Merge branch 'master' of https://github.com/cwru-robotics/cwru-ros-pk…

…g-hydro
cwru-robotics · Jun 22, 2015 · 0b39687 · 0b39687
2 parents 4297cad + bbe4f60
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diff --git a/catkin/src/cwru_376_student/cwru_urdf/abby_w_arm_rviz.launch b/catkin/src/cwru_376_student/cwru_urdf/abby_w_arm_rviz.launch
@@ -27,7 +27,5 @@
 
 <node pkg="tf" type="static_transform_publisher" name="camera_link_frame_bdcst" args="0 0 0  0 0 0 1 kinect_link camera_link 100"/>
 
-<include file="$(find openni_launch)/launch/openni.launch"/>
-
 <node name="rviz" pkg="rviz" type="rviz" args="-d $(find cwru_urdf)/abby.rviz"></node>
 </launch>
diff --git a/catkin/src/cwru_base_hydro/cwru_base/launch/start_abby_base.launch b/catkin/src/cwru_base_hydro/cwru_base/launch/start_abby_base.launch
@@ -0,0 +1,27 @@
+<launch>
+	<include file="$(find cwru_configs)/abby/base/static_transform.launch" />
+  <node pkg="cwru_base" type="crio_receiver" name="crio_receiver" output="screen">
+	<rosparam command="load" file="$(find cwru_configs)/abby/base/diagnostics.yaml" />
+	<rosparam command="load" file="$(find cwru_configs)/abby/base/base.yaml" />
+  </node>
+    <node pkg="cwru_base" type="odom_translator.py" name="odom_translator">
+        <rosparam command="load" file="$(find cwru_configs)/$(optenv ROBOT sim)/base/base.yaml" />
+    </node>
+
+  <include file="$(find cwru_configs)/abby/base/sonar.launch" />
+
+  <node pkg="sicktoolbox_wrapper" type="sicklms" name="base_laser1" respawn="true">
+      <param name="port" type="string" value="/dev/ttyUSB0" />    
+      <param name="baud" type="int" value="500000" />
+      <param name="frame_id" type="string" value="/base_laser1_link" />
+      <param name="resolution" type="double" value="1.0" />
+      <remap from="scan" to="base_laser1_scan" />
+  </node>
+
+  <node pkg="cwru_base" type="twist_receiver.py" name="twist_receiver">
+	<rosparam command="load" file="$(find cwru_configs)/abby/base/base.yaml" />
+  </node>
+  <node pkg="sound_play" type="soundplay_node.py" name="sound_play" />
+  <include file="$(find openni_launch)/launch/openni.launch"/>
+
+</launch>
diff --git a/catkin/src/cwru_base_hydro/cwru_base/launch/start_abby_base_and_arm.launch b/catkin/src/cwru_base_hydro/cwru_base/launch/start_abby_base_and_arm.launch
@@ -0,0 +1,43 @@
+<launch>
+	<include file="$(find cwru_configs)/abby/base/static_transform.launch" />
+  <node pkg="cwru_base" type="crio_receiver" name="crio_receiver" output="screen">
+	<rosparam command="load" file="$(find cwru_configs)/abby/base/diagnostics.yaml" />
+	<rosparam command="load" file="$(find cwru_configs)/abby/base/base.yaml" />
+  </node>
+    <node pkg="cwru_base" type="odom_translator.py" name="odom_translator">
+        <rosparam command="load" file="$(find cwru_configs)/$(optenv ROBOT sim)/base/base.yaml" />
+    </node>
+
+  <include file="$(find cwru_configs)/abby/base/sonar.launch" />
+
+  <node pkg="sicktoolbox_wrapper" type="sicklms" name="base_laser1" respawn="true">
+      <param name="port" type="string" value="/dev/ttyUSB0" />    
+      <param name="baud" type="int" value="500000" />
+      <param name="frame_id" type="string" value="/base_laser1_link" />
+      <param name="resolution" type="double" value="1.0" />
+      <remap from="scan" to="base_laser1_scan" />
+  </node>
+
+  <node pkg="cwru_base" type="twist_receiver.py" name="twist_receiver">
+	<rosparam command="load" file="$(find cwru_configs)/abby/base/base.yaml" />
+  </node>
+  <node pkg="sound_play" type="soundplay_node.py" name="sound_play" />
+
+  <!-- start up the Kinect interface -->
+  <include file="$(find openni_launch)/launch/openni.launch"/>
+
+  <!-- start up the ros_industrial interface nodes -->
+  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
+  <arg name="robot_ip" />
+  <!-- copy the specified IP address to the Parameter Server, for use by nodes below -->
+  <param name="/robot_ip_address" type="str" value="192.168.0.50"/>
+
+  <!-- robot_state: publishes joint positions and robot-state data
+    (from socket connection to robot) -->
+  <node pkg="industrial_robot_client" type="robot_state" name="robot_state"/>
+  <!-- motion_download_interface: sends robot motion commands by DOWNLOADING path to robot
+   (using socket connection to robot) -->
+  <node pkg="industrial_robot_client" type="motion_download_interface" name="motion_download_interface"/>
+
+
+</launch>
diff --git a/catkin/src/cwru_base_hydro/motor_controller/CMakeLists.txt b/catkin/src/cwru_base_hydro/motor_controller/CMakeLists.txt
@@ -0,0 +1,164 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(motor_controller)
+
+## 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
+  dynamixel_controllers
+  roscpp
+  rospy
+  std_msgs
+)
+
+## 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/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## 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 actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+###################################
+## 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 my_dynamixel_tutorial
+#  CATKIN_DEPENDS dynamixel_controllers roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(my_dynamixel_tutorial
+#   src/${PROJECT_NAME}/my_dynamixel_tutorial.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(my_dynamixel_tutorial_node src/my_dynamixel_tutorial_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(my_dynamixel_tutorial_node my_dynamixel_tutorial_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(my_dynamixel_tutorial_node
+#   ${catkin_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 my_dynamixel_tutorial my_dynamixel_tutorial_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_my_dynamixel_tutorial.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/catkin/src/cwru_base_hydro/motor_controller/README.md b/catkin/src/cwru_base_hydro/motor_controller/README.md
@@ -0,0 +1,36 @@
+motor_controller
+===============
+
+
+
+ROS stack for interfacing with Robotis Dynamixel MX-64 servo motor.
+Aimed at controlling Abby gripper in Case Western Reserve University.
+
+Need Python compiler!!
+Any subversion of Python 2 is okay. Not tested on Python 3.
+
+use:
+In terminal:
+	roslaunch motor_controller controller_manager.launch
+In another terminal:
+	roslaunch motor_controller tilt_controller.launch
+Then:
+Spread hand:
+	rostopic pub -1 /tilt_controller/command std_msgs/Float64 -- -3.5
+Grab object:
+	rostopic pub -1 /tilt_controller/command std_msgs/Float64 -- -4.0
+
+DO NOT CHANGE THE VALUE!! IT MAY BREAK GRIPPER!
+
+Default mount point for usb2dynamixel is at /dev/ttyUSB0. You can change this in controller_manager.launch
+
+Motor ID is constraint within 1 to 20. This could be modified in the same file.
+
+An Zhigang Apr. 20, 2015
+Revision: An Zhigang Apr. 29, 2015
+Revision: An Zhigang Apr. 30, 2015
+
+If you have any further questions, please contact me through email:
+anzhg@icloud.com
+or:
+zxa41@case.edu
diff --git a/catkin/src/cwru_base_hydro/motor_controller/launch/controller_manager.launch b/catkin/src/cwru_base_hydro/motor_controller/launch/controller_manager.launch
@@ -0,0 +1,15 @@
+<!-- -*- mode: XML -*- --> 
+ <launch>
+     <node name="dynamixel_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen">
+         <rosparam>
+             namespace: dxl_manager
+             serial_ports:
+                 pan_tilt_port:
+                     port_name: "/dev/ttyUSB1"
+                     baud_rate: 57600
+                     min_motor_id: 1
+                     max_motor_id: 25
+                     update_rate: 20
+         </rosparam>
+     </node>
+</launch>
diff --git a/catkin/src/cwru_base_hydro/motor_controller/launch/tilt_controller.launch b/catkin/src/cwru_base_hydro/motor_controller/launch/tilt_controller.launch
@@ -0,0 +1,9 @@
+<launch>
+    <!-- Start tilt joint controller -->
+    <rosparam file="$(find motor_controller)/tilt.yaml" command="load"/>
+    <node name="tilt_controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
+          args="--manager=dxl_manager
+                --port pan_tilt_port
+                tilt_controller"
+          output="screen"/>
+</launch>
diff --git a/catkin/src/cwru_base_hydro/motor_controller/package.xml b/catkin/src/cwru_base_hydro/motor_controller/package.xml
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<package>
+  <name>motor_controller</name>
+  <version>0.0.0</version>
+  <description>The motor_controller package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="anzhg@icloud.com">An Zhigang</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/my_dynamixel_tutorial</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>dynamixel_controllers</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>dynamixel_controllers</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/catkin/src/cwru_base_hydro/motor_controller/tilt.yaml b/catkin/src/cwru_base_hydro/motor_controller/tilt.yaml
@@ -0,0 +1,12 @@
+tilt_controller:
+    controller:
+        package: dynamixel_controllers
+        module: joint_position_controller
+        type: JointPositionController
+    joint_name: tilt_joint
+    joint_speed: 1.17
+    motor:
+        id: 1
+        init: 4096
+        min: 0
+        max: 1048575