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Add README.md of robot_state_controller and add test file floder. #81

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Merged
qiayuanl merged 5 commits into from
Sep 10, 2022
Merged

Add README.md of robot_state_controller and add test file floder. #81

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32f16c0
Add README.md about robot_state_controller.
NaHCO3bc Jul 28, 2022
c43414b
Add test file floder to replace the launch and config file floder.
NaHCO3bc Jul 30, 2022
4607c71
Delete the Buliding,Usage,Launch files part in all README.md and add …
NaHCO3bc Jul 30, 2022
1353f35
Simplify dependencies to only one level of dependencies.
NaHCO3bc Sep 3, 2022
7cf373c
Merge branch 'master' into Readme
NaHCO3bc Sep 3, 2022
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12 changes: 1 addition & 11 deletions gpio_controller/CMakeLists.txt
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Expand Up @@ -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
)
Expand All @@ -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}
Expand Down Expand Up @@ -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()
3 changes: 0 additions & 3 deletions gpio_controller/package.xml
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Expand Up @@ -9,13 +9,10 @@

<buildtool_depend>catkin</buildtool_depend>

<depend>rm_msgs</depend>
<depend>rm_common</depend>
<depend>pluginlib</depend>
<depend>roscpp</depend>
<depend>roslint</depend>
<depend>controller_interface</depend>
<depend>hardware_interface</depend>
<depend>realtime_tools</depend>


Expand Down
0 ..._controller/launch/gpio_controller.launch → gpio_controller/test/gpio_controller.launch
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0 gpio_controller/config/gpio_controller.yaml → gpio_controller/test/gpio_controller.yaml
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11 changes: 0 additions & 11 deletions mimic_joint_controller/CMakeLists.txt
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Expand Up @@ -3,10 +3,8 @@ project(mimic_joint_controller)

find_package(catkin REQUIRED COMPONENTS
roscpp
roslint

pluginlib
hardware_interface
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@sloretz sloretz Dec 20, 2022

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I think this may have caused the build failure seen in #98

controller_interface
)

Expand All @@ -15,10 +13,8 @@ catkin_package(
include
CATKIN_DEPENDS
roscpp
roslint

pluginlib
hardware_interface
controller_interface
LIBRARIES ${PROJECT_NAME}
)
Expand Down Expand Up @@ -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()
6 changes: 0 additions & 6 deletions mimic_joint_controller/config/mimic_config_template.yaml
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This file was deleted.

2 changes: 0 additions & 2 deletions mimic_joint_controller/package.xml
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Expand Up @@ -11,9 +11,7 @@

<depend>pluginlib</depend>
<depend>roscpp</depend>
<depend>roslint</depend>
<depend>controller_interface</depend>
<depend>hardware_interface</depend>

<export>
<controller_interface plugin="${prefix}/mimic_joint_controller_plugins.xml"/>
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20 changes: 0 additions & 20 deletions rm_calibration_controllers/CMakeLists.txt
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Expand Up @@ -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
)

###################################
Expand All @@ -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}
)

Expand Down Expand Up @@ -105,9 +91,3 @@ install(
# test/AlgorithmTest.cpp)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core)
#endif ()

##########################
## Static code analysis ##
##########################

roslint_cpp()
31 changes: 10 additions & 21 deletions rm_calibration_controllers/README.md
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Expand Up @@ -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

Expand All @@ -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

Expand Down
7 changes: 0 additions & 7 deletions rm_calibration_controllers/package.xml
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Expand Up @@ -11,17 +11,10 @@
<buildtool_depend>catkin</buildtool_depend>
<!-- depend: build, export, and execution dependency -->
<depend>roscpp</depend>
<depend>roslint</depend>

<depend>rm_msgs</depend>
<depend>rm_common</depend>

<depend>pluginlib</depend>
<depend>hardware_interface</depend>
<depend>controller_interface</depend>
<depend>realtime_tools</depend>
<depend>effort_controllers</depend>
<depend>control_msgs</depend>

<export>
<controller_interface plugin="${prefix}/rm_calibration_controllers_plugins.xml"/>
Expand Down
22 changes: 1 addition & 21 deletions rm_chassis_controllers/CMakeLists.txt
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Expand Up @@ -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)
Expand All @@ -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}
)

Expand Down Expand Up @@ -106,7 +92,7 @@ install(

# Mark other files for installation
install(
DIRECTORY config launch
DIRECTORY test
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(
Expand All @@ -126,9 +112,3 @@ install(
# test/AlgorithmTest.cpp)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core)
#endif ()

##########################
## Static code analysis ##
##########################

roslint_cpp()
38 changes: 1 addition & 37 deletions rm_chassis_controllers/README.md
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Expand Up @@ -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
Expand Down
9 changes: 2 additions & 7 deletions rm_chassis_controllers/package.xml
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Expand Up @@ -13,18 +13,13 @@
<buildtool_depend>catkin</buildtool_depend>
<!-- depend: build, export, and execution dependency -->
<depend>roscpp</depend>
<depend>roslint</depend>

<depend>rm_msgs</depend>
<depend>rm_common</depend>

<depend>nav_msgs</depend>
<depend>pluginlib</depend>
<depend>controller_interface</depend>
<depend>realtime_tools</depend>
<depend>effort_controllers</depend>
<depend>tf2_geometry_msgs</depend>
<depend>angles</depend>

<exec_depend>robot_localization</exec_depend>

<export>
<controller_interface plugin="${prefix}/rm_chassis_controllers_plugins.xml"/>
Expand Down
0 ...ontrollers/launch/load_controllers.launch → ..._controllers/test/load_controllers.launch
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0 ...sis_controllers/config/template_omni.yaml → ...assis_controllers/test/template_omni.yaml
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0 ...llers/config/template_reaction_wheel.yaml → ...rollers/test/template_reaction_wheel.yaml
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0 ...s_controllers/config/template_swerve.yaml → ...sis_controllers/test/template_swerve.yaml
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