diff --git a/Dockerfile b/docker/Dockerfile similarity index 100% rename from Dockerfile rename to docker/Dockerfile diff --git a/gpu.Dockerfile b/docker/gpu.Dockerfile similarity index 100% rename from gpu.Dockerfile rename to docker/gpu.Dockerfile diff --git a/humanoid_msgs/CHANGELOG.rst b/humanoid_msgs/CHANGELOG.rst new file mode 100644 index 0000000..a45f6e2 --- /dev/null +++ b/humanoid_msgs/CHANGELOG.rst @@ -0,0 +1,15 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package humanoid_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.0 (2022-05-06) +------------------ +* Update package.xml and CMakeList.txt for noetic branch +* Ronaldson Bellande + +0.2.0 (2013-10-25) +------------------ +* Initial catkinization + +0.1.2 (2013-01-10) +------------------ diff --git a/humanoid_msgs/CMakeLists.txt b/humanoid_msgs/CMakeLists.txt new file mode 100644 index 0000000..35058c6 --- /dev/null +++ b/humanoid_msgs/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.0.2) +project(humanoid_msgs) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/humanoid_msgs/package.xml b/humanoid_msgs/package.xml new file mode 100644 index 0000000..e36067b --- /dev/null +++ b/humanoid_msgs/package.xml @@ -0,0 +1,20 @@ + + humanoid_msgs + 0.3.0 + + Messages and services for humanoid robots + + Armin Hornung + Ronaldson Bellande + BSD + + http://www.ros.org/wiki/humanoid_msgs + https://github.com/ahornung/humanoid_msgs/issues + https://github.com/ahornung/humanoid_msgs + + catkin + + + + + diff --git a/humanoid_nav_msgs/CHANGELOG.rst b/humanoid_nav_msgs/CHANGELOG.rst new file mode 100644 index 0000000..695fb0f --- /dev/null +++ b/humanoid_nav_msgs/CHANGELOG.rst @@ -0,0 +1,26 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package humanoid_nav_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.0 (2022-05-06) +------------------ +* Update package.xml and CMakeList.txt for noetic branch +* Ronaldson Bellande + +0.3.0 (2014-01-16) +------------------ +* Add service to (re)plan between feet as start and goal. +* Contributors: Armin Hornung + +0.2.0 (2013-10-25) +------------------ +* Initial catkinization + +0.1.2 (2013-01-10) +------------------ +* spelling mistake corrected +* added more details to PlanFootsteps srv result +* action ExecFootsteps can now feedback changeable_footsteps and robot_pose (see naoqi docu for further info) +* integrated a new action to communicate with the action server provided by nao_footsteps.py in the nao_driver package +* service to clip footsteps +* moved humanoid_nav_msgs into new humanoid_msgs stack diff --git a/humanoid_nav_msgs/CMakeLists.txt b/humanoid_nav_msgs/CMakeLists.txt new file mode 100644 index 0000000..7ed04cf --- /dev/null +++ b/humanoid_nav_msgs/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.0.2) +project(humanoid_nav_msgs) + +#List to make rest of code more readable +set(MESSAGE_DEPENDENCIES std_msgs geometry_msgs actionlib_msgs) + +#Declare build dependencies +find_package( + catkin REQUIRED + COMPONENTS + message_generation + ${MESSAGE_DEPENDENCIES} +) + +#Add message files +add_message_files(DIRECTORY msg FILES StepTarget.msg) + +#Add service files +add_service_files( + DIRECTORY srv + FILES + ClipFootstep.srv + PlanFootsteps.srv + PlanFootstepsBetweenFeet.srv + StepTargetService.srv +) + +#Add action files +add_action_files( + DIRECTORY action + FILES + ExecFootsteps.action +) + +#And now generate the messages +generate_messages(DEPENDENCIES ${MESSAGE_DEPENDENCIES}) + +# Generate catkin/pkg-config import information +catkin_package(CATKIN_DEPENDS message_runtime ${MESSAGE_DEPENDENCIES}) diff --git a/humanoid_nav_msgs/action/ExecFootsteps.action b/humanoid_nav_msgs/action/ExecFootsteps.action new file mode 100644 index 0000000..e5a17f4 --- /dev/null +++ b/humanoid_nav_msgs/action/ExecFootsteps.action @@ -0,0 +1,9 @@ +# Define the goal +humanoid_nav_msgs/StepTarget[] footsteps +float64 feedback_frequency +--- +# Define the result +humanoid_nav_msgs/StepTarget[] executed_footsteps +--- +# Define a feedback message +humanoid_nav_msgs/StepTarget[] executed_footsteps diff --git a/humanoid_nav_msgs/msg/StepTarget.msg b/humanoid_nav_msgs/msg/StepTarget.msg new file mode 100644 index 0000000..3f7354c --- /dev/null +++ b/humanoid_nav_msgs/msg/StepTarget.msg @@ -0,0 +1,7 @@ +# Target for a single stepping motion of a humanoid's leg + +geometry_msgs/Pose2D pose # step pose as relative offset to last leg +uint8 leg # which leg to use (left/right, see below) + +uint8 right=0 # right leg constant +uint8 left=1 # left leg constant diff --git a/humanoid_nav_msgs/package.xml b/humanoid_nav_msgs/package.xml new file mode 100644 index 0000000..7d59c0f --- /dev/null +++ b/humanoid_nav_msgs/package.xml @@ -0,0 +1,26 @@ + + humanoid_nav_msgs + 0.3.0 + + Messages and services for humanoid robot navigation + + Armin Hornung + Ronaldson Bellande + BSD + + http://ros.org/wiki/humanoid_nav_msgs + https://github.com/ahornung/humanoid_msgs/issues + https://github.com/ahornung/humanoid_msgs + + catkin + + message_generation + std_msgs + geometry_msgs + actionlib_msgs + + message_runtime + std_msgs + geometry_msgs + actionlib_msgs + diff --git a/humanoid_nav_msgs/srv/ClipFootstep.srv b/humanoid_nav_msgs/srv/ClipFootstep.srv new file mode 100644 index 0000000..758b8a1 --- /dev/null +++ b/humanoid_nav_msgs/srv/ClipFootstep.srv @@ -0,0 +1,3 @@ +StepTarget step +--- +StepTarget step diff --git a/humanoid_nav_msgs/srv/PlanFootsteps.srv b/humanoid_nav_msgs/srv/PlanFootsteps.srv new file mode 100644 index 0000000..7491f38 --- /dev/null +++ b/humanoid_nav_msgs/srv/PlanFootsteps.srv @@ -0,0 +1,9 @@ +geometry_msgs/Pose2D start +geometry_msgs/Pose2D goal +--- +bool result +humanoid_nav_msgs/StepTarget[] footsteps +float64 costs +float64 final_eps +float64 planning_time +int64 expanded_states diff --git a/humanoid_nav_msgs/srv/PlanFootstepsBetweenFeet.srv b/humanoid_nav_msgs/srv/PlanFootstepsBetweenFeet.srv new file mode 100644 index 0000000..9518b8c --- /dev/null +++ b/humanoid_nav_msgs/srv/PlanFootstepsBetweenFeet.srv @@ -0,0 +1,11 @@ +humanoid_nav_msgs/StepTarget start_left +humanoid_nav_msgs/StepTarget start_right +humanoid_nav_msgs/StepTarget goal_left +humanoid_nav_msgs/StepTarget goal_right +--- +bool result +humanoid_nav_msgs/StepTarget[] footsteps +float64 costs +float64 final_eps +float64 planning_time +int64 expanded_states diff --git a/humanoid_nav_msgs/srv/StepTargetService.srv b/humanoid_nav_msgs/srv/StepTargetService.srv new file mode 100644 index 0000000..6e2eec5 --- /dev/null +++ b/humanoid_nav_msgs/srv/StepTargetService.srv @@ -0,0 +1,3 @@ +# Step target as service: +humanoid_nav_msgs/StepTarget step +--- diff --git a/push.sh b/push.sh new file mode 100755 index 0000000..3435685 --- /dev/null +++ b/push.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +# Git push what is already in the repository +git pull --no-edit; git fetch; git add .; git commit -am "latest pushes"; git push diff --git a/requirements.txt b/requirements/requirements.txt similarity index 100% rename from requirements.txt rename to requirements/requirements.txt diff --git a/ros_repository_requirements.txt b/requirements/ros_repository_requirements.txt similarity index 100% rename from ros_repository_requirements.txt rename to requirements/ros_repository_requirements.txt diff --git a/ros_requirements.txt b/requirements/ros_requirements.txt similarity index 100% rename from ros_requirements.txt rename to requirements/ros_requirements.txt diff --git a/system_requirements.txt b/requirements/system_requirements.txt similarity index 100% rename from system_requirements.txt rename to requirements/system_requirements.txt diff --git a/robotis_controller_msgs/CHANGELOG.rst b/robotis_controller_msgs/CHANGELOG.rst new file mode 100644 index 0000000..bdf8a37 --- /dev/null +++ b/robotis_controller_msgs/CHANGELOG.rst @@ -0,0 +1,37 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package robotis_controller_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.0 (2021-05-03) +------------------ +* Update package.xml and CMakeList.txt for noetic branch +* Contributors: Ronaldson Bellande + +0.1.4 (2018-03-22) +------------------ +* added service to set module +* modified documents +* Contributors: Kayman, Pyo + +0.1.3 (2018-03-20) +------------------ +* refactoring to release +* Contributors: Pyo + +0.1.2 (2018-03-15) +------------------ +* changed LICENSE +* refactoring for release +* Contributors: Pyo + +0.1.1 (2016-11-23) +------------------ +* added WriteControlTable.msg +* Contributors: SCH, Jay Song, Zerom + +0.1.0 (2016-08-12) +------------------ +* first public release for Kinetic +* modified the package information +* added robotis_controller_msgs +* Contributors: Zerom, Pyo diff --git a/robotis_controller_msgs/CMakeLists.txt b/robotis_controller_msgs/CMakeLists.txt new file mode 100755 index 0000000..d7459f5 --- /dev/null +++ b/robotis_controller_msgs/CMakeLists.txt @@ -0,0 +1,70 @@ +################################################################################ +# Set minimum required version of cmake, project name and compile options +################################################################################ +cmake_minimum_required(VERSION 3.0.2) +project(robotis_controller_msgs) + +################################################################################ +# Find catkin packages and libraries for catkin and system dependencies +################################################################################ +find_package( + catkin REQUIRED COMPONENTS + std_msgs + sensor_msgs + message_generation +) + +################################################################################ +# Setup for python modules and scripts +################################################################################ + +################################################################################ +# Declare ROS messages, services and actions +################################################################################ +add_message_files( + FILES + SyncWriteItem.msg + JointCtrlModule.msg + StatusMsg.msg + WriteControlTable.msg +) + +add_service_files( + FILES + GetJointModule.srv + SetJointModule.srv + SetModule.srv + LoadOffset.srv +) + +generate_messages( + DEPENDENCIES + std_msgs + sensor_msgs +) + +################################################################################ +# Declare ROS dynamic reconfigure parameters +################################################################################ + +################################################################################ +# Declare catkin specific configuration to be passed to dependent projects +################################################################################ +catkin_package( + CATKIN_DEPENDS + std_msgs + sensor_msgs + message_runtime +) + +################################################################################ +# Build +################################################################################ + +################################################################################ +# Install +################################################################################ + +################################################################################ +# Test +################################################################################ diff --git a/robotis_controller_msgs/msg/JointCtrlModule.msg b/robotis_controller_msgs/msg/JointCtrlModule.msg new file mode 100644 index 0000000..b91eb4d --- /dev/null +++ b/robotis_controller_msgs/msg/JointCtrlModule.msg @@ -0,0 +1,2 @@ +string[] joint_name +string[] module_name \ No newline at end of file diff --git a/robotis_controller_msgs/msg/StatusMsg.msg b/robotis_controller_msgs/msg/StatusMsg.msg new file mode 100644 index 0000000..47b706c --- /dev/null +++ b/robotis_controller_msgs/msg/StatusMsg.msg @@ -0,0 +1,10 @@ +# Status Constants +uint8 STATUS_UNKNOWN = 0 +uint8 STATUS_INFO = 1 +uint8 STATUS_WARN = 2 +uint8 STATUS_ERROR = 3 + +std_msgs/Header header +uint8 type +string module_name +string status_msg \ No newline at end of file diff --git a/robotis_controller_msgs/msg/SyncWriteItem.msg b/robotis_controller_msgs/msg/SyncWriteItem.msg new file mode 100644 index 0000000..4d602b6 --- /dev/null +++ b/robotis_controller_msgs/msg/SyncWriteItem.msg @@ -0,0 +1,3 @@ +string item_name +string[] joint_name +uint32[] value \ No newline at end of file diff --git a/robotis_controller_msgs/msg/WriteControlTable.msg b/robotis_controller_msgs/msg/WriteControlTable.msg new file mode 100644 index 0000000..5037788 --- /dev/null +++ b/robotis_controller_msgs/msg/WriteControlTable.msg @@ -0,0 +1,4 @@ +string joint_name +string start_item_name +uint16 data_length +uint8[] data \ No newline at end of file diff --git a/robotis_controller_msgs/package.xml b/robotis_controller_msgs/package.xml new file mode 100644 index 0000000..4b25b9a --- /dev/null +++ b/robotis_controller_msgs/package.xml @@ -0,0 +1,34 @@ + + + robotis_controller_msgs + 0.3.0 + This package includes ROS messages and services for robotis_framework packages + Apache 2.0 + Zerom + Kayman + Ronaldson Bellande + + http://wiki.ros.org/robotis_controller_msgs + http://emanual.robotis.com/docs/en/software/robotis_framework_packages/ + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs + https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs/issues + + catkin + + std_msgs + sensor_msgs + message_generation + message_runtime + + std_msgs + sensor_msgs + message_generation + message_runtime + + std_msgs + sensor_msgs + message_generation + message_runtime + + + diff --git a/robotis_controller_msgs/srv/GetJointModule.srv b/robotis_controller_msgs/srv/GetJointModule.srv new file mode 100644 index 0000000..bedde91 --- /dev/null +++ b/robotis_controller_msgs/srv/GetJointModule.srv @@ -0,0 +1,4 @@ +string[] joint_name +--- +string[] joint_name +string[] module_name \ No newline at end of file diff --git a/robotis_controller_msgs/srv/LoadOffset.srv b/robotis_controller_msgs/srv/LoadOffset.srv new file mode 100644 index 0000000..ca971e3 --- /dev/null +++ b/robotis_controller_msgs/srv/LoadOffset.srv @@ -0,0 +1,3 @@ +string file_path +--- +bool result \ No newline at end of file diff --git a/robotis_controller_msgs/srv/SetJointModule.srv b/robotis_controller_msgs/srv/SetJointModule.srv new file mode 100644 index 0000000..df968e2 --- /dev/null +++ b/robotis_controller_msgs/srv/SetJointModule.srv @@ -0,0 +1,4 @@ +string[] joint_name +string[] module_name +--- +bool result \ No newline at end of file diff --git a/robotis_controller_msgs/srv/SetModule.srv b/robotis_controller_msgs/srv/SetModule.srv new file mode 100644 index 0000000..2a1e3f5 --- /dev/null +++ b/robotis_controller_msgs/srv/SetModule.srv @@ -0,0 +1,3 @@ +string module_name +--- +bool result \ No newline at end of file