diff --git a/gpio_controller/CMakeLists.txt b/gpio_controller/CMakeLists.txt index 306b37ff..0ff11e49 100644 --- a/gpio_controller/CMakeLists.txt +++ b/gpio_controller/CMakeLists.txt @@ -3,14 +3,10 @@ project(gpio_controller) find_package(catkin REQUIRED COMPONENTS roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface controller_interface realtime_tools ) @@ -20,13 +16,10 @@ catkin_package( include CATKIN_DEPENDS roscpp - roslint - rm_msgs rm_common pluginlib - hardware_interface controller_interface realtime_tools LIBRARIES ${PROJECT_NAME} @@ -61,13 +54,10 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( FILES gpio_controller_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) - - -roslint_cpp() diff --git a/gpio_controller/package.xml b/gpio_controller/package.xml index d7344e0f..ca0b58b8 100644 --- a/gpio_controller/package.xml +++ b/gpio_controller/package.xml @@ -9,13 +9,10 @@ catkin - rm_msgs rm_common pluginlib roscpp - roslint controller_interface - hardware_interface realtime_tools diff --git a/gpio_controller/launch/gpio_controller.launch b/gpio_controller/test/gpio_controller.launch similarity index 100% rename from gpio_controller/launch/gpio_controller.launch rename to gpio_controller/test/gpio_controller.launch diff --git a/gpio_controller/config/gpio_controller.yaml b/gpio_controller/test/gpio_controller.yaml similarity index 100% rename from gpio_controller/config/gpio_controller.yaml rename to gpio_controller/test/gpio_controller.yaml diff --git a/mimic_joint_controller/CMakeLists.txt b/mimic_joint_controller/CMakeLists.txt index f18986a3..8ad3faf0 100644 --- a/mimic_joint_controller/CMakeLists.txt +++ b/mimic_joint_controller/CMakeLists.txt @@ -3,10 +3,8 @@ project(mimic_joint_controller) find_package(catkin REQUIRED COMPONENTS roscpp - roslint pluginlib - hardware_interface controller_interface ) @@ -15,10 +13,8 @@ catkin_package( include CATKIN_DEPENDS roscpp - roslint pluginlib - hardware_interface controller_interface LIBRARIES ${PROJECT_NAME} ) @@ -51,14 +47,7 @@ install( ) # Mark other files for installation -install( - DIRECTORY config - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) install( FILES mimic_joint_controller_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) - - -roslint_cpp() diff --git a/mimic_joint_controller/config/mimic_config_template.yaml b/mimic_joint_controller/config/mimic_config_template.yaml deleted file mode 100644 index 103a38fb..00000000 --- a/mimic_joint_controller/config/mimic_config_template.yaml +++ /dev/null @@ -1,6 +0,0 @@ -controllers: - mimic_joint1_controller: - type: mimic_joint_controller/MimicJointController - target_joint: "joint1" - joint: "mimic_joint1" - pid: { p: 8, i: 0, d: 0.4, i_clamp_max: 0.0, i_clamp_min: 0.0, antiwindup: true, publish_state: true } diff --git a/mimic_joint_controller/package.xml b/mimic_joint_controller/package.xml index 7edfd002..3d82dfa3 100644 --- a/mimic_joint_controller/package.xml +++ b/mimic_joint_controller/package.xml @@ -11,9 +11,7 @@ pluginlib roscpp - roslint controller_interface - hardware_interface diff --git a/rm_calibration_controllers/CMakeLists.txt b/rm_calibration_controllers/CMakeLists.txt index 3aa5fb07..9321cf69 100755 --- a/rm_calibration_controllers/CMakeLists.txt +++ b/rm_calibration_controllers/CMakeLists.txt @@ -13,16 +13,9 @@ add_definitions(-Wall -Werror) find_package(catkin REQUIRED COMPONENTS roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface - controller_interface - realtime_tools effort_controllers - control_msgs ) ################################### @@ -40,16 +33,9 @@ catkin_package( LIBRARIES CATKIN_DEPENDS roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface - controller_interface - realtime_tools effort_controllers - control_msgs LIBRARIES ${PROJECT_NAME} ) @@ -105,9 +91,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core) #endif () - -########################## -## Static code analysis ## -########################## - -roslint_cpp() diff --git a/rm_calibration_controllers/README.md b/rm_calibration_controllers/README.md index a252ca2d..12b8a16c 100644 --- a/rm_calibration_controllers/README.md +++ b/rm_calibration_controllers/README.md @@ -34,31 +34,11 @@ Or better, use `rosdep`: sudo rosdep install --from-paths src -### Building from Source +### Dependencies -#### Dependencies * roscpp -* roslint -* rm_msgs * rm_common -* pluginlib -* hardware_interface -* controller_interface -* realtime_tools * effort_controllers -* control_msgs - - -#### Building - -To build from source, clone the latest version from this repository into your catkin workspace and compile the package using - - cd catkin_workspace/src - git clone https://github.com/rm-controls/rm_controllers.git - cd ../ - rosdep install --from-paths . --ignore-src - catkin_make - ## ROS API @@ -80,6 +60,15 @@ To build from source, clone the latest version from this repository into your ca This is velocity `threshold`. When the real time velocity of target joint lower than threshold, and last for a while, it can switch CALIBRATED from MOVING. +#### Complete description + +```yaml +cover_controller: + type: effort_controllers/JointPositionController + joint: "cover_joint" + pid: { p: 15.0, i: 0.0, d: 1.2, i_clamp_max: 0.0, i_clamp_min: 0.0, antiwindup: true, publish_state: true } +``` + ## Bugs & Feature Requests diff --git a/rm_calibration_controllers/package.xml b/rm_calibration_controllers/package.xml index 673daba8..94d82ad2 100755 --- a/rm_calibration_controllers/package.xml +++ b/rm_calibration_controllers/package.xml @@ -11,17 +11,10 @@ catkin roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface - controller_interface - realtime_tools effort_controllers - control_msgs diff --git a/rm_chassis_controllers/CMakeLists.txt b/rm_chassis_controllers/CMakeLists.txt index a89846bb..baa73a25 100644 --- a/rm_chassis_controllers/CMakeLists.txt +++ b/rm_chassis_controllers/CMakeLists.txt @@ -13,18 +13,11 @@ add_definitions(-Wall -Werror -Wno-enum-compare) find_package(catkin REQUIRED COMPONENTS roscpp - roslint - rm_msgs rm_common - nav_msgs - pluginlib - controller_interface - realtime_tools effort_controllers tf2_geometry_msgs - angles ) find_package(Eigen3 REQUIRED) @@ -45,18 +38,11 @@ catkin_package( LIBRARIES CATKIN_DEPENDS roscpp - roslint - rm_msgs rm_common - nav_msgs - pluginlib - controller_interface - realtime_tools effort_controllers tf2_geometry_msgs - angles LIBRARIES ${PROJECT_NAME} ) @@ -106,7 +92,7 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( @@ -126,9 +112,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core) #endif () - -########################## -## Static code analysis ## -########################## - -roslint_cpp() diff --git a/rm_chassis_controllers/README.md b/rm_chassis_controllers/README.md index 73f9d74b..dd9b910d 100644 --- a/rm_chassis_controllers/README.md +++ b/rm_chassis_controllers/README.md @@ -31,51 +31,15 @@ Or better, use `rosdep`: sudo rosdep install --from-paths src ``` -### Building from Source - -#### Dependencies +### Dependencies * [Robot Operating System (ROS)](http://wiki.ros.org/) (middleware for robotics), * roscpp -* roslint -* rm_msgs * rm_common -* pluginlib -* hardware_interface -* controller_interface -* forward_command_controller -* realtime_tools -* control_toolbox * effort_controllers -* tf2 * tf2_geometry_msgs -* angles -* imu_sensor_controller * robot_localization -#### Building - -* Build this package with catkin build. Clone the latest version from this repository into your catkin workspace. - -``` -catkin_workspace/src -git clone https://github.com/rm-controls/rm_controllers.git -rosdep install --from-paths . --ignore-src -catkin build -``` - -## Usage - -Run the controller with mon launch: - -``` -mon launch rm_chassis_controllers load_controllers.launch -``` - -## Launch files - -* **load_controllers.launch:** It loads tf, robot_localization and some controllers, robot_state_controller, joint_state_controller and chassis controller are included. - ## ROS API #### Subscribed Topics diff --git a/rm_chassis_controllers/package.xml b/rm_chassis_controllers/package.xml index 710c3a13..b01721d9 100644 --- a/rm_chassis_controllers/package.xml +++ b/rm_chassis_controllers/package.xml @@ -13,18 +13,13 @@ catkin roscpp - roslint - rm_msgs rm_common - nav_msgs - pluginlib - controller_interface - realtime_tools effort_controllers tf2_geometry_msgs - angles + + robot_localization diff --git a/rm_chassis_controllers/launch/load_controllers.launch b/rm_chassis_controllers/test/load_controllers.launch similarity index 100% rename from rm_chassis_controllers/launch/load_controllers.launch rename to rm_chassis_controllers/test/load_controllers.launch diff --git a/rm_chassis_controllers/config/template_omni.yaml b/rm_chassis_controllers/test/template_omni.yaml similarity index 100% rename from rm_chassis_controllers/config/template_omni.yaml rename to rm_chassis_controllers/test/template_omni.yaml diff --git a/rm_chassis_controllers/config/template_reaction_wheel.yaml b/rm_chassis_controllers/test/template_reaction_wheel.yaml similarity index 100% rename from rm_chassis_controllers/config/template_reaction_wheel.yaml rename to rm_chassis_controllers/test/template_reaction_wheel.yaml diff --git a/rm_chassis_controllers/config/template_swerve.yaml b/rm_chassis_controllers/test/template_swerve.yaml similarity index 100% rename from rm_chassis_controllers/config/template_swerve.yaml rename to rm_chassis_controllers/test/template_swerve.yaml diff --git a/rm_gimbal_controllers/CMakeLists.txt b/rm_gimbal_controllers/CMakeLists.txt index 8f6d3db3..dd4dca24 100644 --- a/rm_gimbal_controllers/CMakeLists.txt +++ b/rm_gimbal_controllers/CMakeLists.txt @@ -14,19 +14,10 @@ add_definitions(-Wall -Werror) find_package(catkin REQUIRED COMPONENTS roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface - controller_interface - forward_command_controller - realtime_tools - control_toolbox effort_controllers - tf2 tf2_eigen tf2_geometry_msgs visualization_msgs @@ -53,24 +44,14 @@ catkin_package( LIBRARIES CATKIN_DEPENDS roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface - controller_interface - forward_command_controller - realtime_tools - control_toolbox effort_controllers - tf2 tf2_eigen tf2_geometry_msgs visualization_msgs dynamic_reconfigure - angles LIBRARIES ${PROJECT_NAME} ) @@ -113,7 +94,7 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( @@ -133,9 +114,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core) #endif () - -########################## -## Static code analysis ## -########################## - -roslint_cpp() diff --git a/rm_gimbal_controllers/README.md b/rm_gimbal_controllers/README.md index dfa34a68..71378730 100644 --- a/rm_gimbal_controllers/README.md +++ b/rm_gimbal_controllers/README.md @@ -33,46 +33,15 @@ Or better, use `rosdep`: sudo rosdep install --from-paths src -### Building from Source -#### Dependencies +### Dependencies * roscpp -* roslint -* rm_msgs * rm_common -* pluginlib -* hardware_interface -* controller_interface -* forward_command_controller -* realtime_tools -* control_toolbox * effort_controllers -* tf2 +* tf2_eigen * tf2_geometry_msgs -* angles * visualization_msgs * dynamic_reconfigure -#### Building - -To build from source, clone the latest version from this repository into your catkin workspace and compile the package using - - cd catkin_workspace/src - git clone https://github.com/rm-controls/rm_controllers.git - cd ../ - rosdep install --from-paths . --ignore-src - catkin build - - -## Usage - -Run the controller with mon launch: - - mon launch rm_gimbal_controller load_controllers.launch - -## Launch files - -* **load_controllers.launch**: Load the parameters in config files and load tf and robot_state_controller, joint_state_controller, gimbal_controller. - ## ROS API #### Subscribed Topics diff --git a/rm_gimbal_controllers/package.xml b/rm_gimbal_controllers/package.xml index d1d96335..7565b649 100644 --- a/rm_gimbal_controllers/package.xml +++ b/rm_gimbal_controllers/package.xml @@ -11,19 +11,10 @@ catkin roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface - controller_interface - forward_command_controller - realtime_tools - control_toolbox effort_controllers - tf2 tf2_eigen tf2_geometry_msgs visualization_msgs diff --git a/rm_gimbal_controllers/config/engineer.yaml b/rm_gimbal_controllers/test/engineer.yaml similarity index 100% rename from rm_gimbal_controllers/config/engineer.yaml rename to rm_gimbal_controllers/test/engineer.yaml diff --git a/rm_gimbal_controllers/config/gimbal_config_template.yaml b/rm_gimbal_controllers/test/gimbal_config_template.yaml similarity index 100% rename from rm_gimbal_controllers/config/gimbal_config_template.yaml rename to rm_gimbal_controllers/test/gimbal_config_template.yaml diff --git a/rm_gimbal_controllers/config/hero.yaml b/rm_gimbal_controllers/test/hero.yaml similarity index 100% rename from rm_gimbal_controllers/config/hero.yaml rename to rm_gimbal_controllers/test/hero.yaml diff --git a/rm_gimbal_controllers/launch/load_controllers.launch b/rm_gimbal_controllers/test/load_controllers.launch similarity index 100% rename from rm_gimbal_controllers/launch/load_controllers.launch rename to rm_gimbal_controllers/test/load_controllers.launch diff --git a/rm_gimbal_controllers/config/sentry.yaml b/rm_gimbal_controllers/test/sentry.yaml similarity index 100% rename from rm_gimbal_controllers/config/sentry.yaml rename to rm_gimbal_controllers/test/sentry.yaml diff --git a/rm_gimbal_controllers/config/standard3.yaml b/rm_gimbal_controllers/test/standard3.yaml similarity index 100% rename from rm_gimbal_controllers/config/standard3.yaml rename to rm_gimbal_controllers/test/standard3.yaml diff --git a/rm_gimbal_controllers/config/standard4.yaml b/rm_gimbal_controllers/test/standard4.yaml similarity index 100% rename from rm_gimbal_controllers/config/standard4.yaml rename to rm_gimbal_controllers/test/standard4.yaml diff --git a/rm_gimbal_controllers/config/standard5.yaml b/rm_gimbal_controllers/test/standard5.yaml similarity index 100% rename from rm_gimbal_controllers/config/standard5.yaml rename to rm_gimbal_controllers/test/standard5.yaml diff --git a/rm_orientation_controller/CMakeLists.txt b/rm_orientation_controller/CMakeLists.txt index 56ab9c68..ad72be07 100644 --- a/rm_orientation_controller/CMakeLists.txt +++ b/rm_orientation_controller/CMakeLists.txt @@ -13,18 +13,12 @@ add_definitions(-Wall -Werror) find_package(catkin REQUIRED COMPONENTS roscpp - roslint sensor_msgs - rm_msgs rm_common pluginlib - hardware_interface - controller_interface forward_command_controller - realtime_tools - tf2 tf2_geometry_msgs angles ) @@ -39,17 +33,12 @@ catkin_package( LIBRARIES CATKIN_DEPENDS roscpp - roslint sensor_msgs - rm_msgs rm_common pluginlib - hardware_interface - controller_interface forward_command_controller - tf2 tf2_geometry_msgs angles LIBRARIES ${PROJECT_NAME} @@ -94,8 +83,8 @@ install( # Mark other files for installation install( - DIRECTORY config launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + DIRECTORY test + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( FILES rm_orientation_controller_plugin.xml @@ -114,9 +103,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core) #endif () - -########################## -## Static code analysis ## -########################## - -roslint_cpp() diff --git a/rm_orientation_controller/README.md b/rm_orientation_controller/README.md index f3daa954..191f9a71 100644 --- a/rm_orientation_controller/README.md +++ b/rm_orientation_controller/README.md @@ -58,26 +58,13 @@ Or better, use `rosdep`: sudo rosdep install --from-paths src -### Building from Source - -#### Dependencies +### Dependencies - [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics), - [Eigen] (linear algebra library) sudo rosdep install --from-paths src -#### Building - -To build from source, clone the latest version from this repository into your catkin workspace and compile the package -using - - cd catkin_workspace/src - git clone https://github.com/ethz-asl/ros_best_practices.git - cd ../ - rosdep install --from-paths . --ignore-src - catkin_make - ### Running in Docker Docker is a great way to run an application with all dependencies and libraries bundles together. Make sure @@ -113,14 +100,6 @@ Run the static code analysis with catkin_make roslint_ros_package_template -## Usage - -Describe the quickest way to run this software, for example: - -Run the main node with - - roslaunch ros_package_template ros_package_template.launch - ## Config files Config file folder/set 1 @@ -131,20 +110,6 @@ Config file folder/set 2 * **...** -## Launch files - -* **launch_file_1.launch:** shortly explain what is launched (e.g standard simulation, simulation with gdb,...) - - Argument set 1 - - - **`argument_1`** Short description (e.g. as commented in launch file). Default: `default_value`. - - Argument set 2 - - - **`...`** - -* **...** - ## Nodes ### ros_package_template @@ -183,6 +148,17 @@ Reads temperature measurements and computed the average. ... +#### Complete description + +```yaml +orientation_controller: + type: rm_orientation_controller/Controller + publish_rate: 100 + name: "gimbal_imu" + frame_source: "odom" + frame_target: "base_link" +``` + ## Bugs & Feature Requests Please report bugs and request features using the [Issue Tracker](https://github.com/gdut-dynamic-x/rm_template/issues) diff --git a/rm_orientation_controller/package.xml b/rm_orientation_controller/package.xml index e265d06c..d4902dc1 100644 --- a/rm_orientation_controller/package.xml +++ b/rm_orientation_controller/package.xml @@ -11,18 +11,12 @@ catkin roscpp - roslint sensor_msgs - rm_msgs rm_common pluginlib - hardware_interface - controller_interface forward_command_controller - realtime_tools - tf2 tf2_geometry_msgs angles diff --git a/rm_orientation_controller/launch/load_controllers.launch b/rm_orientation_controller/test/load_controllers.launch similarity index 100% rename from rm_orientation_controller/launch/load_controllers.launch rename to rm_orientation_controller/test/load_controllers.launch diff --git a/rm_orientation_controller/config/orientation_config_template.yaml b/rm_orientation_controller/test/orientation_config_template.yaml similarity index 100% rename from rm_orientation_controller/config/orientation_config_template.yaml rename to rm_orientation_controller/test/orientation_config_template.yaml diff --git a/rm_shooter_controllers/CMakeLists.txt b/rm_shooter_controllers/CMakeLists.txt index 3d1d09a4..726f9d27 100644 --- a/rm_shooter_controllers/CMakeLists.txt +++ b/rm_shooter_controllers/CMakeLists.txt @@ -13,17 +13,9 @@ add_definitions(-Wall -Werror) find_package(catkin REQUIRED COMPONENTS roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface - controller_interface - forward_command_controller - realtime_tools - control_toolbox effort_controllers dynamic_reconfigure ) @@ -47,17 +39,9 @@ catkin_package( LIBRARIES CATKIN_DEPENDS roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface - controller_interface - forward_command_controller - realtime_tools - control_toolbox effort_controllers dynamic_reconfigure LIBRARIES ${PROJECT_NAME} @@ -105,7 +89,7 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( @@ -125,9 +109,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core) #endif () - -########################## -## Static code analysis ## -########################## - -roslint_cpp() diff --git a/rm_shooter_controllers/README.md b/rm_shooter_controllers/README.md index cde2a3e5..8cc4e698 100644 --- a/rm_shooter_controllers/README.md +++ b/rm_shooter_controllers/README.md @@ -37,51 +37,17 @@ or better use `rosdep`: sudo rosdep install --from-paths src ``` -### Building from Source +### Dependencies -#### Dependencies - -- rm_description - roscpp -- roslint -- rm_msgs - rm_common -- pluginlib -- controller_interface -- hardware_interface -- forward_command_controller -- realtime_tools -- control_toolbox - effort_controllers - dynamic_reconfigure -#### Building - -To build this package with catkin build. Clone the latest version from this repository into your catkin workspace. - -``` -catkin_workspace/src -git clone https://github.com/rm-controls/rm_controllers.git -rosdep install --from-paths . --ignore-src -catkin build -``` - -## Usage - -Run the controller with mon launch: - -``` -mon launch rm_shooter_controllers load_controllers.launch -``` - ## Cfg + **shooter.cfg:** Add parameters related to friction wheel's angular velocity corresponding to each bullet speed and trigger block detection parameters. -## Launch files - -- **load_controller.launch:** Load the parameters in config files and load the shooter controller. - ## ROS API #### Subscribed Topics diff --git a/rm_shooter_controllers/package.xml b/rm_shooter_controllers/package.xml index 3a323c0b..c1c06993 100644 --- a/rm_shooter_controllers/package.xml +++ b/rm_shooter_controllers/package.xml @@ -11,17 +11,9 @@ catkin roscpp - roslint - rm_msgs rm_common - pluginlib - hardware_interface - controller_interface - forward_command_controller - realtime_tools - control_toolbox effort_controllers dynamic_reconfigure diff --git a/rm_shooter_controllers/launch/load_controllers.launch b/rm_shooter_controllers/test/load_controllers.launch similarity index 100% rename from rm_shooter_controllers/launch/load_controllers.launch rename to rm_shooter_controllers/test/load_controllers.launch diff --git a/rm_shooter_controllers/config/shooter_config_template.yaml b/rm_shooter_controllers/test/shooter_config_template.yaml similarity index 100% rename from rm_shooter_controllers/config/shooter_config_template.yaml rename to rm_shooter_controllers/test/shooter_config_template.yaml diff --git a/robot_state_controller/CMakeLists.txt b/robot_state_controller/CMakeLists.txt index 296bf1c5..e9f3a99a 100644 --- a/robot_state_controller/CMakeLists.txt +++ b/robot_state_controller/CMakeLists.txt @@ -13,17 +13,12 @@ add_definitions(-Wall -Werror) find_package(catkin REQUIRED COMPONENTS roscpp - roslint rm_common - hardware_interface controller_interface - urdf - tf2_ros tf2_kdl kdl_parser realtime_tools - pluginlib ) ################################### @@ -42,16 +37,11 @@ catkin_package( ${PROJECT_NAME} CATKIN_DEPENDS roscpp - roslint rm_common - hardware_interface controller_interface - urdf - tf2_ros kdl_parser realtime_tools - pluginlib LIBRARIES ${PROJECT_NAME} ) @@ -99,10 +89,10 @@ install( ) ## Mark other files for installation -#install( -# DIRECTORY doc -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -#) +install( + DIRECTORY test + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) ############# ## Testing ## @@ -116,9 +106,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core) #endif () - -########################## -## Static code analysis ## -########################## - -roslint_cpp() diff --git a/robot_state_controller/README.md b/robot_state_controller/README.md new file mode 100644 index 00000000..34a4c25c --- /dev/null +++ b/robot_state_controller/README.md @@ -0,0 +1,93 @@ +# robot_state_controller + +## Overview + +The robot_state_controller uses the URDF specified by the parameter robot_description and the joint positions from the `hardware_interface::JointStateInterface` to calculate the forward kinematics of the robot and publish the results via tf, and reads and manages the external incoming tf. + +**keywords:** ROS, urdf, transformation, joint + +#### License + +The source code is released under a [BSD 3-Clause license](https://github.com/rm-controls/rm_controllers/blob/master/LICENSE). + +**Author: DynamicX
+Affiliation: DynamicX
+Maintainer: DynamicX** + +The robot_state_controller package has been tested under [ROS](http://www.ros.org) Melodic and Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. + +### Hardware interface type + ++ `JointStateInterface` Used to get the positions of different joints. ++ `RobotStateInterface` Used to obtain and maintain the transformation relationship of each link of the entire robot. + +## Installation + +### Installation from Packages + +To install all packages from this repository as Debian packages use + +```shell +sudo apt-get install ros-noetic-robot-state-controller +``` + +or better use `rosdep`: + +```shell +sudo rosdep install --from-paths src +``` + +### Dependencies + +* roscpp +* rm_common +* controller_interface +* tf2_kdl +* kdl_parser +* realtime_tools + +## ROS API + +#### Subscribed Topics + +* **`tf`** (tf2_msgs/TFMessage) + + Obtain and manage maintenance real-time transformation information. + +* **`tf_static`**(tf2_msgs/TFMessage) + + Obtain and manage maintenance static transformation information. + +#### Parameters + +* **`publish_rate`** (double) + + Publish frequency of state publisher, default: 50Hz. + +* **`use_tf_static`** (bool) + + Set whether to use the /tf_static latched static transform broadcaster.Default: true. + +* **`ignore_timestamp`** (bool) + + If true, ignore the publish_frequency and the timestamp of joint_states and publish a tf for each of the received joint_states. Default: false. + +* **`buffer_duration`** (double) + + The time to keep a history of transforms. + +* **`robot_description`** (string) + + The urdf xml robot description. + +#### Complete description + +```yaml +robot_state_controller: + type: robot_state_controller/RobotStateController + publish_rate: 100 +``` + +## Bugs & Feature Requests + +Please report bugs and request features using the [Issue Tracker](https://github.com/rm-controls/rm_controllers/issues). diff --git a/robot_state_controller/package.xml b/robot_state_controller/package.xml index 9ffaf888..fb29bb6a 100644 --- a/robot_state_controller/package.xml +++ b/robot_state_controller/package.xml @@ -11,17 +11,12 @@ catkin roscpp - roslint rm_common controller_interface - hardware_interface - urdf kdl_parser - tf2_ros tf2_kdl realtime_tools - pluginlib diff --git a/robot_state_controller/config/config.yaml b/robot_state_controller/test/config.yaml similarity index 100% rename from robot_state_controller/config/config.yaml rename to robot_state_controller/test/config.yaml diff --git a/robot_state_controller/launch/load_controllers.launch b/robot_state_controller/test/load_controllers.launch similarity index 100% rename from robot_state_controller/launch/load_controllers.launch rename to robot_state_controller/test/load_controllers.launch diff --git a/tof_radar_controller/CMakeLists.txt b/tof_radar_controller/CMakeLists.txt index 6232eed1..78f1f87d 100644 --- a/tof_radar_controller/CMakeLists.txt +++ b/tof_radar_controller/CMakeLists.txt @@ -3,14 +3,11 @@ project(tof_radar_controller) find_package(catkin REQUIRED COMPONENTS roscpp - roslint - rm_msgs rm_common pluginlib - hardware_interface controller_interface realtime_tools ) @@ -20,13 +17,10 @@ catkin_package( include CATKIN_DEPENDS roscpp - roslint - rm_msgs rm_common pluginlib - hardware_interface controller_interface realtime_tools LIBRARIES ${PROJECT_NAME} @@ -61,13 +55,10 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( FILES tof_radar_controller_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) - - -roslint_cpp() diff --git a/tof_radar_controller/package.xml b/tof_radar_controller/package.xml index 015cb435..3c55533e 100644 --- a/tof_radar_controller/package.xml +++ b/tof_radar_controller/package.xml @@ -9,13 +9,10 @@ catkin - rm_msgs rm_common pluginlib roscpp - roslint controller_interface - hardware_interface realtime_tools diff --git a/tof_radar_controller/launch/load_controller.launch b/tof_radar_controller/test/load_controller.launch similarity index 100% rename from tof_radar_controller/launch/load_controller.launch rename to tof_radar_controller/test/load_controller.launch diff --git a/tof_radar_controller/config/tof_config_template.yaml b/tof_radar_controller/test/tof_config_template.yaml similarity index 100% rename from tof_radar_controller/config/tof_config_template.yaml rename to tof_radar_controller/test/tof_config_template.yaml