latest pushes
This commit is contained in:
parent
e4e2deb4cd
commit
35470df99e
@ -13,7 +13,7 @@
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# the License.
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cmake_minimum_required(VERSION 3.0.2)
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project(humanoid_robot_intelligence_control_system_controller)
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project(humanoid_robot_intelligence_control_system_external_sensors)
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if($ENV{ROS_VERSION} EQUAL 1)
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find_package(catkin REQUIRED COMPONENTS
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@ -16,10 +16,10 @@ the License.
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-->
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<package format="3">
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<name>humanoid_robot_intelligence_control_system_controller</name>
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<name>humanoid_robot_intelligence_control_system_external_sensors</name>
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<version>0.0.1</version>
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<description>
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This Package is for Detection Math
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This Package is for External Sensors
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</description>
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<license>Apache 2.0</license>
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<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
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@ -19,7 +19,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
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# fetch values from package.xml
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setup_args = generate_distutils_setup(
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scripts=['src/PIDController.py'],
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packages=['humanoid_robot_intelligence_control_system_controller'],
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packages=['humanoid_robot_intelligence_control_system_external_sensors'],
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package_dir={'': 'src'},
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)
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@ -1,82 +0,0 @@
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package humanoid_robot_intelligence_control_system_framework_common
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.3.2 (2023-10-03)
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------------------
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* Make it compatible for ROS1/ROS2
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* Fix bugs
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* Update package.xml and CMakeList.txt for to the latest versions
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* Contributors & Maintainer: Ronaldson Bellande
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0.3.1 (2023-09-27)
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------------------
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* Starting from this point it under a new license
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* Fix errors and Issues
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* Rename Repository for a completely different purpose
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* Make it compatible with ROS/ROS2
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* Upgrade version of all builds and make it more compatible
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* Update package.xml and CMakeList.txt for to the latest versions
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* Contributors & Maintainer: Ronaldson Bellande
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0.2.9 (2018-03-22)
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------------------
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* none
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0.2.8 (2018-03-20)
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------------------
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* tested for system dependencies
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* Contributors: Pyo
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0.2.7 (2018-03-15)
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------------------
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* change the License and package format to version 2
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* Contributors: Pyo
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0.2.6 (2017-08-09)
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------------------
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* none
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0.2.5 (2017-06-09)
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------------------
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* none
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0.2.4 (2017-06-07)
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------------------
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* none
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0.2.3 (2017-05-23)
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------------------
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* updated the cmake file for ros install
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* Contributors: SCH
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0.2.2 (2017-04-24)
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------------------
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* updated for other packages
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* Contributors: Zerom, Kayman
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0.2.1 (2016-11-23)
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------------------
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* Merge the changes and update
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* - dependencies fixed. (Pull requests `#26 <https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues/26>`_)
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* - modified dependency problem.
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* Contributors: Jay Song, Pyo, Zerom
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0.2.0 (2016-08-31)
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------------------
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* updated CHANGLOG.rst for minor release
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* rename ControlMode(CurrentControl -> TorqueControl)
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* rename (port_to_sync_write_torque\_ -> port_to_sync_write_current\_)
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* Contributors: Zerom, Pyo
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0.1.1 (2016-08-18)
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------------------
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* updated the package information
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0.1.0 (2016-08-12)
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------------------
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* modified the package information for release
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* Setting the license to BSD.
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* add SensorState
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add Singleton template
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* Contributors: Jay Song, Zerom, Pyo
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@ -1,60 +0,0 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# Licensed under the Apache License, Version 2.0 (the "License"); you may not
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# use this file except in compliance with the License. You may obtain a copy of
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# the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
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# License for the specific language governing permissions and limitations under
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# the License.
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cmake_minimum_required(VERSION 3.8)
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project(humanoid_robot_intelligence_control_system_framework_common)
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if($ENV{ROS_VERSION} EQUAL 1)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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humanoid_robot_intelligence_control_system_device
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)
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else()
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find_package(ament_cmake REQUIRED)
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endif()
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if($ENV{ROS_VERSION} EQUAL 1)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS
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roscpp
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humanoid_robot_intelligence_control_system_device
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)
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endif()
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_library(${PROJECT_NAME}
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include/${PROJECT_NAME}/motion_module.h
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include/${PROJECT_NAME}/sensor_module.h
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include/${PROJECT_NAME}/singleton.h
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)
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set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
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install(TARGETS humanoid_robot_intelligence_control_system_framework_common
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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@ -1,87 +0,0 @@
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/*******************************************************************************
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* Copyright 2018 ROBOTIS CO., LTD.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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/*
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* motion_module.h
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*
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* Created on: 2016. 1. 15.
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* Author: zerom
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*/
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#ifndef ROBOTIS_FRAMEWORK_COMMON_MOTION_MODULE_H_
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#define ROBOTIS_FRAMEWORK_COMMON_MOTION_MODULE_H_
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#include <map>
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#include <string>
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#include "singleton.h"
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#include "humanoid_robot_intelligence_control_system_device/robot.h"
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#include "humanoid_robot_intelligence_control_system_device/dynamixel.h"
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namespace humanoid_robot_intelligence_control_system_framework
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{
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enum ControlMode
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{
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PositionControl,
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VelocityControl,
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TorqueControl
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};
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class MotionModule
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{
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protected:
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bool enable_;
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std::string module_name_;
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ControlMode control_mode_;
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public:
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std::map<std::string, DynamixelState *> result_;
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virtual ~MotionModule() { }
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std::string getModuleName() { return module_name_; }
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ControlMode getControlMode() { return control_mode_; }
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void setModuleEnable(bool enable)
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{
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if(this->enable_ == enable)
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return;
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this->enable_ = enable;
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if(enable)
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onModuleEnable();
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else
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onModuleDisable();
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}
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bool getModuleEnable() { return enable_; }
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virtual void onModuleEnable() { }
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virtual void onModuleDisable() { }
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virtual void initialize(const int control_cycle_msec, Robot *robot) = 0;
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virtual void process(std::map<std::string, Dynamixel *> dxls, std::map<std::string, double> sensors) = 0;
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virtual void stop() = 0;
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virtual bool isRunning() = 0;
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};
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}
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#endif /* ROBOTIS_FRAMEWORK_COMMON_MOTION_MODULE_H_ */
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@ -1,57 +0,0 @@
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/*******************************************************************************
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* Copyright 2018 ROBOTIS CO., LTD.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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||||
* You may obtain a copy of the License at
|
||||
*
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||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
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||||
* Unless required by applicable law or agreed to in writing, software
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||||
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
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||||
*******************************************************************************/
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/*
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* sensor_module.h
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*
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* Created on: 2016. 3. 30.
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* Author: zerom
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*/
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#ifndef ROBOTIS_FRAMEWORK_COMMON_SENSOR_MODULE_H_
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#define ROBOTIS_FRAMEWORK_COMMON_SENSOR_MODULE_H_
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#include <map>
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#include <string>
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#include "singleton.h"
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#include "humanoid_robot_intelligence_control_system_device/robot.h"
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#include "humanoid_robot_intelligence_control_system_device/dynamixel.h"
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namespace humanoid_robot_intelligence_control_system_framework
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{
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class SensorModule
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{
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protected:
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std::string module_name_;
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public:
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std::map<std::string, double> result_;
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virtual ~SensorModule() { }
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std::string getModuleName() { return module_name_; }
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virtual void initialize(const int control_cycle_msec, Robot *robot) = 0;
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virtual void process(std::map<std::string, Dynamixel *> dxls, std::map<std::string, Sensor *> sensors) = 0;
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};
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}
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#endif /* ROBOTIS_FRAMEWORK_COMMON_SENSOR_MODULE_H_ */
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@ -1,65 +0,0 @@
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/*******************************************************************************
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||||
* Copyright 2018 ROBOTIS CO., LTD.
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||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the "License");
|
||||
* you may not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*******************************************************************************/
|
||||
|
||||
/*
|
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* singleton.h
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*
|
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* Created on: 2016. 5. 17.
|
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* Author: zerom
|
||||
*/
|
||||
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#ifndef ROBOTIS_FRAMEWORK_COMMON_SINGLETON_H_
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#define ROBOTIS_FRAMEWORK_COMMON_SINGLETON_H_
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||||
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namespace humanoid_robot_intelligence_control_system_framework
|
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{
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||||
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template <class T>
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class Singleton
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{
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||||
private:
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||||
static T *unique_instance_;
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||||
|
||||
protected:
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Singleton() { }
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Singleton(Singleton const&) { }
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Singleton& operator=(Singleton const&) { return *this; }
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public:
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static T* getInstance()
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{
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if(unique_instance_ == NULL)
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unique_instance_ = new T;
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return unique_instance_;
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}
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static void destroyInstance()
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{
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if(unique_instance_)
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{
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delete unique_instance_;
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||||
unique_instance_ = NULL;
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||||
}
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||||
}
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||||
};
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template <class T> T* Singleton<T>::unique_instance_ = NULL;
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||||
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}
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#endif /* ROBOTIS_FRAMEWORK_COMMON_SINGLETON_H_ */
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@ -1,52 +0,0 @@
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<?xml version="1.0"?>
|
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<!--
|
||||
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License"); you may not
|
||||
use this file except in compliance with the License. You may obtain a copy of
|
||||
the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
License for the specific language governing permissions and limitations under
|
||||
the License.
|
||||
-->
|
||||
|
||||
<package format="3">
|
||||
<name>humanoid_robot_intelligence_control_system_framework_common</name>
|
||||
<version>0.3.2</version>
|
||||
<description>The package contains commonly used headers for the
|
||||
humanoid_robot_intelligence_control_system_framework</description>
|
||||
<license>Apache 2.0</license>
|
||||
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
|
||||
|
||||
|
||||
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
|
||||
|
||||
<build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
|
||||
<build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</build_depend>
|
||||
|
||||
<build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
|
||||
<build_export_depend condition="$ROS_VERSION == 1">
|
||||
humanoid_robot_intelligence_control_system_device</build_export_depend>
|
||||
|
||||
<exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
|
||||
<exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_device</exec_depend>
|
||||
|
||||
|
||||
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
|
||||
|
||||
<build_depend condition="$ROS_VERSION == 2">roscpp</build_depend>
|
||||
<build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</build_depend>
|
||||
|
||||
<build_export_depend condition="$ROS_VERSION == 2">roscpp</build_export_depend>
|
||||
<build_export_depend condition="$ROS_VERSION == 2">
|
||||
humanoid_robot_intelligence_control_system_device</build_export_depend>
|
||||
|
||||
<exec_depend condition="$ROS_VERSION == 2">roscpp</exec_depend>
|
||||
<exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_device</exec_depend>
|
||||
|
||||
</package>
|
||||
@ -13,7 +13,7 @@
|
||||
# the License.
|
||||
|
||||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(humanoid_robot_intelligence_control_system_controller)
|
||||
project(humanoid_robot_intelligence_control_system_internal_sensors)
|
||||
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
|
||||
@ -16,10 +16,10 @@ the License.
|
||||
-->
|
||||
|
||||
<package format="3">
|
||||
<name>humanoid_robot_intelligence_control_system_controller</name>
|
||||
<name>humanoid_robot_intelligence_control_system_internal_sensors</name>
|
||||
<version>0.0.1</version>
|
||||
<description>
|
||||
This Package is for Detection Math
|
||||
This Package is for Internal Sensors
|
||||
</description>
|
||||
<license>Apache 2.0</license>
|
||||
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
|
||||
|
||||
@ -19,7 +19,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/PIDController.py'],
|
||||
packages=['humanoid_robot_intelligence_control_system_controller'],
|
||||
packages=['humanoid_robot_intelligence_control_system_internal_sensors'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
|
||||
@ -0,0 +1,60 @@
|
||||
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License"); you may not
|
||||
# use this file except in compliance with the License. You may obtain a copy of
|
||||
# the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
# License for the specific language governing permissions and limitations under
|
||||
# the License.
|
||||
|
||||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(humanoid_robot_intelligence_control_system_structure_sensors)
|
||||
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
rospy
|
||||
)
|
||||
|
||||
catkin_package(
|
||||
CATKIN_DEPENDS
|
||||
rospy
|
||||
)
|
||||
|
||||
else()
|
||||
find_package(ament_cmake REQUIRED)
|
||||
find_package(ament_cmake_python REQUIRED)
|
||||
find_package(rclpy REQUIRED)
|
||||
find_package(std_msgs REQUIRED)
|
||||
endif()
|
||||
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
catkin_python_setup()
|
||||
|
||||
catkin_install_python(PROGRAMS
|
||||
src/PIDController.py
|
||||
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
)
|
||||
|
||||
install(DIRECTORY config launch rviz
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
)
|
||||
|
||||
else()
|
||||
ament_python_install_package(${PROJECT_NAME})
|
||||
|
||||
install(PROGRAMS
|
||||
src/PIDController.py
|
||||
DESTINATION lib/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
install(DIRECTORY config launch rviz
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
ament_package()
|
||||
endif()
|
||||
@ -0,0 +1,46 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License"); you may not
|
||||
use this file except in compliance with the License. You may obtain a copy of
|
||||
the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
License for the specific language governing permissions and limitations under
|
||||
the License.
|
||||
-->
|
||||
|
||||
<package format="3">
|
||||
<name>humanoid_robot_intelligence_control_system_structure_sensors</name>
|
||||
<version>0.0.1</version>
|
||||
<description>
|
||||
This Package is for Internal Sensors
|
||||
</description>
|
||||
<license>Apache 2.0</license>
|
||||
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
|
||||
|
||||
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
|
||||
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
|
||||
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_python</buildtool_depend>
|
||||
|
||||
<!-- ROS 1 dependencies -->
|
||||
<depend condition="$ROS_VERSION == 1">rospy</depend>
|
||||
|
||||
<!-- ROS 2 dependencies -->
|
||||
<depend condition="$ROS_VERSION == 2">rclpy</depend>
|
||||
|
||||
<!-- Common dependencies -->
|
||||
<depend>python3-opencv</depend>
|
||||
<depend>python3-yaml</depend>
|
||||
<depend>usb_cam</depend>
|
||||
|
||||
<export>
|
||||
<build_type condition="$ROS_VERSION == 1">catkin</build_type>
|
||||
<build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@ -0,0 +1,26 @@
|
||||
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
#
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
from distutils.core import setup
|
||||
from catkin_pkg.python_setup import generate_distutils_setup
|
||||
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/PIDController.py'],
|
||||
packages=['humanoid_robot_intelligence_control_system_structure_sensors'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
setup(**setup_args)
|
||||
@ -0,0 +1,50 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
#
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
import time
|
||||
from typing import Dict, List, Tuple
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, gains: Tuple[float, float, float], name: str, output_limits: Tuple[float, float] = (-float('inf'), float('inf'))):
|
||||
self.kp, self.ki, self.kd = gains
|
||||
self.name = name
|
||||
self.output_limits = output_limits
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.last_error = 0
|
||||
self.integral = 0
|
||||
self.last_time = time.time()
|
||||
|
||||
def compute(self, setpoint: float, process_variable: float) -> float:
|
||||
current_time = time.time()
|
||||
dt = current_time - self.last_time
|
||||
error = setpoint - process_variable
|
||||
|
||||
self.integral += error * dt
|
||||
derivative = (error - self.last_error) / dt if dt > 0 else 0
|
||||
|
||||
output = self.kp * error + self.ki * self.integral + self.kd * derivative
|
||||
output = max(min(output, self.output_limits[1]), self.output_limits[0])
|
||||
|
||||
self.last_error = error
|
||||
self.last_time = current_time
|
||||
|
||||
return output
|
||||
|
||||
def update_config(self, gains: Tuple[float, float, float]):
|
||||
self.kp, self.ki, self.kd = gains
|
||||
Loading…
Reference in New Issue
Block a user