diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..07bc3c6 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,32 @@ +# This config file for Travis CI utilizes ros-industrial/industrial_ci package. +# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst + +sudo: required +dist: trusty +services: + - docker +language: generic +python: + - "2.7" +compiler: + - gcc +notifications: + email: + on_success: always + on_failure: always + recipients: + - pyo@robotis.com +env: + matrix: + - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian +# - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=jessie +branches: + only: + - master + - develop + - kinetic-devel +install: + - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config +script: + - source .ci_config/travis.sh + 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..f3102d5 --- /dev/null +++ b/op3_online_walking_module_msgs/package.xml @@ -0,0 +1,19 @@ + + + op3_online_walking_module_msgs + 0.0.0 + The op3_online_walking_module_msgs package + Apache License 2.0 + BSD + SCH + Pyo + 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