From 32f16c0737adc82189e8d84848cc3e2b45050eb1 Mon Sep 17 00:00:00 2001 From: NaHCO3bc Date: Thu, 28 Jul 2022 21:39:29 +0800 Subject: [PATCH 1/4] Add README.md about robot_state_controller. --- robot_state_controller/README.md | 123 +++++++++++++++++++++++++++++++ 1 file changed, 123 insertions(+) create mode 100644 robot_state_controller/README.md diff --git a/robot_state_controller/README.md b/robot_state_controller/README.md new file mode 100644 index 00000000..65c6c368 --- /dev/null +++ b/robot_state_controller/README.md @@ -0,0 +1,123 @@ +# 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 +``` + +### Building from Source + +#### Dependencies + +* roscpp +* roslint +* rm_common +* hardware_interface +* controller_interface +* urdf +* tf2_ros +* tf2_kdl +* kdl_parser +* realtime_tools +* pluginlib + +#### Building + +To build this package with catkin build. Clone the latest version from this repository into your catkin workspace. + +```bash +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: + +```shell +mon launch robot_state_controller load_controllers.launch +``` + +## Launch files + +- **load_controller.launch:** Load the parameters in config files and load the robot_state_controller. + +## 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). From c43414b829db3a5da39e3737c044ec4e89c8d28b Mon Sep 17 00:00:00 2001 From: NaHCO3bc Date: Sat, 30 Jul 2022 17:41:13 +0800 Subject: [PATCH 2/4] Add test file floder to replace the launch and config file floder. --- gpio_controller/CMakeLists.txt | 2 +- gpio_controller/{launch => test}/gpio_controller.launch | 0 gpio_controller/{config => test}/gpio_controller.yaml | 0 mimic_joint_controller/CMakeLists.txt | 4 ---- mimic_joint_controller/config/mimic_config_template.yaml | 6 ------ rm_chassis_controllers/CMakeLists.txt | 2 +- .../{launch => test}/load_controllers.launch | 0 rm_chassis_controllers/{config => test}/localization.yaml | 0 .../{config => test}/template_mecanum.yaml | 0 .../{config => test}/template_omni.yaml | 0 .../{config => test}/template_reaction_wheel.yaml | 0 .../{config => test}/template_swerve.yaml | 0 rm_gimbal_controllers/CMakeLists.txt | 2 +- rm_gimbal_controllers/{config => test}/engineer.yaml | 0 .../{config => test}/gimbal_config_template.yaml | 0 rm_gimbal_controllers/{config => test}/hero.yaml | 0 .../{launch => test}/load_controllers.launch | 0 rm_gimbal_controllers/{config => test}/sentry.yaml | 0 rm_gimbal_controllers/{config => test}/standard3.yaml | 0 rm_gimbal_controllers/{config => test}/standard4.yaml | 0 rm_gimbal_controllers/{config => test}/standard5.yaml | 0 rm_orientation_controller/CMakeLists.txt | 4 ++-- .../{launch => test}/load_controllers.launch | 0 .../{config => test}/orientation_config_template.yaml | 0 rm_shooter_controllers/CMakeLists.txt | 2 +- .../{launch => test}/load_controllers.launch | 0 .../{config => test}/shooter_config_template.yaml | 0 robot_state_controller/CMakeLists.txt | 8 ++++---- robot_state_controller/{config => test}/config.yaml | 0 .../{launch => test}/load_controllers.launch | 0 tof_radar_controller/CMakeLists.txt | 2 +- .../{launch => test}/load_controller.launch | 0 .../{config => test}/tof_config_template.yaml | 0 33 files changed, 11 insertions(+), 21 deletions(-) rename gpio_controller/{launch => test}/gpio_controller.launch (100%) rename gpio_controller/{config => test}/gpio_controller.yaml (100%) delete mode 100644 mimic_joint_controller/config/mimic_config_template.yaml rename rm_chassis_controllers/{launch => test}/load_controllers.launch (100%) rename rm_chassis_controllers/{config => test}/localization.yaml (100%) rename rm_chassis_controllers/{config => test}/template_mecanum.yaml (100%) rename rm_chassis_controllers/{config => test}/template_omni.yaml (100%) rename rm_chassis_controllers/{config => test}/template_reaction_wheel.yaml (100%) rename rm_chassis_controllers/{config => test}/template_swerve.yaml (100%) rename rm_gimbal_controllers/{config => test}/engineer.yaml (100%) rename rm_gimbal_controllers/{config => test}/gimbal_config_template.yaml (100%) rename rm_gimbal_controllers/{config => test}/hero.yaml (100%) rename rm_gimbal_controllers/{launch => test}/load_controllers.launch (100%) rename rm_gimbal_controllers/{config => test}/sentry.yaml (100%) rename rm_gimbal_controllers/{config => test}/standard3.yaml (100%) rename rm_gimbal_controllers/{config => test}/standard4.yaml (100%) rename rm_gimbal_controllers/{config => test}/standard5.yaml (100%) rename rm_orientation_controller/{launch => test}/load_controllers.launch (100%) rename rm_orientation_controller/{config => test}/orientation_config_template.yaml (100%) rename rm_shooter_controllers/{launch => test}/load_controllers.launch (100%) rename rm_shooter_controllers/{config => test}/shooter_config_template.yaml (100%) rename robot_state_controller/{config => test}/config.yaml (100%) rename robot_state_controller/{launch => test}/load_controllers.launch (100%) rename tof_radar_controller/{launch => test}/load_controller.launch (100%) rename tof_radar_controller/{config => test}/tof_config_template.yaml (100%) diff --git a/gpio_controller/CMakeLists.txt b/gpio_controller/CMakeLists.txt index 306b37ff..66a76e2a 100644 --- a/gpio_controller/CMakeLists.txt +++ b/gpio_controller/CMakeLists.txt @@ -61,7 +61,7 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( 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..b0001b27 100644 --- a/mimic_joint_controller/CMakeLists.txt +++ b/mimic_joint_controller/CMakeLists.txt @@ -51,10 +51,6 @@ 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} 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/rm_chassis_controllers/CMakeLists.txt b/rm_chassis_controllers/CMakeLists.txt index f1b6d9cf..bf114853 100644 --- a/rm_chassis_controllers/CMakeLists.txt +++ b/rm_chassis_controllers/CMakeLists.txt @@ -115,7 +115,7 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( 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/localization.yaml b/rm_chassis_controllers/test/localization.yaml similarity index 100% rename from rm_chassis_controllers/config/localization.yaml rename to rm_chassis_controllers/test/localization.yaml diff --git a/rm_chassis_controllers/config/template_mecanum.yaml b/rm_chassis_controllers/test/template_mecanum.yaml similarity index 100% rename from rm_chassis_controllers/config/template_mecanum.yaml rename to rm_chassis_controllers/test/template_mecanum.yaml 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..ab90ee1e 100644 --- a/rm_gimbal_controllers/CMakeLists.txt +++ b/rm_gimbal_controllers/CMakeLists.txt @@ -113,7 +113,7 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( 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..27cdca14 100644 --- a/rm_orientation_controller/CMakeLists.txt +++ b/rm_orientation_controller/CMakeLists.txt @@ -94,8 +94,8 @@ 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 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..aaeca6cc 100644 --- a/rm_shooter_controllers/CMakeLists.txt +++ b/rm_shooter_controllers/CMakeLists.txt @@ -105,7 +105,7 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( 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..f5172ffd 100644 --- a/robot_state_controller/CMakeLists.txt +++ b/robot_state_controller/CMakeLists.txt @@ -99,10 +99,10 @@ install( ) ## Mark other files for installation -#install( -# DIRECTORY doc -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -#) +install( + DIRECTORY test + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) ############# ## Testing ## 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..ffac18d3 100644 --- a/tof_radar_controller/CMakeLists.txt +++ b/tof_radar_controller/CMakeLists.txt @@ -61,7 +61,7 @@ install( # Mark other files for installation install( - DIRECTORY config launch + DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install( 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 From 4607c7162f253422f5c9a15e91037c0f830efda0 Mon Sep 17 00:00:00 2001 From: NaHCO3bc Date: Sat, 30 Jul 2022 17:41:20 +0800 Subject: [PATCH 3/4] Delete the Buliding,Usage,Launch files part in all README.md and add Complete description part in some README.md. --- rm_calibration_controllers/README.md | 23 ++++++------- rm_chassis_controllers/README.md | 27 +--------------- rm_gimbal_controllers/README.md | 24 +------------- rm_orientation_controller/README.md | 48 +++++++--------------------- rm_shooter_controllers/README.md | 27 +--------------- robot_state_controller/README.md | 27 +--------------- 6 files changed, 26 insertions(+), 150 deletions(-) diff --git a/rm_calibration_controllers/README.md b/rm_calibration_controllers/README.md index a252ca2d..b26b3f4b 100644 --- a/rm_calibration_controllers/README.md +++ b/rm_calibration_controllers/README.md @@ -34,9 +34,8 @@ Or better, use `rosdep`: sudo rosdep install --from-paths src -### Building from Source +### Dependencies -#### Dependencies * roscpp * roslint * rm_msgs @@ -49,17 +48,6 @@ Or better, use `rosdep`: * 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 #### Service @@ -80,6 +68,15 @@ 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_chassis_controllers/README.md b/rm_chassis_controllers/README.md index 73f9d74b..c4accf37 100644 --- a/rm_chassis_controllers/README.md +++ b/rm_chassis_controllers/README.md @@ -31,9 +31,7 @@ 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 @@ -53,29 +51,6 @@ sudo rosdep install --from-paths src * 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_gimbal_controllers/README.md b/rm_gimbal_controllers/README.md index dfa34a68..080e390e 100644 --- a/rm_gimbal_controllers/README.md +++ b/rm_gimbal_controllers/README.md @@ -33,8 +33,7 @@ Or better, use `rosdep`: sudo rosdep install --from-paths src -### Building from Source -#### Dependencies +### Dependencies * roscpp * roslint * rm_msgs @@ -52,27 +51,6 @@ Or better, use `rosdep`: * 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_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_shooter_controllers/README.md b/rm_shooter_controllers/README.md index cde2a3e5..03d4dd49 100644 --- a/rm_shooter_controllers/README.md +++ b/rm_shooter_controllers/README.md @@ -37,9 +37,7 @@ or better use `rosdep`: sudo rosdep install --from-paths src ``` -### Building from Source - -#### Dependencies +### Dependencies - rm_description - roscpp @@ -55,33 +53,10 @@ sudo rosdep install --from-paths src - 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/robot_state_controller/README.md b/robot_state_controller/README.md index 65c6c368..adb843cd 100644 --- a/robot_state_controller/README.md +++ b/robot_state_controller/README.md @@ -37,9 +37,7 @@ or better use `rosdep`: sudo rosdep install --from-paths src ``` -### Building from Source - -#### Dependencies +### Dependencies * roscpp * roslint @@ -53,29 +51,6 @@ sudo rosdep install --from-paths src * realtime_tools * pluginlib -#### Building - -To build this package with catkin build. Clone the latest version from this repository into your catkin workspace. - -```bash -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: - -```shell -mon launch robot_state_controller load_controllers.launch -``` - -## Launch files - -- **load_controller.launch:** Load the parameters in config files and load the robot_state_controller. - ## ROS API #### Subscribed Topics From 1353f358d9331aa775607658ead9b4d27402f1ad Mon Sep 17 00:00:00 2001 From: NaHCO3bc Date: Sat, 3 Sep 2022 20:59:04 +0800 Subject: [PATCH 4/4] Simplify dependencies to only one level of dependencies. --- gpio_controller/CMakeLists.txt | 10 -------- gpio_controller/package.xml | 3 --- mimic_joint_controller/CMakeLists.txt | 7 ------ mimic_joint_controller/package.xml | 2 -- rm_calibration_controllers/CMakeLists.txt | 20 ---------------- rm_calibration_controllers/README.md | 8 ------- rm_calibration_controllers/package.xml | 7 ------ rm_chassis_controllers/CMakeLists.txt | 28 ----------------------- rm_chassis_controllers/README.md | 11 --------- rm_chassis_controllers/package.xml | 12 ---------- rm_gimbal_controllers/CMakeLists.txt | 25 -------------------- rm_gimbal_controllers/README.md | 11 +-------- rm_gimbal_controllers/package.xml | 9 -------- rm_orientation_controller/CMakeLists.txt | 17 -------------- rm_orientation_controller/package.xml | 6 ----- rm_shooter_controllers/CMakeLists.txt | 22 ------------------ rm_shooter_controllers/README.md | 9 -------- rm_shooter_controllers/package.xml | 8 ------- robot_state_controller/CMakeLists.txt | 16 ------------- robot_state_controller/README.md | 5 ---- robot_state_controller/package.xml | 5 ---- tof_radar_controller/CMakeLists.txt | 9 -------- tof_radar_controller/package.xml | 3 --- 23 files changed, 1 insertion(+), 252 deletions(-) diff --git a/gpio_controller/CMakeLists.txt b/gpio_controller/CMakeLists.txt index 66a76e2a..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} @@ -68,6 +61,3 @@ 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/mimic_joint_controller/CMakeLists.txt b/mimic_joint_controller/CMakeLists.txt index b0001b27..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} ) @@ -55,6 +51,3 @@ install( FILES mimic_joint_controller_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) - - -roslint_cpp() 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 b26b3f4b..12b8a16c 100644 --- a/rm_calibration_controllers/README.md +++ b/rm_calibration_controllers/README.md @@ -37,16 +37,8 @@ Or better, use `rosdep`: ### Dependencies * roscpp -* roslint -* rm_msgs * rm_common -* pluginlib -* hardware_interface -* controller_interface -* realtime_tools * effort_controllers -* control_msgs - ## ROS API 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 bf114853..6688d173 100644 --- a/rm_chassis_controllers/CMakeLists.txt +++ b/rm_chassis_controllers/CMakeLists.txt @@ -13,22 +13,11 @@ add_definitions(-Wall -Werror -Wno-enum-compare) find_package(catkin REQUIRED COMPONENTS roscpp - roslint - rm_msgs rm_common - nav_msgs - pluginlib - hardware_interface - controller_interface - forward_command_controller - realtime_tools - control_toolbox effort_controllers - tf2 tf2_geometry_msgs - angles ) find_package(Eigen3 REQUIRED) @@ -49,22 +38,11 @@ catkin_package( LIBRARIES CATKIN_DEPENDS roscpp - roslint - rm_msgs rm_common - nav_msgs - pluginlib - hardware_interface - controller_interface - forward_command_controller - realtime_tools - control_toolbox effort_controllers - tf2 tf2_geometry_msgs - angles LIBRARIES ${PROJECT_NAME} ) @@ -135,9 +113,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${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 c4accf37..dd9b910d 100644 --- a/rm_chassis_controllers/README.md +++ b/rm_chassis_controllers/README.md @@ -35,20 +35,9 @@ sudo rosdep install --from-paths src * [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 ## ROS API diff --git a/rm_chassis_controllers/package.xml b/rm_chassis_controllers/package.xml index 90726c87..b01721d9 100644 --- a/rm_chassis_controllers/package.xml +++ b/rm_chassis_controllers/package.xml @@ -13,24 +13,12 @@ catkin roscpp - roslint - rm_msgs rm_common - nav_msgs - pluginlib - hardware_interface - controller_interface - forward_command_controller - realtime_tools - control_toolbox effort_controllers - tf2 tf2_geometry_msgs - angles - imu_sensor_controller robot_localization diff --git a/rm_gimbal_controllers/CMakeLists.txt b/rm_gimbal_controllers/CMakeLists.txt index ab90ee1e..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 ${PROJECT_NAME} ) @@ -133,9 +114,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${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 080e390e..71378730 100644 --- a/rm_gimbal_controllers/README.md +++ b/rm_gimbal_controllers/README.md @@ -35,19 +35,10 @@ Or better, use `rosdep`: ### 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 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_orientation_controller/CMakeLists.txt b/rm_orientation_controller/CMakeLists.txt index 27cdca14..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 ${PROJECT_NAME} @@ -114,9 +103,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core) #endif () - -########################## -## Static code analysis ## -########################## - -roslint_cpp() diff --git a/rm_orientation_controller/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_shooter_controllers/CMakeLists.txt b/rm_shooter_controllers/CMakeLists.txt index aaeca6cc..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 ${PROJECT_NAME} @@ -125,9 +109,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${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 03d4dd49..8cc4e698 100644 --- a/rm_shooter_controllers/README.md +++ b/rm_shooter_controllers/README.md @@ -39,17 +39,8 @@ sudo rosdep install --from-paths src ### 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 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/robot_state_controller/CMakeLists.txt b/robot_state_controller/CMakeLists.txt index f5172ffd..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 ${PROJECT_NAME} ) @@ -116,9 +106,3 @@ install( # test/AlgorithmTest.cpp) # target_link_libraries(${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 index adb843cd..34a4c25c 100644 --- a/robot_state_controller/README.md +++ b/robot_state_controller/README.md @@ -40,16 +40,11 @@ sudo rosdep install --from-paths src ### Dependencies * roscpp -* roslint * rm_common -* hardware_interface * controller_interface -* urdf -* tf2_ros * tf2_kdl * kdl_parser * realtime_tools -* pluginlib ## ROS API 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/tof_radar_controller/CMakeLists.txt b/tof_radar_controller/CMakeLists.txt index ffac18d3..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} @@ -68,6 +62,3 @@ 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