Merge branch 'master' into feature/ConstantForce

Conflicts: iiwa_ros_java/src/de/tum/in/camp/kuka/ros/ROSMonitor.java iiwa_ros_java/src/de/tum/in/camp/kuka/ros/ROSSmartServo.java iiwa_ros_java/src/de/tum/in/camp/kuka/ros/config.txt iiwa_ros_java/src/de/tum/in/camp/kuka/ros/iiwaConfiguration.java
IFL-CAMP · Jun 1, 2016 · 52346e2 · 52346e2
2 parents 83280c3 + 85b5da4
commit 52346e2
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diff --git a/.gitignore b/.gitignore
@@ -73,3 +73,4 @@ Status API Training Shop Blog About
 *.cproject
 /config
 *.kdev_include_paths
+*.orig
diff --git a/LICENSE.txt b/LICENSE.txt
diff --git a/README.md b/README.md
@@ -1,5 +1,7 @@
 ## IIWA STACK
 ROS indigo metapackage that contains ROS packages to work with the KUKA LBR IIWA R800/R820 (7/14 Kg).
+
+**Current version : v-1.7.0**
 ___
 ### Features
 - rosjava node running on the robot as a Sunrise RoboticApplication: supports ROS parameters, topics, services, actions
@@ -69,6 +71,10 @@ This packages contained in this repository are :
 - __iiwa_ros__: an interface to send and receive messages defined in iiwa_msgs to and from a real robot.
 - __iiwa_ros_java__: the ROSJava interface to use on SunriseApplications - it allows to send and receive messages defined in iiwa_msgs.
 
+### Contacts
+Salvatore Virga : salvo.virga@tum.de     
+Marco Esposito : marco.esposito@tum.de
+
 [1]: https://github.com/CentroEPiaggio/kuka-lwr
 [2]: https://bitbucket.org/khansari/iiwa.git
 [3]: https://bitbucket.org/khansari/iiwa/src/c4578460d79d5d24f58bf94bd97fb6cb0b6f280f/msg/IIWAMsg.msg

diff --git a/iiwa/package.xml b/iiwa/package.xml
@@ -2,15 +2,11 @@
 <package>
   <name>iiwa</name>
   <version>1.4.0</version>
-  <description>
-    Collection of ROS packages for the KUKA LBR IIWA
-  </description>
-
+  <description>Collection of ROS packages for the KUKA LBR IIWA</description>
+  <author email="salvo.virga@tum.de">Salvo Virga</author>
   <maintainer email="salvo.virga@tum.de">Salvo Virga</maintainer>
 
-  <license>GPLv3</license>
-
-  <author email="salv.virga@tum.de">Salvo Virga</author>
+  <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 
@@ -22,7 +18,9 @@
   <run_depend>iiwa_moveit</run_depend>
   <run_depend>iiwa_msg</run_depend>
   <run_depend>iiwa_ros</run_depend>
+
   <export>
     <metapackage/>
   </export>
+
 </package>
diff --git a/iiwa_control/CMakeLists.txt b/iiwa_control/CMakeLists.txt
@@ -1,128 +1,11 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(iiwa_control)
 
-## 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)
 
-## 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/groovy/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-#######################################
-## Declare ROS messages and services ##
-#######################################
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## 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 rrbot_control
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
-
-## Declare a cpp library
-# add_library(rrbot_control
-#   src/${PROJECT_NAME}/rrbot_control.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(rrbot_control_node src/rrbot_control_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(rrbot_control_node rrbot_control_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(rrbot_control_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/groovy/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 rrbot_control rrbot_control_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_rrbot_control.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/iiwa_control/package.xml b/iiwa_control/package.xml
@@ -2,17 +2,14 @@
 <package>
   <name>iiwa_control</name>
   <version>1.4.0</version>
-  <description>The iiwa_control package</description>
-
+  <description>A package containing controllers used by MoveIt! and Gazebo</description>
+  <author email="salvo.virga@tum.de">Salvo Virga</author>
   <maintainer email="salvo.virga@tum.de">Salvo Virga</maintainer>
 
-  <license>GPLv3</license>
+  <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>controller_manager</run_depend>
 
-  <export>
-  </export>
-
 </package>
diff --git a/iiwa_description/CMakeLists.txt b/iiwa_description/CMakeLists.txt
@@ -1,9 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(iiwa_description)
 
-## 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)
 
 catkin_package(

diff --git a/iiwa_description/package.xml b/iiwa_description/package.xml
@@ -2,14 +2,12 @@
 <package>
   <name>iiwa_description</name>
   <version>1.4.0</version>
-  <description>The robot_description package</description>
-
+  <description>This package contains the URDF of the KUKA LBR IIWA robot</description>
+  <author email="salvo.virga@tum.de">Salvo Virga</author>
   <maintainer email="salvo.virga@tum.de">Salvo Virga</maintainer>
 
-  <license>GPLv3</license>
+  <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <export>
-  </export>
 </package>
diff --git a/iiwa_description/urdf/iiwa.gazebo.xacro b/iiwa_description/urdf/iiwa.gazebo.xacro
@@ -6,8 +6,8 @@
 
     <!-- Load Gazebo lib and set the robot namespace -->
     <gazebo>
-      <plugin name="gazebo_ros_controller" filename="libgazebo_ros_control.so">
-	<robotNamespace>/${robot_name}</robotNamespace>
+      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/${robot_name}</robotNamespace>
       </plugin>
     </gazebo>
 

diff --git a/iiwa_description/urdf/iiwa14.urdf b/iiwa_description/urdf/iiwa14.urdf
@@ -143,7 +143,7 @@
     <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
+    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
     <dynamics damping="0.5"/>
   </joint>
   <link name="iiwa_link_3">
@@ -205,7 +205,7 @@
     <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
+    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
     <dynamics damping="0.5"/>
   </joint>
   <link name="iiwa_link_5">
@@ -309,7 +309,7 @@
   <!--Extensions -->
   <!-- Load Gazebo lib and set the robot namespace -->
   <gazebo>
-    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_controller">
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
       <robotNamespace>/iiwa</robotNamespace>
     </plugin>
   </gazebo>

diff --git a/iiwa_description/urdf/iiwa14.xacro b/iiwa_description/urdf/iiwa14.xacro
@@ -142,8 +142,8 @@
       <axis xyz="0 0 1"/>
       <limit lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
              effort="${max_effort}" velocity="${max_velocity}" />
-       <safety_controller soft_lower_limit="${-118 * PI / 180}"
-           soft_upper_limit="${118 * PI / 180}"
+       <safety_controller soft_lower_limit="${-168 * PI / 180}"
+           soft_upper_limit="${168 * PI / 180}"
            k_position="${safety_controller_k_pos}"
            k_velocity="${safety_controller_k_vel}"/> 
       <dynamics damping="${joint_damping}"/>
@@ -220,8 +220,8 @@
       <axis xyz="0 0 1"/>
       <limit lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
              effort="${max_effort}" velocity="${max_velocity}" />
-       <safety_controller soft_lower_limit="${-118 * PI / 180}"
-           soft_upper_limit="${118 * PI / 180}"
+       <safety_controller soft_lower_limit="${-168 * PI / 180}"
+           soft_upper_limit="${168 * PI / 180}"
            k_position="${safety_controller_k_pos}"
            k_velocity="${safety_controller_k_vel}"/> 
       <dynamics damping="${joint_damping}"/>

diff --git a/iiwa_description/urdf/iiwa7.urdf b/iiwa_description/urdf/iiwa7.urdf
@@ -141,7 +141,7 @@
     <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.21 0"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
+    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
     <dynamics damping="0.5"/>
   </joint>
   <link name="iiwa_link_3">
@@ -200,8 +200,8 @@
     <child link="iiwa_link_5"/>
     <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.21 0"/>
     <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
+    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
     <dynamics damping="0.5"/>
   </joint>
   <link name="iiwa_link_5">
@@ -303,7 +303,7 @@
   <!--Extensions -->
   <!-- Load Gazebo lib and set the robot namespace -->
   <gazebo>
-    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_controller">
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
       <robotNamespace>/iiwa</robotNamespace>
     </plugin>
   </gazebo>

diff --git a/iiwa_description/urdf/iiwa7.xacro b/iiwa_description/urdf/iiwa7.xacro
@@ -137,8 +137,8 @@
       <axis xyz="0 0 1"/>
       <limit lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
              effort="${max_effort}" velocity="${max_velocity}" />
-       <safety_controller soft_lower_limit="${-118 * PI / 180}"
-           soft_upper_limit="${118 * PI / 180}"
+       <safety_controller soft_lower_limit="${-168 * PI / 180}"
+           soft_upper_limit="${168 * PI / 180}"
            k_position="${safety_controller_k_pos}"
            k_velocity="${safety_controller_k_vel}"/> 
       <dynamics damping="${joint_damping}"/>
@@ -212,10 +212,10 @@
       <child link="${robot_name}_link_5"/>
       <origin xyz="0 0.21 0" rpy="${-PI / 2} ${PI} 0"/>
       <axis xyz="0 0 1"/>
-      <limit lower="${-175 * PI / 180}" upper="${175 * PI / 180}"
+      <limit lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
              effort="${max_effort}" velocity="${max_velocity}" />
-       <safety_controller soft_lower_limit="${-173 * PI / 180}"
-           soft_upper_limit="${173 * PI / 180}"
+       <safety_controller soft_lower_limit="${-168 * PI / 180}"
+           soft_upper_limit="${168 * PI / 180}"
            k_position="${safety_controller_k_pos}"
            k_velocity="${safety_controller_k_vel}"/> 
       <dynamics damping="${joint_damping}"/>

diff --git a/iiwa_gazebo/CMakeLists.txt b/iiwa_gazebo/CMakeLists.txt
@@ -1,9 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(iiwa_gazebo)
 
-## 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)
 
 catkin_package(

diff --git a/iiwa_gazebo/launch/iiwa_gazebo.launch b/iiwa_gazebo/launch/iiwa_gazebo.launch
@@ -24,7 +24,7 @@
     </include>
 
     <!-- Spawn controllers - it uses a JointTrajectoryController -->
-    <group if="$(arg trajectory)">
+    <group  ns="$(arg robot_name)" if="$(arg trajectory)">
 
         <include file="$(find iiwa_control)/launch/iiwa_control.launch">
             <arg name="hardware_interface" value="$(arg hardware_interface)" />
@@ -36,7 +36,7 @@
     </group>
 
     <!-- Spawn controllers - it uses an Effort Controller for each joint -->
-    <group unless="$(arg trajectory)">
+    <group ns="$(arg robot_name)" unless="$(arg trajectory)">
 
         <include file="$(find iiwa_control)/launch/iiwa_control.launch">
             <arg name="hardware_interface" value="$(arg hardware_interface)" />

diff --git a/iiwa_gazebo/package.xml b/iiwa_gazebo/package.xml
@@ -2,17 +2,15 @@
 <package>
   <name>iiwa_gazebo</name>
   <version>1.4.0</version>
-  <description>The iiwa_gazebo package</description>
-
+  <description>This package allows to load a KUKA LBR IIWA robot onto Gazebo</description>
+  <author email="salvo.virga@tum.de">Salvo Virga</author>
   <maintainer email="salvo.virga@tum.de">Salvo Virga</maintainer>
 
-  <license>GPLv3</license>
+  <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>iiwa_description</run_depend>
   <run_depend>gazebo_ros</run_depend> 
 
-  <export>
-  </export>
 </package>