfoNotification.h"
#include "kortex_driver/OnNotificationControlModeTopic.h"
#include "kortex_driver/ControlModeNotification.h"
#include "kortex_driver/Base_OnNotificationControlModeTopic.h"
#include "kortex_driver/Base_ControlModeNotification.h"
#include "kortex_driver/OnNotificationOperatingModeTopic.h"
#include "kortex_driver/OperatingModeNotification.h"
#include "kortex_driver/OnNotificationSequenceInfoTopic.h"
Expand Down Expand Up @@ -176,12 +176,16 @@
#include "kortex_driver/DeleteAllSequenceTasks.h"
#include "kortex_driver/TakeSnapshot.h"
#include "kortex_driver/GetFirmwareBundleVersions.h"
#include "kortex_driver/ExecuteWaypointTrajectory.h"
#include "kortex_driver/MoveSequenceTask.h"
#include "kortex_driver/DuplicateMapping.h"
#include "kortex_driver/DuplicateMap.h"
#include "kortex_driver/SetControllerConfiguration.h"
#include "kortex_driver/GetControllerConfiguration.h"
#include "kortex_driver/GetAllControllerConfigurations.h"
#include "kortex_driver/ComputeForwardKinematics.h"
#include "kortex_driver/ComputeInverseKinematics.h"
#include "kortex_driver/ValidateWaypointList.h"

#include "kortex_driver/KortexError.h"
#include "kortex_driver/SetDeviceID.h"
Expand Down Expand Up @@ -257,7 +261,7 @@ class IBaseServices
virtual void cb_ConfigurationChangeTopic(Kinova::Api::Base::ConfigurationChangeNotification notif) = 0;
virtual bool OnNotificationMappingInfoTopic(kortex_driver::OnNotificationMappingInfoTopic::Request &req, kortex_driver::OnNotificationMappingInfoTopic::Response &res) = 0;
virtual void cb_MappingInfoTopic(Kinova::Api::Base::MappingInfoNotification notif) = 0;
virtual bool OnNotificationControlModeTopic(kortex_driver::OnNotificationControlModeTopic::Request &req, kortex_driver::OnNotificationControlModeTopic::Response &res) = 0;
virtual bool Base_OnNotificationControlModeTopic(kortex_driver::Base_OnNotificationControlModeTopic::Request &req, kortex_driver::Base_OnNotificationControlModeTopic::Response &res) = 0;
virtual void cb_ControlModeTopic(Kinova::Api::Base::ControlModeNotification notif) = 0;
virtual bool OnNotificationOperatingModeTopic(kortex_driver::OnNotificationOperatingModeTopic::Request &req, kortex_driver::OnNotificationOperatingModeTopic::Response &res) = 0;
virtual void cb_OperatingModeTopic(Kinova::Api::Base::OperatingModeNotification notif) = 0;
Expand Down Expand Up @@ -349,12 +353,16 @@ class IBaseServices
virtual bool DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request &req, kortex_driver::DeleteAllSequenceTasks::Response &res) = 0;
virtual bool TakeSnapshot(kortex_driver::TakeSnapshot::Request &req, kortex_driver::TakeSnapshot::Response &res) = 0;
virtual bool GetFirmwareBundleVersions(kortex_driver::GetFirmwareBundleVersions::Request &req, kortex_driver::GetFirmwareBundleVersions::Response &res) = 0;
virtual bool ExecuteWaypointTrajectory(kortex_driver::ExecuteWaypointTrajectory::Request &req, kortex_driver::ExecuteWaypointTrajectory::Response &res) = 0;
virtual bool MoveSequenceTask(kortex_driver::MoveSequenceTask::Request &req, kortex_driver::MoveSequenceTask::Response &res) = 0;
virtual bool DuplicateMapping(kortex_driver::DuplicateMapping::Request &req, kortex_driver::DuplicateMapping::Response &res) = 0;
virtual bool DuplicateMap(kortex_driver::DuplicateMap::Request &req, kortex_driver::DuplicateMap::Response &res) = 0;
virtual bool SetControllerConfiguration(kortex_driver::SetControllerConfiguration::Request &req, kortex_driver::SetControllerConfiguration::Response &res) = 0;
virtual bool GetControllerConfiguration(kortex_driver::GetControllerConfiguration::Request &req, kortex_driver::GetControllerConfiguration::Response &res) = 0;
virtual bool GetAllControllerConfigurations(kortex_driver::GetAllControllerConfigurations::Request &req, kortex_driver::GetAllControllerConfigurations::Response &res) = 0;
virtual bool ComputeForwardKinematics(kortex_driver::ComputeForwardKinematics::Request &req, kortex_driver::ComputeForwardKinematics::Response &res) = 0;
virtual bool ComputeInverseKinematics(kortex_driver::ComputeInverseKinematics::Request &req, kortex_driver::ComputeInverseKinematics::Response &res) = 0;
virtual bool ValidateWaypointList(kortex_driver::ValidateWaypointList::Request &req, kortex_driver::ValidateWaypointList::Response &res) = 0;

protected:
ros::NodeHandle m_node_handle;
Expand Down Expand Up @@ -449,7 +457,7 @@ class IBaseServices
ros::ServiceServer m_serviceBase_Unsubscribe;
ros::ServiceServer m_serviceOnNotificationConfigurationChangeTopic;
ros::ServiceServer m_serviceOnNotificationMappingInfoTopic;
ros::ServiceServer m_serviceOnNotificationControlModeTopic;
ros::ServiceServer m_serviceBase_OnNotificationControlModeTopic;
ros::ServiceServer m_serviceOnNotificationOperatingModeTopic;
ros::ServiceServer m_serviceOnNotificationSequenceInfoTopic;
ros::ServiceServer m_serviceOnNotificationProtectionZoneTopic;
Expand Down Expand Up @@ -529,11 +537,15 @@ class IBaseServices
ros::ServiceServer m_serviceDeleteAllSequenceTasks;
ros::ServiceServer m_serviceTakeSnapshot;
ros::ServiceServer m_serviceGetFirmwareBundleVersions;
ros::ServiceServer m_serviceExecuteWaypointTrajectory;
ros::ServiceServer m_serviceMoveSequenceTask;
ros::ServiceServer m_serviceDuplicateMapping;
ros::ServiceServer m_serviceDuplicateMap;
ros::ServiceServer m_serviceSetControllerConfiguration;
ros::ServiceServer m_serviceGetControllerConfiguration;
ros::ServiceServer m_serviceGetAllControllerConfigurations;
ros::ServiceServer m_serviceComputeForwardKinematics;
ros::ServiceServer m_serviceComputeInverseKinematics;
ros::ServiceServer m_serviceValidateWaypointList;
};
#endif
7 changes: 7 additions & 0 deletions kortex_driver/include/kortex_driver/generated/interfaces/controlconfig_services_interface.h
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Expand Up @@ -54,6 +54,8 @@
#include "kortex_driver/ResetTwistLinearSoftLimit.h"
#include "kortex_driver/ResetTwistAngularSoftLimit.h"
#include "kortex_driver/ResetJointAccelerationSoftLimits.h"
#include "kortex_driver/ControlConfig_OnNotificationControlModeTopic.h"
#include "kortex_driver/ControlConfig_ControlModeNotification.h"

#include "kortex_driver/KortexError.h"
#include "kortex_driver/SetDeviceID.h"
Expand Down Expand Up @@ -99,12 +101,16 @@ class IControlConfigServices
virtual bool ResetTwistLinearSoftLimit(kortex_driver::ResetTwistLinearSoftLimit::Request &req, kortex_driver::ResetTwistLinearSoftLimit::Response &res) = 0;
virtual bool ResetTwistAngularSoftLimit(kortex_driver::ResetTwistAngularSoftLimit::Request &req, kortex_driver::ResetTwistAngularSoftLimit::Response &res) = 0;
virtual bool ResetJointAccelerationSoftLimits(kortex_driver::ResetJointAccelerationSoftLimits::Request &req, kortex_driver::ResetJointAccelerationSoftLimits::Response &res) = 0;
virtual bool ControlConfig_OnNotificationControlModeTopic(kortex_driver::ControlConfig_OnNotificationControlModeTopic::Request &req, kortex_driver::ControlConfig_OnNotificationControlModeTopic::Response &res) = 0;
virtual void cb_ControlModeTopic(Kinova::Api::ControlConfig::ControlModeNotification notif) = 0;

protected:
ros::NodeHandle m_node_handle;
ros::Publisher m_pub_Error;
ros::Publisher m_pub_ControlConfigurationTopic;
bool m_is_activated_ControlConfigurationTopic;
ros::Publisher m_pub_ControlModeTopic;
bool m_is_activated_ControlModeTopic;

ros::ServiceServer m_serviceSetDeviceID;
ros::ServiceServer m_serviceSetApiOptions;
Expand Down Expand Up @@ -138,5 +144,6 @@ class IControlConfigServices
ros::ServiceServer m_serviceResetTwistLinearSoftLimit;
ros::ServiceServer m_serviceResetTwistAngularSoftLimit;
ros::ServiceServer m_serviceResetJointAccelerationSoftLimits;
ros::ServiceServer m_serviceControlConfig_OnNotificationControlModeTopic;
};
#endif
28 changes: 26 additions & 2 deletions kortex_driver/include/kortex_driver/generated/robot/base_proto_converter.h
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Expand Up @@ -41,6 +41,9 @@
#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"


#include "kortex_driver/GpioConfigurationList.h"
#include "kortex_driver/Base_GpioConfiguration.h"
#include "kortex_driver/GpioPinConfiguration.h"
#include "kortex_driver/FullUserProfile.h"
#include "kortex_driver/UserProfile.h"
#include "kortex_driver/UserProfileList.h"
Expand Down Expand Up @@ -99,7 +102,7 @@
#include "kortex_driver/ConfigurationChangeNotification.h"
#include "kortex_driver/MappingInfoNotification.h"
#include "kortex_driver/Base_ControlModeInformation.h"
#include "kortex_driver/ControlModeNotification.h"
#include "kortex_driver/Base_ControlModeNotification.h"
#include "kortex_driver/ServoingModeInformation.h"
#include "kortex_driver/OperatingModeInformation.h"
#include "kortex_driver/OperatingModeNotification.h"
Expand All @@ -116,6 +119,7 @@
#include "kortex_driver/ControllerState.h"
#include "kortex_driver/ControllerElementState.h"
#include "kortex_driver/ActionNotification.h"
#include "kortex_driver/TrajectoryInfo.h"
#include "kortex_driver/ActionExecutionState.h"
#include "kortex_driver/RobotEventNotification.h"
#include "kortex_driver/FactoryNotification.h"
Expand Down Expand Up @@ -176,6 +180,7 @@
#include "kortex_driver/GripperRequest.h"
#include "kortex_driver/Gripper.h"
#include "kortex_driver/Finger.h"
#include "kortex_driver/GpioCommand.h"
#include "kortex_driver/SystemTime.h"
#include "kortex_driver/ControllerConfigurationMode.h"
#include "kortex_driver/ControllerConfiguration.h"
Expand All @@ -193,10 +198,20 @@
#include "kortex_driver/PreComputedJointTrajectoryElement.h"
#include "kortex_driver/TrajectoryErrorElement.h"
#include "kortex_driver/TrajectoryErrorReport.h"
#include "kortex_driver/WaypointValidationReport.h"
#include "kortex_driver/Waypoint.h"
#include "kortex_driver/AngularWaypoint.h"
#include "kortex_driver/CartesianWaypoint.h"
#include "kortex_driver/WaypointList.h"
#include "kortex_driver/KinematicTrajectoryConstraints.h"
#include "kortex_driver/FirmwareBundleVersions.h"
#include "kortex_driver/FirmwareComponentVersion.h"
#include "kortex_driver/IKData.h"


int ToProtoData(kortex_driver::GpioConfigurationList input, Kinova::Api::Base::GpioConfigurationList *output);
int ToProtoData(kortex_driver::Base_GpioConfiguration input, Kinova::Api::Base::GpioConfiguration *output);
int ToProtoData(kortex_driver::GpioPinConfiguration input, Kinova::Api::Base::GpioPinConfiguration *output);
int ToProtoData(kortex_driver::FullUserProfile input, Kinova::Api::Base::FullUserProfile *output);
int ToProtoData(kortex_driver::UserProfile input, Kinova::Api::Base::UserProfile *output);
int ToProtoData(kortex_driver::UserProfileList input, Kinova::Api::Base::UserProfileList *output);
Expand Down Expand Up @@ -255,7 +270,7 @@ int ToProtoData(kortex_driver::Query input, Kinova::Api::Base::Query *output);
int ToProtoData(kortex_driver::ConfigurationChangeNotification input, Kinova::Api::Base::ConfigurationChangeNotification *output);
int ToProtoData(kortex_driver::MappingInfoNotification input, Kinova::Api::Base::MappingInfoNotification *output);
int ToProtoData(kortex_driver::Base_ControlModeInformation input, Kinova::Api::Base::ControlModeInformation *output);
int ToProtoData(kortex_driver::ControlModeNotification input, Kinova::Api::Base::ControlModeNotification *output);
int ToProtoData(kortex_driver::Base_ControlModeNotification input, Kinova::Api::Base::ControlModeNotification *output);
int ToProtoData(kortex_driver::ServoingModeInformation input, Kinova::Api::Base::ServoingModeInformation *output);
int ToProtoData(kortex_driver::OperatingModeInformation input, Kinova::Api::Base::OperatingModeInformation *output);
int ToProtoData(kortex_driver::OperatingModeNotification input, Kinova::Api::Base::OperatingModeNotification *output);
Expand All @@ -272,6 +287,7 @@ int ToProtoData(kortex_driver::ControllerList input, Kinova::Api::Base::Controll
int ToProtoData(kortex_driver::ControllerState input, Kinova::Api::Base::ControllerState *output);
int ToProtoData(kortex_driver::ControllerElementState input, Kinova::Api::Base::ControllerElementState *output);
int ToProtoData(kortex_driver::ActionNotification input, Kinova::Api::Base::ActionNotification *output);
int ToProtoData(kortex_driver::TrajectoryInfo input, Kinova::Api::Base::TrajectoryInfo *output);
int ToProtoData(kortex_driver::ActionExecutionState input, Kinova::Api::Base::ActionExecutionState *output);
int ToProtoData(kortex_driver::RobotEventNotification input, Kinova::Api::Base::RobotEventNotification *output);
int ToProtoData(kortex_driver::FactoryNotification input, Kinova::Api::Base::FactoryNotification *output);
Expand Down Expand Up @@ -332,6 +348,7 @@ int ToProtoData(kortex_driver::GripperCommand input, Kinova::Api::Base::GripperC
int ToProtoData(kortex_driver::GripperRequest input, Kinova::Api::Base::GripperRequest *output);
int ToProtoData(kortex_driver::Gripper input, Kinova::Api::Base::Gripper *output);
int ToProtoData(kortex_driver::Finger input, Kinova::Api::Base::Finger *output);
int ToProtoData(kortex_driver::GpioCommand input, Kinova::Api::Base::GpioCommand *output);
int ToProtoData(kortex_driver::SystemTime input, Kinova::Api::Base::SystemTime *output);
int ToProtoData(kortex_driver::ControllerConfigurationMode input, Kinova::Api::Base::ControllerConfigurationMode *output);
int ToProtoData(kortex_driver::ControllerConfiguration input, Kinova::Api::Base::ControllerConfiguration *output);
Expand All @@ -349,7 +366,14 @@ int ToProtoData(kortex_driver::PreComputedJointTrajectory input, Kinova::Api::Ba
int ToProtoData(kortex_driver::PreComputedJointTrajectoryElement input, Kinova::Api::Base::PreComputedJointTrajectoryElement *output);
int ToProtoData(kortex_driver::TrajectoryErrorElement input, Kinova::Api::Base::TrajectoryErrorElement *output);
int ToProtoData(kortex_driver::TrajectoryErrorReport input, Kinova::Api::Base::TrajectoryErrorReport *output);
int ToProtoData(kortex_driver::WaypointValidationReport input, Kinova::Api::Base::WaypointValidationReport *output);
int ToProtoData(kortex_driver::Waypoint input, Kinova::Api::Base::Waypoint *output);
int ToProtoData(kortex_driver::AngularWaypoint input, Kinova::Api::Base::AngularWaypoint *output);
int ToProtoData(kortex_driver::CartesianWaypoint input, Kinova::Api::Base::CartesianWaypoint *output);
int ToProtoData(kortex_driver::WaypointList input, Kinova::Api::Base::WaypointList *output);
int ToProtoData(kortex_driver::KinematicTrajectoryConstraints input, Kinova::Api::Base::KinematicTrajectoryConstraints *output);
int ToProtoData(kortex_driver::FirmwareBundleVersions input, Kinova::Api::Base::FirmwareBundleVersions *output);
int ToProtoData(kortex_driver::FirmwareComponentVersion input, Kinova::Api::Base::FirmwareComponentVersion *output);
int ToProtoData(kortex_driver::IKData input, Kinova::Api::Base::IKData *output);

#endif
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