From cf9661d5746804a23e95b894d98d624add2544eb Mon Sep 17 00:00:00 2001 From: Kayman Date: Mon, 27 Nov 2017 17:46:34 +0900 Subject: [PATCH 1/2] added online_walking_module_msgs --- op3_online_walking_module_msgs/CMakeLists.txt | 61 +++++++++++++++++++ .../msg/FootStepArray.msg | 6 ++ .../msg/FootStepCommand.msg | 7 +++ .../msg/JointPose.msg | 2 + .../msg/KinematicsPose.msg | 4 ++ .../msg/PreviewRequest.msg | 2 + .../msg/PreviewResponse.msg | 6 ++ op3_online_walking_module_msgs/msg/Step2D.msg | 11 ++++ .../msg/Step2DArray.msg | 2 + .../msg/WalkingParam.msg | 5 ++ op3_online_walking_module_msgs/package.xml | 19 ++++++ .../srv/GetJointPose.srv | 3 + .../srv/GetKinematicsPose.srv | 3 + .../srv/GetPreviewMatrix.srv | 3 + 14 files changed, 134 insertions(+) create mode 100644 op3_online_walking_module_msgs/CMakeLists.txt create mode 100644 op3_online_walking_module_msgs/msg/FootStepArray.msg create mode 100644 op3_online_walking_module_msgs/msg/FootStepCommand.msg create mode 100644 op3_online_walking_module_msgs/msg/JointPose.msg create mode 100644 op3_online_walking_module_msgs/msg/KinematicsPose.msg create mode 100644 op3_online_walking_module_msgs/msg/PreviewRequest.msg create mode 100644 op3_online_walking_module_msgs/msg/PreviewResponse.msg create mode 100644 op3_online_walking_module_msgs/msg/Step2D.msg create mode 100644 op3_online_walking_module_msgs/msg/Step2DArray.msg create mode 100644 op3_online_walking_module_msgs/msg/WalkingParam.msg create mode 100644 op3_online_walking_module_msgs/package.xml create mode 100644 op3_online_walking_module_msgs/srv/GetJointPose.srv create mode 100644 op3_online_walking_module_msgs/srv/GetKinematicsPose.srv create mode 100644 op3_online_walking_module_msgs/srv/GetPreviewMatrix.srv diff --git a/op3_online_walking_module_msgs/CMakeLists.txt b/op3_online_walking_module_msgs/CMakeLists.txt new file mode 100644 index 0000000..5769672 --- /dev/null +++ b/op3_online_walking_module_msgs/CMakeLists.txt @@ -0,0 +1,61 @@ +cmake_minimum_required(VERSION 2.8.3) +project(op3_online_walking_module_msgs) + +################################################################################ +# Packages +################################################################################ +find_package(catkin REQUIRED COMPONENTS + sensor_msgs + std_msgs + geometry_msgs + message_generation +) + +################################################################################ +# Declare ROS messages, services and actions +################################################################################ +add_message_files( + FILES + JointPose.msg + KinematicsPose.msg + FootStepCommand.msg + FootStepArray.msg + PreviewRequest.msg + PreviewResponse.msg + WalkingParam.msg + Step2D.msg + Step2DArray.msg +) + +add_service_files( + FILES + GetJointPose.srv + GetKinematicsPose.srv + GetPreviewMatrix.srv +) + +generate_messages( + DEPENDENCIES + std_msgs + sensor_msgs + geometry_msgs +) + +################################################################################ +# Catkin specific configuration +################################################################################ +catkin_package( + CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs +) + +################################################################################ +# Build +################################################################################ + +################################################################################ +# Install +################################################################################ + +################################################################################ +# Test +################################################################################ diff --git a/op3_online_walking_module_msgs/msg/FootStepArray.msg b/op3_online_walking_module_msgs/msg/FootStepArray.msg new file mode 100644 index 0000000..6547797 --- /dev/null +++ b/op3_online_walking_module_msgs/msg/FootStepArray.msg @@ -0,0 +1,6 @@ + +int32 LEFT_FOOT = 0 # Left foot constant +int32 RIGHT_FOOT = 1 # Right foot constant + +int32[] moving_foot +geometry_msgs/Pose2D[] data diff --git a/op3_online_walking_module_msgs/msg/FootStepCommand.msg b/op3_online_walking_module_msgs/msg/FootStepCommand.msg new file mode 100644 index 0000000..1ee0bcf --- /dev/null +++ b/op3_online_walking_module_msgs/msg/FootStepCommand.msg @@ -0,0 +1,7 @@ +string command +string start_leg +int32 step_num +float64 step_time +float64 step_length +float64 side_length +float64 step_angle diff --git a/op3_online_walking_module_msgs/msg/JointPose.msg b/op3_online_walking_module_msgs/msg/JointPose.msg new file mode 100644 index 0000000..6c0e382 --- /dev/null +++ b/op3_online_walking_module_msgs/msg/JointPose.msg @@ -0,0 +1,2 @@ +float64 mov_time +sensor_msgs/JointState pose diff --git a/op3_online_walking_module_msgs/msg/KinematicsPose.msg b/op3_online_walking_module_msgs/msg/KinematicsPose.msg new file mode 100644 index 0000000..ad71488 --- /dev/null +++ b/op3_online_walking_module_msgs/msg/KinematicsPose.msg @@ -0,0 +1,4 @@ +string name +float64 mov_time +geometry_msgs/Pose pose + diff --git a/op3_online_walking_module_msgs/msg/PreviewRequest.msg b/op3_online_walking_module_msgs/msg/PreviewRequest.msg new file mode 100644 index 0000000..8573c8f --- /dev/null +++ b/op3_online_walking_module_msgs/msg/PreviewRequest.msg @@ -0,0 +1,2 @@ +float64 control_cycle +float64 lipm_height diff --git a/op3_online_walking_module_msgs/msg/PreviewResponse.msg b/op3_online_walking_module_msgs/msg/PreviewResponse.msg new file mode 100644 index 0000000..8d8eb04 --- /dev/null +++ b/op3_online_walking_module_msgs/msg/PreviewResponse.msg @@ -0,0 +1,6 @@ +int32 K_row +int32 K_col +float64[] K +int32 P_row +int32 P_col +float64[] P diff --git a/op3_online_walking_module_msgs/msg/Step2D.msg b/op3_online_walking_module_msgs/msg/Step2D.msg new file mode 100644 index 0000000..197993d --- /dev/null +++ b/op3_online_walking_module_msgs/msg/Step2D.msg @@ -0,0 +1,11 @@ +#2D StepData + +geometry_msgs/Pose2D step2d # step pose as relative offset to last leg + + +# which leg to be used (left/right/no, see below) +uint8 moving_foot + +uint8 LEFT_FOOT_SWING = 1 # Left foot constant +uint8 RIGHT_FOOT_SWING = 2 # Right foot constant +uint8 STANDING = 3 # Standing constant diff --git a/op3_online_walking_module_msgs/msg/Step2DArray.msg b/op3_online_walking_module_msgs/msg/Step2DArray.msg new file mode 100644 index 0000000..2b0c30a --- /dev/null +++ b/op3_online_walking_module_msgs/msg/Step2DArray.msg @@ -0,0 +1,2 @@ +float64 step_time +Step2D[] footsteps_2d diff --git a/op3_online_walking_module_msgs/msg/WalkingParam.msg b/op3_online_walking_module_msgs/msg/WalkingParam.msg new file mode 100644 index 0000000..5bf2a72 --- /dev/null +++ b/op3_online_walking_module_msgs/msg/WalkingParam.msg @@ -0,0 +1,5 @@ +float64 dsp_ratio +float64 lipm_height +float64 foot_height_max +float64 zmp_offset_x +float64 zmp_offset_y diff --git a/op3_online_walking_module_msgs/package.xml b/op3_online_walking_module_msgs/package.xml new file mode 100644 index 0000000..7dc05b1 --- /dev/null +++ b/op3_online_walking_module_msgs/package.xml @@ -0,0 +1,19 @@ + + + op3_online_walking_module_msgs + 0.0.1 + The op3_online_walking_module_msgs package + Apache License 2.0 + BSD + SCH + SCH + catkin + std_msgs + sensor_msgs + geometry_msgs + message_generation + std_msgs + sensor_msgs + geometry_msgs + message_runtime + diff --git a/op3_online_walking_module_msgs/srv/GetJointPose.srv b/op3_online_walking_module_msgs/srv/GetJointPose.srv new file mode 100644 index 0000000..4da1a3f --- /dev/null +++ b/op3_online_walking_module_msgs/srv/GetJointPose.srv @@ -0,0 +1,3 @@ + +--- +op3_online_walking_module_msgs/JointPose pose diff --git a/op3_online_walking_module_msgs/srv/GetKinematicsPose.srv b/op3_online_walking_module_msgs/srv/GetKinematicsPose.srv new file mode 100644 index 0000000..8ed3ab0 --- /dev/null +++ b/op3_online_walking_module_msgs/srv/GetKinematicsPose.srv @@ -0,0 +1,3 @@ +string name +--- +op3_online_walking_module_msgs/KinematicsPose pose diff --git a/op3_online_walking_module_msgs/srv/GetPreviewMatrix.srv b/op3_online_walking_module_msgs/srv/GetPreviewMatrix.srv new file mode 100644 index 0000000..f873ac2 --- /dev/null +++ b/op3_online_walking_module_msgs/srv/GetPreviewMatrix.srv @@ -0,0 +1,3 @@ +op3_online_walking_module_msgs/PreviewRequest req +--- +op3_online_walking_module_msgs/PreviewResponse res From 97e248e11d3b6a96311bad3d5c9078e3d26d9782 Mon Sep 17 00:00:00 2001 From: Kayman Date: Wed, 16 May 2018 17:36:51 +0900 Subject: [PATCH 2/2] added message package for op3_tuner --- op3_tuning_module_msgs/CMakeLists.txt | 61 +++++++++++++++++++ .../msg/JointOffsetData.msg | 6 ++ .../msg/JointOffsetPositionData.msg | 7 +++ .../msg/JointTorqueOnOff.msg | 2 + .../msg/JointTorqueOnOffArray.msg | 1 + op3_tuning_module_msgs/package.xml | 21 +++++++ .../srv/GetPresentJointOffsetData.srv | 3 + 7 files changed, 101 insertions(+) create mode 100644 op3_tuning_module_msgs/CMakeLists.txt create mode 100644 op3_tuning_module_msgs/msg/JointOffsetData.msg create mode 100644 op3_tuning_module_msgs/msg/JointOffsetPositionData.msg create mode 100644 op3_tuning_module_msgs/msg/JointTorqueOnOff.msg create mode 100644 op3_tuning_module_msgs/msg/JointTorqueOnOffArray.msg create mode 100644 op3_tuning_module_msgs/package.xml create mode 100644 op3_tuning_module_msgs/srv/GetPresentJointOffsetData.srv diff --git a/op3_tuning_module_msgs/CMakeLists.txt b/op3_tuning_module_msgs/CMakeLists.txt new file mode 100644 index 0000000..d453f5a --- /dev/null +++ b/op3_tuning_module_msgs/CMakeLists.txt @@ -0,0 +1,61 @@ +################################################################################ +# Set minimum required version of cmake, project name and compile options +################################################################################ +cmake_minimum_required(VERSION 2.8.3) +project(op3_tuning_module_msgs) + +################################################################################ +# Find catkin packages and libraries for catkin and system dependencies +################################################################################ +find_package(catkin REQUIRED COMPONENTS + std_msgs + message_generation +) + +################################################################################ +# Setup for python modules and scripts +################################################################################ + +################################################################################ +# Declare ROS messages, services and actions +################################################################################ +add_message_files( + FILES + JointOffsetData.msg + JointOffsetPositionData.msg + JointTorqueOnOff.msg + JointTorqueOnOffArray.msg +) + +add_service_files( + FILES + GetPresentJointOffsetData.srv +) + +generate_messages( + DEPENDENCIES + std_msgs +) + +################################################################################ +# Declare ROS dynamic reconfigure parameters +################################################################################ + +################################################################################ +# Declare catkin specific configuration to be passed to dependent projects +################################################################################ +catkin_package( + CATKIN_DEPENDS std_msgs message_runtime +) + +################################################################################ +# Build +################################################################################ + +################################################################################ +# Install +################################################################################ + +################################################################################ +# Test +################################################################################ diff --git a/op3_tuning_module_msgs/msg/JointOffsetData.msg b/op3_tuning_module_msgs/msg/JointOffsetData.msg new file mode 100644 index 0000000..fd825c7 --- /dev/null +++ b/op3_tuning_module_msgs/msg/JointOffsetData.msg @@ -0,0 +1,6 @@ +string joint_name +float64 goal_value +float64 offset_value +int32 p_gain +int32 i_gain +int32 d_gain \ No newline at end of file diff --git a/op3_tuning_module_msgs/msg/JointOffsetPositionData.msg b/op3_tuning_module_msgs/msg/JointOffsetPositionData.msg new file mode 100644 index 0000000..55d4ec9 --- /dev/null +++ b/op3_tuning_module_msgs/msg/JointOffsetPositionData.msg @@ -0,0 +1,7 @@ +string joint_name +float64 goal_value +float64 offset_value +float64 present_value +int32 p_gain +int32 i_gain +int32 d_gain \ No newline at end of file diff --git a/op3_tuning_module_msgs/msg/JointTorqueOnOff.msg b/op3_tuning_module_msgs/msg/JointTorqueOnOff.msg new file mode 100644 index 0000000..aebfb29 --- /dev/null +++ b/op3_tuning_module_msgs/msg/JointTorqueOnOff.msg @@ -0,0 +1,2 @@ +string joint_name +bool torque_enable \ No newline at end of file diff --git a/op3_tuning_module_msgs/msg/JointTorqueOnOffArray.msg b/op3_tuning_module_msgs/msg/JointTorqueOnOffArray.msg new file mode 100644 index 0000000..99cf794 --- /dev/null +++ b/op3_tuning_module_msgs/msg/JointTorqueOnOffArray.msg @@ -0,0 +1 @@ +JointTorqueOnOff[] torque_enable_data \ No newline at end of file diff --git a/op3_tuning_module_msgs/package.xml b/op3_tuning_module_msgs/package.xml new file mode 100644 index 0000000..6801ca8 --- /dev/null +++ b/op3_tuning_module_msgs/package.xml @@ -0,0 +1,21 @@ + + + op3_tuning_module_msgs + 0.0.1 + + This package includes ROS messages and services for the ROBOTIS OP3 packages + + Apache 2.0 + Kayman + Pyo + http://wiki.ros.org/op3_tuning_module_msgs + http://emanual.robotis.com/docs/en/platform/op3/robotis_ros_packages/ + https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs + https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs/issues + catkin + std_msgs + message_generation + message_runtime + message_runtime + + diff --git a/op3_tuning_module_msgs/srv/GetPresentJointOffsetData.srv b/op3_tuning_module_msgs/srv/GetPresentJointOffsetData.srv new file mode 100644 index 0000000..c7c9bbd --- /dev/null +++ b/op3_tuning_module_msgs/srv/GetPresentJointOffsetData.srv @@ -0,0 +1,3 @@ + +--- +JointOffsetPositionData[] present_data_array \ No newline at end of file