BRSRI/bellande_humanoid_robot_intelligence_control_system_messages
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Repository split from ROBOTIS-OP3

Browse Source
This commit is contained in:
Kayman 2017-06-01 14:25:22 +09:00
commit fa841ced07
20 changed files with 511 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
.gitignore vendored Normal file
View File

@ -0,0 +1,11 @@
build
devel
bin
lib
msg_gen
srv_gen
qtcreator-build
*~
*.backup
*.user
*.autosave

26
LICENSE Normal file
View File

@ -0,0 +1,26 @@
Software License Agreement (BSD License)
Copyright (c) 2014, ROBOTIS Inc.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of ROBOTIS nor the names of its contributors may be
used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY ROBOTIS "AS IS" AND ANY EXPRESS OR IMPLIED
WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
IN NO EVENT SHALL ROBOTIS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

32
op3_action_module_msgs/CMakeLists.txt Normal file
View File

@ -0,0 +1,32 @@
cmake_minimum_required(VERSION 2.8.3)
project(op3_action_module_msgs)
find_package(catkin REQUIRED COMPONENTS
std_msgs
message_generation
)
add_message_files(
FILES
StartAction.msg
)
add_service_files(
FILES
IsRunning.srv
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
)
include_directories(
${catkin_INCLUDE_DIRS}
)

2
op3_action_module_msgs/msg/StartAction.msg Normal file
View File

@ -0,0 +1,2 @@
int32 page_num
string[] joint_name_array

19
op3_action_module_msgs/package.xml Normal file
View File

@ -0,0 +1,19 @@
<?xml version="1.0"?>
<package>
<name>op3_action_module_msgs</name>
<version>0.1.0</version>
<description>The op3_action_module_msgs package</description>
<maintainer email="hjsong@robotis.com">ROBOTIS</maintainer>
<license>BSD</license>
<author email="hjsong@robotis.com">ROBOTIS</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>std_msgs</run_depend>
<run_depend>message_runtime</run_depend>
</package>

3
op3_action_module_msgs/srv/IsRunning.srv Normal file
View File

@ -0,0 +1,3 @@
---
bool is_running

52
op3_offset_tuner_msgs/CMakeLists.txt Normal file
View File

@ -0,0 +1,52 @@
cmake_minimum_required(VERSION 2.8.3)
project(op3_offset_tuner_msgs)
## 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 COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
## Generate messages in the 'msg' folder
add_message_files(
FILES
JointOffsetData.msg
JointOffsetPositionData.msg
JointTorqueOnOff.msg
JointTorqueOnOffArray.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
GetPresentJointOffsetData.srv
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
catkin_package(
)
###########
## Build ##
###########
## Specify additional locations of header files
include_directories(
${catkin_INCLUDE_DIRS}
)

6
op3_offset_tuner_msgs/msg/JointOffsetData.msg Normal file
View File

@ -0,0 +1,6 @@
string joint_name
float64 goal_value
float64 offset_value
int32 p_gain
int32 i_gain
int32 d_gain

7
op3_offset_tuner_msgs/msg/JointOffsetPositionData.msg Normal file
View File

@ -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

2
op3_offset_tuner_msgs/msg/JointTorqueOnOff.msg Normal file
View File

@ -0,0 +1,2 @@
string joint_name
bool torque_enable

1
op3_offset_tuner_msgs/msg/JointTorqueOnOffArray.msg Normal file
View File

@ -0,0 +1 @@
JointTorqueOnOff[] torque_enable_data

30
op3_offset_tuner_msgs/package.xml Normal file
View File

@ -0,0 +1,30 @@
<?xml version="1.0"?>
<package>
<name>op3_offset_tuner_msgs</name>
<version>0.1.0</version>
<description>The offset_tuner_msgs package</description>
<maintainer email="hjsong@robotis.com">Jay</maintainer>
<license>BSD</license>
<!-- <url type="website">http://wiki.ros.org/offset_tuner_msgs</url> -->
<author email="hjsong@robotis.com">Jay</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>message_runtime</run_depend>
<export>
</export>
</package>

3
op3_offset_tuner_msgs/srv/GetPresentJointOffsetData.srv Normal file
View File

@ -0,0 +1,3 @@
---
JointOffsetPositionData[] present_data_array

188
op3_walking_module_msgs/CMakeLists.txt Normal file
View File

@ -0,0 +1,188 @@
cmake_minimum_required(VERSION 2.8.3)
project(op3_walking_module_msgs)
## 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 COMPONENTS
message_generation
roscpp
rospy
std_msgs
)
## 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
WalkingParam.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
GetWalkingParam.srv
SetWalkingParam.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
)
################################################
## 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 you 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_walking_module_msgs
# CATKIN_DEPENDS message_generation roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(op3_walking_module_msgs
# src/${PROJECT_NAME}/op3_walking_module_msgs.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(op3_walking_module_msgs ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
# add_executable(op3_walking_module_msgs_node src/op3_walking_module_msgs_node.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(op3_walking_module_msgs_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(op3_walking_module_msgs_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 op3_walking_module_msgs op3_walking_module_msgs_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_walking_module_msgs.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)

36
op3_walking_module_msgs/msg/WalkingParam.msg Normal file
View File

@ -0,0 +1,36 @@
####### walking init pose #######
float32 init_x_offset
float32 init_y_offset
float32 init_z_offset
float32 init_roll_offset
float32 init_pitch_offset
float32 init_yaw_offset
####### time parameter #####
float32 period_time
float32 dsp_ratio
float32 step_fb_ratio
########## walking parameter ########
float32 x_move_amplitude
float32 y_move_amplitude
float32 z_move_amplitude
float32 angle_move_amplitude
bool move_aim_on
########## balance parameter ##########
bool balance_enable
float32 balance_hip_roll_gain
float32 balance_knee_gain
float32 balance_ankle_roll_gain
float32 balance_ankle_pitch_gain
float32 y_swap_amplitude
float32 z_swap_amplitude
float32 arm_swing_gain
float32 pelvis_offset
float32 hip_pitch_offset
########## gain parameter ##########
int32 p_gain
int32 i_gain
int32 d_gain

57
op3_walking_module_msgs/package.xml Normal file
View File

@ -0,0 +1,57 @@
<?xml version="1.0"?>
<package>
<name>op3_walking_module_msgs</name>
<version>0.0.0</version>
<description>The op3_walking_module_msgs 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 mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/op3_walking_module_msgs</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, 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 build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

3
op3_walking_module_msgs/srv/GetWalkingParam.srv Normal file
View File

@ -0,0 +1,3 @@
bool get_param
---
WalkingParam parameters

3
op3_walking_module_msgs/srv/SetWalkingParam.srv Normal file
View File

@ -0,0 +1,3 @@
WalkingParam parameters
---
bool result

4
robotis_op3_msgs/CMakeLists.txt Normal file
View File

@ -0,0 +1,4 @@
cmake_minimum_required(VERSION 2.8.3)
project(robotis_op3_msgs)
find_package(catkin REQUIRED)
catkin_metapackage()

26
robotis_op3_msgs/package.xml Normal file
View File

@ -0,0 +1,26 @@
<?xml version="1.0"?>
<package>
<name>robotis_op3_msgs</name>
<version>0.1.0</version>
<description>
ROS packages for the robotis_op3_msgs (meta package)
</description>
<license>BSD</license>
<author email="kmjung@robotis.com">Kayman</author>
<maintainer email="pyo@robotis.com">Pyo</maintainer>
<!-- <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs/issues</url> -->
<!-- <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs</url> -->
<!-- <url type="website">http://wiki.ros.org/robotis_op3_msgs</url> -->
<buildtool_depend>catkin</buildtool_depend>
<run_depend>op3_action_module_msgs</run_depend>
<run_depend>op3_offset_tuner_msgs</run_depend>
<run_depend>op3_walking_module_msgs</run_depend>
<export>
<metapackage/>
</export>
</package>