merged with master

added op3_bringup package
2018-04-16 17:47:15 +09:00
parent 2122f8c493
commit 66f3b91ce9
48 changed files with 1024 additions and 263 deletions
--- a/op3_bringup/CMakeLists.txt
+++ b/op3_bringup/CMakeLists.txt
@ -0,0 +1,195 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(op3_bringup)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES op3_bringup
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/op3_bringup.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/op3_bringup_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_op3_bringup.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/op3_bringup/launch/op3_bringup.launch
+++ b/op3_bringup/launch/op3_bringup.launch
@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<launch>        
+  <!-- OP3 Manager -->
+  <include file="$(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 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>op3_bringup</name>
+  <version>0.0.0</version>
+  <description>The op3_bringup package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="robotis@todo.todo">robotis</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/op3_bringup</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</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