first commit

README.md

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+# Robotic arm - Pick & Place project
+
+Make sure you are using robo-nd VM or have Ubuntu+ROS installed locally.
+
+### One time Gazebo setup step:
+Check the version of gazebo installed on your system using a terminal:
+```sh
+$ gazebo --version
+```
+To run projects from this repository you need version 7.7.0+
+If your gazebo version is not 7.7.0+, perform the update as follows:
+```sh
+$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+$ sudo apt-get update
+$ sudo apt-get install gazebo7
+```
+
+Once again check if the correct version was installed:
+```sh
+$ gazebo --version
+```
+### For the rest of this setup, ros_ws is the name of active ROS Workspace, if your workspace name is different, change the commands accordingly
+
+If you do not have an active ROS workspace, you can create one by:
+```sh
+$ mkdir -p ~/ros_ws/src
+$ cd ~/ros_ws/
+$ catkin_make
+```
+
+Now that you have a workspace, clone or download this repo into the **src** directory of your workspace:
+```sh
+$ cd ~/ros_ws/src
+$ git clone https://github.com/udacity/test_repo_robond_robotic_arm_pick_and_place.git
+$ mv test_repo_robond_robotic_arm_pick_and_place/kinematics_project/ .
+$ sudo rm -r test_repo_robond_robotic_arm_pick_and_place/
+```
+
+Now from a terminal window:
+
+```sh
+$ cd ~/ros_ws
+$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
+$ cd ~/ros_ws/src/kinematics_project/kuka_arm/scripts
+$ sudo chmod +x target_spawn.py
+$ sudo chmod +x IK_server.py
+$ sudo chmod +x safe_spawner.sh
+```
+Build the project:
+```sh
+$ cd ~/ros_ws
+$ catkin_make
+```
+
+Add following to your .bashrc file
+```
+export GAZEBO_MODEL_PATH=~/ros_ws/src/kinematics_project/kuka_arm/models
+
+source ~/ros_ws/devel/setup.bash
+```
+
+For demo mode make sure the **demo** flag is set to _"true"_ in `inverse_kinematics.launch` file under /kinematics_project/kuka_arm/launch
+
+In addition, you can also control the spawn location of the target object in the shelf. To do this, modify the **spawn_location** argument in `target_description.launch` file under /kinematics_project/kuka_arm/launch. 0-9 are valid values for spawn_location with 0 being random mode.
+
+You can launch the project by
+```sh
+$ cd ~/ros_ws/src/kinematics_project/kuka_arm/scripts
+$ ./safe_spawner.sh
+```
+
+If you are running in demo mode, this is all you need. To run your own Inverse Kinematics code change the **demo** flag described above to _"false"_ and run your code (once the project has successfully loaded) by:
+```sh
+$ cd ~/ros_ws/src/kinematics_project/kuka_arm/scripts
+$ rosrun kuka_arm IK_server.py
+```
+Once Gazebo and rviz are up and running, make sure you see following in the gazebo world:
+
+	- Robot
+
+	- Shelf
+
+	- Blue cylindrical target in one of the shelves
+
+	- Dropbox right next to the robot
+
+
+If any of these items are missing, report as an issue.
+
+Once all these items are confirmed, open rviz window, hit Next button.
+
+To view the complete demo keep hitting Next after previous action is completed successfully. 
+
+Since debugging is enabled, you should be able to see diagnostic output on various terminals that have popped up.
+
+The demo ends when the robot arm reaches at the top of the drop location. 
+
+There is no loopback implemented yet, so you need to close all the terminal windows in order to restart.
+
+In case the demo fails, close all three terminal windows and rerun the script.
+

gazebo_grasp_plugin/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package gazebo_grasp_plugin
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.1 (2016-06-08)
+------------------
+* Fixed cmake files for jenkins builds
+* Contributors: Jennifer Buehler
+
+1.0.0 (2016-06-07)
+------------------
+* Initial release
+* Contributors: Jennifer Buehler

gazebo_grasp_plugin/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(gazebo_grasp_plugin)
+
+add_definitions(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  gazebo_ros
+  geometry_msgs
+  roscpp
+  std_msgs
+)
+
+find_package(gazebo REQUIRED)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES gazebo_grasp_fix
+  CATKIN_DEPENDS gazebo_ros geometry_msgs roscpp std_msgs
+  DEPENDS gazebo
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${GAZEBO_INCLUDE_DIRS}
+)
+
+link_directories(
+  ${GAZEBO_LIBRARY_DIRS}
+  ${catkin_LIBRARY_DIRS}
+)
+
+## Declare a cpp library
+add_library(gazebo_grasp_fix SHARED src/GazeboGraspFix.cpp src/GazeboGraspGripper.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(gazebo_grasp_plugin_node gazebo_grasp_plugin_generate_messages_cpp)
+add_dependencies(gazebo_grasp_fix ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+
+target_link_libraries(gazebo_grasp_fix
+	${GAZEBO_LIBRARIES}
+	${Boost_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS gazebo_grasp_fix
+   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"
+)
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  FILES_MATCHING PATTERN "*.launch"
+)
+
+## 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_gazebo_grasp_plugin.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)