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r6bot/hardware_driver/include/r6bot_hardware/r6bot_hardware.hpp

@@ -1,4 +1,19 @@
-#pragma once
+// Copyright 2023 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef R6BOT_HARDWARE__R6BOT_HARDWARE_HPP_
+#define R6BOT_HARDWARE__R6BOT_HARDWARE_HPP_
 
 #include "string"
 #include "unordered_map"
@@ -43,3 +58,5 @@ class HARDWARE_INTERFACE_PUBLIC RobotSystem : public hardware_interface::SystemI
 };
 
 }  // namespace r6bot_hardware
+
+#endif  // R6BOT_HARDWARE__R6BOT_HARDWARE_HPP_

r6bot/hardware_driver/src/r6bot_hardware.cpp

@@ -1,3 +1,17 @@
+// Copyright 2023 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "r6bot_hardware/r6bot_hardware.hpp"
 #include <string>
 #include <vector>
@@ -86,7 +100,7 @@ std::vector<hardware_interface::CommandInterface> RobotSystem::export_command_in
 
 return_type RobotSystem::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & period)
 {
-  // TODO set sensor_states_ values from subscriber
+  // TODO(pac48) set sensor_states_ values from subscriber
 
   for (auto i = 0ul; i < joint_velocities_command_.size(); i++)
   {

r6bot/r6bot_controller/include/r6bot_controller/r6bot_controller.hpp

@@ -1,9 +1,25 @@
-#pragma once
+// Copyright 2023 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef R6BOT_CONTROLLER__R6BOT_CONTROLLER_HPP_
+#define R6BOT_CONTROLLER__R6BOT_CONTROLLER_HPP_
 
 #include <chrono>
 #include <memory>
 #include <mutex>
 #include <string>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -102,3 +118,5 @@ class RobotController : public controller_interface::ControllerInterface
 };
 
 }  // namespace r6bot_controller
+
+#endif  // R6BOT_CONTROLLER__R6BOT_CONTROLLER_HPP_

r6bot/r6bot_controller/launch/r6bot_controller.launch.py

@@ -1,3 +1,17 @@
+# Copyright 2023 ros2_control Development Team
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from launch import LaunchDescription
 from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessExit

r6bot/r6bot_controller/src/r6bot_controller.cpp

@@ -1,3 +1,17 @@
+// Copyright 2023 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "r6bot_controller/r6bot_controller.hpp"
 
 #include <stddef.h>
@@ -66,7 +80,8 @@ controller_interface::InterfaceConfiguration RobotController::state_interface_co
 controller_interface::CallbackReturn RobotController::on_configure(const rclcpp_lifecycle::State &)
 {
   auto callback =
-    [this](const std::shared_ptr<trajectory_msgs::msg::JointTrajectory> traj_msg) -> void {
+    [this](const std::shared_ptr<trajectory_msgs::msg::JointTrajectory> traj_msg) -> void
+  {
     traj_msg_external_point_ptr_.writeFromNonRT(traj_msg);
     new_msg_ = true;
   };
@@ -126,7 +141,7 @@ void interpolate_trajectory_point(
   double total_time = last_time.sec + last_time.nanosec * 1E-9;
 
   size_t ind = cur_time.seconds() * (traj_len / total_time);
-  ind = std::min(ind, (size_t)traj_len - 2);
+  ind = std::min(ind, static_cast<double>(traj_len) - 2);
   double delta = cur_time.seconds() - ind * (total_time / traj_len);
   interpolate_point(traj_msg.points[ind], traj_msg.points[ind + 1], point_interp, delta);
 }

r6bot/r6bot_description/launch/view_r6bot.launch.py

@@ -1,3 +1,17 @@
+# Copyright 2023 ros2_control Development Team
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from launch import LaunchDescription
 from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
 from launch_ros.actions import Node

r6bot/reference_generator/launch/send_trajectory.launch.py

@@ -1,3 +1,17 @@
+# Copyright 2023 ros2_control Development Team
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from launch import LaunchDescription
 from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
 from launch_ros.actions import Node

r6bot/reference_generator/src/send_trajectory.cpp

@@ -1,3 +1,17 @@
+// Copyright 2023 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include <kdl/chainfksolverpos_recursive.hpp>
 #include <kdl/chainiksolvervel_pinv.hpp>
 #include <kdl/jntarray.hpp>
@@ -30,7 +44,6 @@ int main(int argc, char ** argv)
   auto joint_velocities = KDL::JntArray(chain.getNrOfJoints());
   auto twist = KDL::Twist();
   // create KDL solvers
-  auto fk_pos_solver_ = std::make_shared<KDL::ChainFkSolverPos_recursive>(chain);
   auto ik_vel_solver_ = std::make_shared<KDL::ChainIkSolverVel_pinv>(chain, 0.0000001);
 
   trajectory_msgs::msg::JointTrajectory trajectory_msg;
@@ -76,8 +89,9 @@ int main(int argc, char ** argv)
 
     // set timing information
     trajectory_point_msg.time_from_start.sec = i / loop_rate;
-    trajectory_point_msg.time_from_start.nanosec =
-      1E9 / loop_rate * (double)(i - loop_rate * (i / loop_rate));
+    trajectory_point_msg.time_from_start.nanosec = static_cast<int>(
+      1E9 / loop_rate *
+      static_cast<double>(t - loop_rate * (i / loop_rate)));  // implicit integer division
 
     trajectory_msg.points.push_back(trajectory_point_msg);
   }