Merge pull request #13 from ROBOTIS-GIT/develop

Develop
2018-04-17 17:05:37 +09:00 · 2018-04-17 17:05:37 +09:00 · 1c1871ec43
commit 1c1871ec43
parent 014a28cd8f b627f131b9
7 changed files with 445 additions and 0 deletions
--- a/ball_detector/cfg/DetectorParamsBlue.cfg
+++ b/ball_detector/cfg/DetectorParamsBlue.cfg
--- a/ball_detector/cfg/DetectorParamsRed.cfg
+++ b/ball_detector/cfg/DetectorParamsRed.cfg
--- a/op3_bringup/CMakeLists.txt
+++ b/op3_bringup/CMakeLists.txt
@ -0,0 +1,42 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 2.8.3)
+project(op3_bringup)
+
+################################################################################
+# Find catkin packages and libraries for catkin and system dependencies
+################################################################################
+find_package(catkin REQUIRED)
+
+################################################################################
+# Setup for python modules and scripts
+################################################################################
+
+################################################################################
+# Declare ROS messages, services and actions
+################################################################################
+
+################################################################################
+# Declare ROS dynamic reconfigure parameters
+################################################################################
+
+################################################################################
+# Declare catkin specific configuration to be passed to dependent projects
+################################################################################
+catkin_package()
+
+################################################################################
+# Build
+################################################################################
+
+################################################################################
+# Install
+################################################################################
+install(DIRECTORY launch rviz
+	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+################################################################################
+# Test
+################################################################################
--- a/op3_bringup/launch/op3_bringup.launch
+++ b/op3_bringup/launch/op3_bringup.launch
@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<launch>        
+  <!-- OP3 Manager -->
+  <include file="$(find op3_manager)/launch/op3_manager.launch" />	
+	
+  <!-- UVC camera -->
+  <node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
+    <param name="video_device" type="string" value="/dev/video0" />
+    <param name="image_width" type="int" value="1280" />
+    <param name="image_height" type="int" value="720" />
+    <param name="framerate " type="int" value="30" />
+    <param name="camera_frame_id" type="string" value="cam_link" />
+    <param name="camera_name" type="string" value="camera" />
+  </node>
+</launch>
--- a/op3_bringup/launch/op3_bringup_visualization.launch
+++ b/op3_bringup/launch/op3_bringup_visualization.launch
@ -0,0 +1,18 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find op3_description)/urdf/robotis_op3.urdf.xacro'"/>
+
+  <!-- Send fake joint values and monitoring present joint angle -->
+  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
+    <param name="use_gui" value="TRUE"/>
+    <rosparam param="/source_list">[/robotis/present_joint_states]</rosparam>
+  </node>
+
+  <!-- Combine joint values -->
+  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+    <remap from="/joint_states" to="/robotis/present_joint_states" />
+  </node>
+
+  <!-- Show in Rviz   -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find op3_bringup)/rviz/op3_bringup.rviz"/>
+</launch>
--- a/op3_bringup/package.xml
+++ b/op3_bringup/package.xml
@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>op3_bringup</name>
+  <version>0.0.1</version>
+  <description>
+    This package is a demo for first time users.
+    There is an example in the demo where you can run and visualize the robot.
+  </description>
+  <license>Apache 2.0</license>
+  <author email="kmjung@robotis.com">Kayman</author>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <url type="website">http://wiki.ros.org/op3_bringup</url>
+  <url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>op3_manager</exec_depend>
+  <exec_depend>usb_cam</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>  
+</package>
--- a/op3_bringup/rviz/op3_bringup.rviz
+++ b/op3_bringup/rviz/op3_bringup.rviz
@ -0,0 +1,348 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 352
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        body_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        cam_gazebo_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        cam_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_pan_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_tilt_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_ank_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_ank_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_el_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_hip_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_hip_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_hip_yaw_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_knee_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_sho_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_sho_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_ank_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_ank_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_el_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_hip_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_hip_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_hip_yaw_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_knee_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_sho_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_sho_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /usb_cam_node/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        body_link:
+          Value: true
+        cam_gazebo_link:
+          Value: true
+        cam_link:
+          Value: true
+        head_pan_link:
+          Value: true
+        head_tilt_link:
+          Value: true
+        l_ank_pitch_link:
+          Value: true
+        l_ank_roll_link:
+          Value: true
+        l_el_link:
+          Value: true
+        l_hip_pitch_link:
+          Value: true
+        l_hip_roll_link:
+          Value: true
+        l_hip_yaw_link:
+          Value: true
+        l_knee_link:
+          Value: true
+        l_sho_pitch_link:
+          Value: true
+        l_sho_roll_link:
+          Value: true
+        r_ank_pitch_link:
+          Value: true
+        r_ank_roll_link:
+          Value: true
+        r_el_link:
+          Value: true
+        r_hip_pitch_link:
+          Value: true
+        r_hip_roll_link:
+          Value: true
+        r_hip_yaw_link:
+          Value: true
+        r_knee_link:
+          Value: true
+        r_sho_pitch_link:
+          Value: true
+        r_sho_roll_link:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 0.200000003
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        world:
+          body_link:
+            head_pan_link:
+              head_tilt_link:
+                cam_gazebo_link:
+                  {}
+                cam_link:
+                  {}
+            l_hip_yaw_link:
+              l_hip_roll_link:
+                l_hip_pitch_link:
+                  l_knee_link:
+                    l_ank_pitch_link:
+                      l_ank_roll_link:
+                        {}
+            l_sho_pitch_link:
+              l_sho_roll_link:
+                l_el_link:
+                  {}
+            r_hip_yaw_link:
+              r_hip_roll_link:
+                r_hip_pitch_link:
+                  r_knee_link:
+                    r_ank_pitch_link:
+                      r_ank_roll_link:
+                        {}
+            r_sho_pitch_link:
+              r_sho_roll_link:
+                r_el_link:
+                  {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: body_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.0015856
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.425398082
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.78858471
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1023
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000023300000358fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000043000001f1000000df00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000023a000001610000001800ffffff000000010000010f00000358fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004300000358000000b800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000022400fffffffb0000000800540069006d00650100000000000004500000000000000000000005470000035800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 0
+  Y: 0