From fa841ced07d076727394c492c3cbdc8189b67564 Mon Sep 17 00:00:00 2001 From: Kayman Date: Thu, 1 Jun 2017 14:25:22 +0900 Subject: [PATCH] Repository split from ROBOTIS-OP3 --- .gitignore | 11 + LICENSE | 26 +++ op3_action_module_msgs/CMakeLists.txt | 32 +++ op3_action_module_msgs/msg/StartAction.msg | 2 + op3_action_module_msgs/package.xml | 19 ++ op3_action_module_msgs/srv/IsRunning.srv | 3 + op3_offset_tuner_msgs/CMakeLists.txt | 52 +++++ op3_offset_tuner_msgs/msg/JointOffsetData.msg | 6 + .../msg/JointOffsetPositionData.msg | 7 + .../msg/JointTorqueOnOff.msg | 2 + .../msg/JointTorqueOnOffArray.msg | 1 + op3_offset_tuner_msgs/package.xml | 30 +++ .../srv/GetPresentJointOffsetData.srv | 3 + op3_walking_module_msgs/CMakeLists.txt | 188 ++++++++++++++++++ op3_walking_module_msgs/msg/WalkingParam.msg | 36 ++++ op3_walking_module_msgs/package.xml | 57 ++++++ .../srv/GetWalkingParam.srv | 3 + .../srv/SetWalkingParam.srv | 3 + robotis_op3_msgs/CMakeLists.txt | 4 + robotis_op3_msgs/package.xml | 26 +++ 20 files changed, 511 insertions(+) create mode 100644 .gitignore create mode 100644 LICENSE create mode 100644 op3_action_module_msgs/CMakeLists.txt create mode 100644 op3_action_module_msgs/msg/StartAction.msg create mode 100644 op3_action_module_msgs/package.xml create mode 100644 op3_action_module_msgs/srv/IsRunning.srv create mode 100644 op3_offset_tuner_msgs/CMakeLists.txt create mode 100644 op3_offset_tuner_msgs/msg/JointOffsetData.msg create mode 100644 op3_offset_tuner_msgs/msg/JointOffsetPositionData.msg create mode 100644 op3_offset_tuner_msgs/msg/JointTorqueOnOff.msg create mode 100644 op3_offset_tuner_msgs/msg/JointTorqueOnOffArray.msg create mode 100644 op3_offset_tuner_msgs/package.xml create mode 100644 op3_offset_tuner_msgs/srv/GetPresentJointOffsetData.srv create mode 100644 op3_walking_module_msgs/CMakeLists.txt create mode 100644 op3_walking_module_msgs/msg/WalkingParam.msg create mode 100644 op3_walking_module_msgs/package.xml create mode 100644 op3_walking_module_msgs/srv/GetWalkingParam.srv create mode 100644 op3_walking_module_msgs/srv/SetWalkingParam.srv create mode 100644 robotis_op3_msgs/CMakeLists.txt create mode 100644 robotis_op3_msgs/package.xml diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..36a5c0a --- /dev/null +++ b/.gitignore @@ -0,0 +1,11 @@ +build +devel +bin +lib +msg_gen +srv_gen +qtcreator-build +*~ +*.backup +*.user +*.autosave diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..5298325 --- /dev/null +++ b/LICENSE @@ -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. diff --git a/op3_action_module_msgs/CMakeLists.txt b/op3_action_module_msgs/CMakeLists.txt new file mode 100644 index 0000000..9c37670 --- /dev/null +++ b/op3_action_module_msgs/CMakeLists.txt @@ -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} +) + + diff --git a/op3_action_module_msgs/msg/StartAction.msg b/op3_action_module_msgs/msg/StartAction.msg new file mode 100644 index 0000000..ebbd556 --- /dev/null +++ b/op3_action_module_msgs/msg/StartAction.msg @@ -0,0 +1,2 @@ +int32 page_num +string[] joint_name_array \ No newline at end of file diff --git a/op3_action_module_msgs/package.xml b/op3_action_module_msgs/package.xml new file mode 100644 index 0000000..4f3311d --- /dev/null +++ b/op3_action_module_msgs/package.xml @@ -0,0 +1,19 @@ + + + op3_action_module_msgs + 0.1.0 + The op3_action_module_msgs package + ROBOTIS + + BSD + + ROBOTIS + + catkin + message_generation + std_msgs + + std_msgs + message_runtime + + \ No newline at end of file diff --git a/op3_action_module_msgs/srv/IsRunning.srv b/op3_action_module_msgs/srv/IsRunning.srv new file mode 100644 index 0000000..3937022 --- /dev/null +++ b/op3_action_module_msgs/srv/IsRunning.srv @@ -0,0 +1,3 @@ + +--- +bool is_running \ No newline at end of file diff --git a/op3_offset_tuner_msgs/CMakeLists.txt b/op3_offset_tuner_msgs/CMakeLists.txt new file mode 100644 index 0000000..c83393f --- /dev/null +++ b/op3_offset_tuner_msgs/CMakeLists.txt @@ -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} +) + + diff --git a/op3_offset_tuner_msgs/msg/JointOffsetData.msg b/op3_offset_tuner_msgs/msg/JointOffsetData.msg new file mode 100644 index 0000000..fd825c7 --- /dev/null +++ b/op3_offset_tuner_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_offset_tuner_msgs/msg/JointOffsetPositionData.msg b/op3_offset_tuner_msgs/msg/JointOffsetPositionData.msg new file mode 100644 index 0000000..55d4ec9 --- /dev/null +++ b/op3_offset_tuner_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_offset_tuner_msgs/msg/JointTorqueOnOff.msg b/op3_offset_tuner_msgs/msg/JointTorqueOnOff.msg new file mode 100644 index 0000000..aebfb29 --- /dev/null +++ b/op3_offset_tuner_msgs/msg/JointTorqueOnOff.msg @@ -0,0 +1,2 @@ +string joint_name +bool torque_enable \ No newline at end of file diff --git a/op3_offset_tuner_msgs/msg/JointTorqueOnOffArray.msg b/op3_offset_tuner_msgs/msg/JointTorqueOnOffArray.msg new file mode 100644 index 0000000..99cf794 --- /dev/null +++ b/op3_offset_tuner_msgs/msg/JointTorqueOnOffArray.msg @@ -0,0 +1 @@ +JointTorqueOnOff[] torque_enable_data \ No newline at end of file diff --git a/op3_offset_tuner_msgs/package.xml b/op3_offset_tuner_msgs/package.xml new file mode 100644 index 0000000..1bf1191 --- /dev/null +++ b/op3_offset_tuner_msgs/package.xml @@ -0,0 +1,30 @@ + + + op3_offset_tuner_msgs + 0.1.0 + The offset_tuner_msgs package + + Jay + + BSD + + + + Jay + + catkin + + message_generation + roscpp + rospy + std_msgs + + roscpp + rospy + std_msgs + message_runtime + + + + + \ No newline at end of file diff --git a/op3_offset_tuner_msgs/srv/GetPresentJointOffsetData.srv b/op3_offset_tuner_msgs/srv/GetPresentJointOffsetData.srv new file mode 100644 index 0000000..c7c9bbd --- /dev/null +++ b/op3_offset_tuner_msgs/srv/GetPresentJointOffsetData.srv @@ -0,0 +1,3 @@ + +--- +JointOffsetPositionData[] present_data_array \ No newline at end of file diff --git a/op3_walking_module_msgs/CMakeLists.txt b/op3_walking_module_msgs/CMakeLists.txt new file mode 100644 index 0000000..9c87c1c --- /dev/null +++ b/op3_walking_module_msgs/CMakeLists.txt @@ -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) diff --git a/op3_walking_module_msgs/msg/WalkingParam.msg b/op3_walking_module_msgs/msg/WalkingParam.msg new file mode 100644 index 0000000..bc15391 --- /dev/null +++ b/op3_walking_module_msgs/msg/WalkingParam.msg @@ -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 \ No newline at end of file diff --git a/op3_walking_module_msgs/package.xml b/op3_walking_module_msgs/package.xml new file mode 100644 index 0000000..77f5ab9 --- /dev/null +++ b/op3_walking_module_msgs/package.xml @@ -0,0 +1,57 @@ + + + op3_walking_module_msgs + 0.0.0 + The op3_walking_module_msgs package + + + + + robotis + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + message_generation + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + \ No newline at end of file diff --git a/op3_walking_module_msgs/srv/GetWalkingParam.srv b/op3_walking_module_msgs/srv/GetWalkingParam.srv new file mode 100644 index 0000000..7fd3825 --- /dev/null +++ b/op3_walking_module_msgs/srv/GetWalkingParam.srv @@ -0,0 +1,3 @@ +bool get_param +--- +WalkingParam parameters \ No newline at end of file diff --git a/op3_walking_module_msgs/srv/SetWalkingParam.srv b/op3_walking_module_msgs/srv/SetWalkingParam.srv new file mode 100644 index 0000000..4fea821 --- /dev/null +++ b/op3_walking_module_msgs/srv/SetWalkingParam.srv @@ -0,0 +1,3 @@ +WalkingParam parameters +--- +bool result \ No newline at end of file diff --git a/robotis_op3_msgs/CMakeLists.txt b/robotis_op3_msgs/CMakeLists.txt new file mode 100644 index 0000000..2e7680e --- /dev/null +++ b/robotis_op3_msgs/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(robotis_op3_msgs) +find_package(catkin REQUIRED) +catkin_metapackage() \ No newline at end of file diff --git a/robotis_op3_msgs/package.xml b/robotis_op3_msgs/package.xml new file mode 100644 index 0000000..49ba541 --- /dev/null +++ b/robotis_op3_msgs/package.xml @@ -0,0 +1,26 @@ + + + robotis_op3_msgs + 0.1.0 + + ROS packages for the robotis_op3_msgs (meta package) + + + BSD + Kayman + Pyo + + + + + + catkin + + op3_action_module_msgs + op3_offset_tuner_msgs + op3_walking_module_msgs + + + + + \ No newline at end of file