From 77256b5aa1196216d23d505242a70c282928e731 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 13 Aug 2023 08:57:08 +0000 Subject: [PATCH 1/7] Move r6bot into description package --- example_7/CMakeLists.txt | 2 +- .../bringup/launch/r6bot_controller.launch.py | 2 +- .../description/launch/view_r6bot.launch.py | 2 +- example_7/description/urdf/r6bot.urdf.xacro | 134 +---------------- example_7/package.xml | 1 + ros2_control_demo_description/CMakeLists.txt | 11 ++ ros2_control_demo_description/package.xml | 21 +++ .../r6bot}/meshes/collision/link_0.stl | Bin .../r6bot}/meshes/collision/link_1.stl | Bin .../r6bot}/meshes/collision/link_2.stl | Bin .../r6bot}/meshes/collision/link_3.stl | Bin .../r6bot}/meshes/collision/link_4.stl | Bin .../r6bot}/meshes/collision/link_5.stl | Bin .../r6bot}/meshes/collision/link_6.stl | Bin .../r6bot}/meshes/visual/link_0.dae | 0 .../r6bot}/meshes/visual/link_1.dae | 0 .../r6bot}/meshes/visual/link_2.dae | 0 .../r6bot}/meshes/visual/link_3.dae | 0 .../r6bot}/meshes/visual/link_4.dae | 0 .../r6bot}/meshes/visual/link_5.dae | 0 .../r6bot}/meshes/visual/link_6.dae | 0 .../r6bot}/rviz/view_robot.rviz | 0 .../r6bot}/srdf/r6bot.srdf | 0 .../r6bot}/urdf/inc/create_link.xacro | 0 .../r6bot/urdf/r6bot_description.urdf.xacro | 139 ++++++++++++++++++ 25 files changed, 179 insertions(+), 133 deletions(-) create mode 100644 ros2_control_demo_description/CMakeLists.txt create mode 100644 ros2_control_demo_description/package.xml rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_0.stl (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_1.stl (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_2.stl (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_3.stl (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_4.stl (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_5.stl (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_6.stl (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_0.dae (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_1.dae (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_2.dae (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_3.dae (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_4.dae (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_5.dae (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_6.dae (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/rviz/view_robot.rviz (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/srdf/r6bot.srdf (100%) rename {example_7/description => ros2_control_demo_description/r6bot}/urdf/inc/create_link.xacro (100%) create mode 100644 ros2_control_demo_description/r6bot/urdf/r6bot_description.urdf.xacro diff --git a/example_7/CMakeLists.txt b/example_7/CMakeLists.txt index 159c43fd..713b6ef6 100644 --- a/example_7/CMakeLists.txt +++ b/example_7/CMakeLists.txt @@ -79,7 +79,7 @@ install( DESTINATION include/ros2_control_demo_example_7 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/srdf description/meshes + DIRECTORY description/launch description/ros2_control description/urdf DESTINATION share/ros2_control_demo_example_7 ) install( diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py index f32dae1f..bc3e048b 100644 --- a/example_7/bringup/launch/r6bot_controller.launch.py +++ b/example_7/bringup/launch/r6bot_controller.launch.py @@ -46,7 +46,7 @@ def generate_launch_description(): ] ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_7"), "rviz", "view_robot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "r6bot/rviz", "view_robot.rviz"] ) control_node = Node( diff --git a/example_7/description/launch/view_r6bot.launch.py b/example_7/description/launch/view_r6bot.launch.py index d53b50da..8b8f914d 100644 --- a/example_7/description/launch/view_r6bot.launch.py +++ b/example_7/description/launch/view_r6bot.launch.py @@ -51,7 +51,7 @@ def generate_launch_description(): robot_description = {"robot_description": robot_description_content} rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_7"), "rviz", "view_robot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "r6bot/rviz", "view_robot.rviz"] ) joint_state_publisher_node = Node( diff --git a/example_7/description/urdf/r6bot.urdf.xacro b/example_7/description/urdf/r6bot.urdf.xacro index d03954ce..941be8c5 100644 --- a/example_7/description/urdf/r6bot.urdf.xacro +++ b/example_7/description/urdf/r6bot.urdf.xacro @@ -1,140 +1,14 @@ - - + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - diff --git a/example_7/package.xml b/example_7/package.xml index f96ff407..6d9ccefe 100644 --- a/example_7/package.xml +++ b/example_7/package.xml @@ -32,6 +32,7 @@ robot_state_publisher ros2controlcli ros2launch + ros2_control_demo_description rviz2 urdf xacro diff --git a/ros2_control_demo_description/CMakeLists.txt b/ros2_control_demo_description/CMakeLists.txt new file mode 100644 index 00000000..b762483a --- /dev/null +++ b/ros2_control_demo_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.5) +project(ros2_control_demo_description) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY r6bot/launch r6bot/meshes r6bot/srdf r6bot/urdf r6bot/rviz + DESTINATION share/${PROJECT_NAME}/r6bot +) + +ament_package() diff --git a/ros2_control_demo_description/package.xml b/ros2_control_demo_description/package.xml new file mode 100644 index 00000000..d43c784f --- /dev/null +++ b/ros2_control_demo_description/package.xml @@ -0,0 +1,21 @@ + + + + ros2_control_demo_description + 0.0.0 + Package with URDF and description files of test robots. + + Denis Štogl + + Apache-2.0 + + ament_cmake + + joint_state_publisher_gui + robot_state_publisher + rviz2 + + + ament_cmake + + diff --git a/example_7/description/meshes/collision/link_0.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_0.stl similarity index 100% rename from example_7/description/meshes/collision/link_0.stl rename to ros2_control_demo_description/r6bot/meshes/collision/link_0.stl diff --git a/example_7/description/meshes/collision/link_1.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_1.stl similarity index 100% rename from example_7/description/meshes/collision/link_1.stl rename to ros2_control_demo_description/r6bot/meshes/collision/link_1.stl diff --git a/example_7/description/meshes/collision/link_2.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_2.stl similarity index 100% rename from example_7/description/meshes/collision/link_2.stl rename to ros2_control_demo_description/r6bot/meshes/collision/link_2.stl diff --git a/example_7/description/meshes/collision/link_3.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_3.stl similarity index 100% rename from example_7/description/meshes/collision/link_3.stl rename to ros2_control_demo_description/r6bot/meshes/collision/link_3.stl diff --git a/example_7/description/meshes/collision/link_4.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_4.stl similarity index 100% rename from example_7/description/meshes/collision/link_4.stl rename to ros2_control_demo_description/r6bot/meshes/collision/link_4.stl diff --git a/example_7/description/meshes/collision/link_5.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_5.stl similarity index 100% rename from example_7/description/meshes/collision/link_5.stl rename to ros2_control_demo_description/r6bot/meshes/collision/link_5.stl diff --git a/example_7/description/meshes/collision/link_6.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_6.stl similarity index 100% rename from example_7/description/meshes/collision/link_6.stl rename to ros2_control_demo_description/r6bot/meshes/collision/link_6.stl diff --git a/example_7/description/meshes/visual/link_0.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_0.dae similarity index 100% rename from example_7/description/meshes/visual/link_0.dae rename to ros2_control_demo_description/r6bot/meshes/visual/link_0.dae diff --git a/example_7/description/meshes/visual/link_1.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_1.dae similarity index 100% rename from example_7/description/meshes/visual/link_1.dae rename to ros2_control_demo_description/r6bot/meshes/visual/link_1.dae diff --git a/example_7/description/meshes/visual/link_2.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_2.dae similarity index 100% rename from example_7/description/meshes/visual/link_2.dae rename to ros2_control_demo_description/r6bot/meshes/visual/link_2.dae diff --git a/example_7/description/meshes/visual/link_3.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_3.dae similarity index 100% rename from example_7/description/meshes/visual/link_3.dae rename to ros2_control_demo_description/r6bot/meshes/visual/link_3.dae diff --git a/example_7/description/meshes/visual/link_4.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_4.dae similarity index 100% rename from example_7/description/meshes/visual/link_4.dae rename to ros2_control_demo_description/r6bot/meshes/visual/link_4.dae diff --git a/example_7/description/meshes/visual/link_5.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_5.dae similarity index 100% rename from example_7/description/meshes/visual/link_5.dae rename to ros2_control_demo_description/r6bot/meshes/visual/link_5.dae diff --git a/example_7/description/meshes/visual/link_6.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_6.dae similarity index 100% rename from example_7/description/meshes/visual/link_6.dae rename to ros2_control_demo_description/r6bot/meshes/visual/link_6.dae diff --git a/example_7/description/rviz/view_robot.rviz b/ros2_control_demo_description/r6bot/rviz/view_robot.rviz similarity index 100% rename from example_7/description/rviz/view_robot.rviz rename to ros2_control_demo_description/r6bot/rviz/view_robot.rviz diff --git a/example_7/description/srdf/r6bot.srdf b/ros2_control_demo_description/r6bot/srdf/r6bot.srdf similarity index 100% rename from example_7/description/srdf/r6bot.srdf rename to ros2_control_demo_description/r6bot/srdf/r6bot.srdf diff --git a/example_7/description/urdf/inc/create_link.xacro b/ros2_control_demo_description/r6bot/urdf/inc/create_link.xacro similarity index 100% rename from example_7/description/urdf/inc/create_link.xacro rename to ros2_control_demo_description/r6bot/urdf/inc/create_link.xacro diff --git a/ros2_control_demo_description/r6bot/urdf/r6bot_description.urdf.xacro b/ros2_control_demo_description/r6bot/urdf/r6bot_description.urdf.xacro new file mode 100644 index 00000000..7235c802 --- /dev/null +++ b/ros2_control_demo_description/r6bot/urdf/r6bot_description.urdf.xacro @@ -0,0 +1,139 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From a274eb8fefa0fba88ebda7cc05babb3661dead80 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 13 Aug 2023 09:25:54 +0000 Subject: [PATCH 2/7] Extract rrbot from example 1+3 --- example_1/CMakeLists.txt | 2 +- example_1/bringup/launch/rrbot.launch.py | 2 +- .../description/launch/view_robot.launch.py | 6 +- example_1/description/urdf/rrbot.urdf.xacro | 4 +- example_1/package.xml | 1 + example_3/CMakeLists.txt | 2 +- .../rrbot_system_multi_interface.launch.py | 2 +- .../description/launch/view_robot.launch.py | 4 +- example_3/description/rviz/rrbot.rviz | 205 ------------------ .../description/urdf/rrbot.materials.xacro | 44 ---- .../urdf/rrbot_description.urdf.xacro | 119 ---------- .../rrbot_system_multi_interface.urdf.xacro | 4 +- example_3/package.xml | 1 + example_7/package.xml | 4 +- ros2_control_demo_description/CMakeLists.txt | 7 +- .../rrbot}/rviz/rrbot.rviz | 0 .../rrbot}/urdf/rrbot.materials.xacro | 0 .../rrbot}/urdf/rrbot_description.urdf.xacro | 0 18 files changed, 24 insertions(+), 383 deletions(-) delete mode 100644 example_3/description/rviz/rrbot.rviz delete mode 100644 example_3/description/urdf/rrbot.materials.xacro delete mode 100644 example_3/description/urdf/rrbot_description.urdf.xacro rename {example_1/description => ros2_control_demo_description/rrbot}/rviz/rrbot.rviz (100%) rename {example_1/description => ros2_control_demo_description/rrbot}/urdf/rrbot.materials.xacro (100%) rename {example_1/description => ros2_control_demo_description/rrbot}/urdf/rrbot_description.urdf.xacro (100%) diff --git a/example_1/CMakeLists.txt b/example_1/CMakeLists.txt index 1b6fc017..ef7ca3ec 100644 --- a/example_1/CMakeLists.txt +++ b/example_1/CMakeLists.txt @@ -49,7 +49,7 @@ install( DESTINATION include/ros2_control_demo_example_1 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DIRECTORY description/launch description/ros2_control description/urdf DESTINATION share/ros2_control_demo_example_1 ) install( diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py index 6eab86b3..e25a132a 100644 --- a/example_1/bringup/launch/rrbot.launch.py +++ b/example_1/bringup/launch/rrbot.launch.py @@ -61,7 +61,7 @@ def generate_launch_description(): ] ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_1"), "rviz", "rrbot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"] ) control_node = Node( diff --git a/example_1/description/launch/view_robot.launch.py b/example_1/description/launch/view_robot.launch.py index 110a2e45..bbb2ca2b 100644 --- a/example_1/description/launch/view_robot.launch.py +++ b/example_1/description/launch/view_robot.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_package", - default_value="ros2_control_demo_example_1", + default_value="ros2_control_demo_description", description="Description package with robot URDF/xacro files. Usually the argument \ is not set, it enables use of a custom description.", ) @@ -69,7 +69,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare("ros2_control_demo_example_1"), "urdf", description_file] ), " ", "prefix:=", @@ -79,7 +79,7 @@ def generate_launch_description(): robot_description = {"robot_description": robot_description_content} rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.rviz"] + [FindPackageShare(description_package), "rrbot/rviz", "rrbot.rviz"] ) joint_state_publisher_node = Node( diff --git a/example_1/description/urdf/rrbot.urdf.xacro b/example_1/description/urdf/rrbot.urdf.xacro index b403f2c3..348db0b9 100644 --- a/example_1/description/urdf/rrbot.urdf.xacro +++ b/example_1/description/urdf/rrbot.urdf.xacro @@ -8,10 +8,10 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + - + diff --git a/example_1/package.xml b/example_1/package.xml index 45267f23..8513ca3e 100644 --- a/example_1/package.xml +++ b/example_1/package.xml @@ -26,6 +26,7 @@ joint_state_publisher_gui joint_trajectory_controller robot_state_publisher + ros2_control_demo_description ros2_controllers_test_nodes ros2controlcli ros2launch diff --git a/example_3/CMakeLists.txt b/example_3/CMakeLists.txt index 489c0219..55751e92 100644 --- a/example_3/CMakeLists.txt +++ b/example_3/CMakeLists.txt @@ -49,7 +49,7 @@ install( DESTINATION include/ros2_control_demo_example_3 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DIRECTORY description/launch description/ros2_control description/urdf DESTINATION share/ros2_control_demo_example_3 ) install( diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py index 980d363f..761e0515 100644 --- a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py +++ b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): ] ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_3"), "rviz", "rrbot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"] ) control_node = Node( diff --git a/example_3/description/launch/view_robot.launch.py b/example_3/description/launch/view_robot.launch.py index 53e4dc03..d72277ff 100644 --- a/example_3/description/launch/view_robot.launch.py +++ b/example_3/description/launch/view_robot.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_package", - default_value="ros2_control_demo_example_3", + default_value="ros2_control_demo_description", description="Description package with robot URDF/xacro files. Usually the argument \ is not set, it enables use of a custom description.", ) @@ -69,7 +69,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare("ros2_control_demo_example_3"), "urdf", description_file] ), " ", "prefix:=", diff --git a/example_3/description/rviz/rrbot.rviz b/example_3/description/rviz/rrbot.rviz deleted file mode 100644 index 0efbecc3..00000000 --- a/example_3/description/rviz/rrbot.rviz +++ /dev/null @@ -1,205 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 1096 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - hokuyo_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool_link: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Mass Properties: - Inertia: false - Mass: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Alpha: 1 - Arrow Width: 0.5 - Class: rviz_default_plugins/Wrench - Enabled: true - Force Arrow Scale: 0.20000000298023224 - Force Color: 204; 51; 51 - History Length: 1 - Name: Wrench - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /fts_broadcaster/wrench - Torque Arrow Scale: 0.20000000298023224 - Torque Color: 204; 204; 51 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 8.443930625915527 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.0044944556429982185 - Y: 1.0785865783691406 - Z: 2.4839563369750977 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.23039916157722473 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.150422096252441 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1379 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 1470 diff --git a/example_3/description/urdf/rrbot.materials.xacro b/example_3/description/urdf/rrbot.materials.xacro deleted file mode 100644 index eb8e0212..00000000 --- a/example_3/description/urdf/rrbot.materials.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_3/description/urdf/rrbot_description.urdf.xacro b/example_3/description/urdf/rrbot_description.urdf.xacro deleted file mode 100644 index cfcb0388..00000000 --- a/example_3/description/urdf/rrbot_description.urdf.xacro +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro b/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro index 9b5d1dd0..bd49cac1 100644 --- a/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro +++ b/example_3/description/urdf/rrbot_system_multi_interface.urdf.xacro @@ -13,10 +13,10 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + - + diff --git a/example_3/package.xml b/example_3/package.xml index 387a41a5..cb613e30 100644 --- a/example_3/package.xml +++ b/example_3/package.xml @@ -23,6 +23,7 @@ joint_state_broadcaster joint_state_publisher_gui robot_state_publisher + ros2_control_demo_description ros2_controllers_test_nodes ros2controlcli ros2launch diff --git a/example_7/package.xml b/example_7/package.xml index 6d9ccefe..5f770319 100644 --- a/example_7/package.xml +++ b/example_7/package.xml @@ -18,9 +18,11 @@ control_msgs controller_interface hardware_interface + kdl_parser pluginlib rclcpp_lifecycle rclcpp + rcpputils realtime_tools trajectory_msgs @@ -30,9 +32,9 @@ launch_ros launch robot_state_publisher + ros2_control_demo_description ros2controlcli ros2launch - ros2_control_demo_description rviz2 urdf xacro diff --git a/ros2_control_demo_description/CMakeLists.txt b/ros2_control_demo_description/CMakeLists.txt index b762483a..7c1cd693 100644 --- a/ros2_control_demo_description/CMakeLists.txt +++ b/ros2_control_demo_description/CMakeLists.txt @@ -4,7 +4,12 @@ project(ros2_control_demo_description) find_package(ament_cmake REQUIRED) install( - DIRECTORY r6bot/launch r6bot/meshes r6bot/srdf r6bot/urdf r6bot/rviz + DIRECTORY rrbot/urdf rrbot/rviz + DESTINATION share/${PROJECT_NAME}/rrbot +) + +install( + DIRECTORY r6bot/meshes r6bot/srdf r6bot/urdf r6bot/rviz DESTINATION share/${PROJECT_NAME}/r6bot ) diff --git a/example_1/description/rviz/rrbot.rviz b/ros2_control_demo_description/rrbot/rviz/rrbot.rviz similarity index 100% rename from example_1/description/rviz/rrbot.rviz rename to ros2_control_demo_description/rrbot/rviz/rrbot.rviz diff --git a/example_1/description/urdf/rrbot.materials.xacro b/ros2_control_demo_description/rrbot/urdf/rrbot.materials.xacro similarity index 100% rename from example_1/description/urdf/rrbot.materials.xacro rename to ros2_control_demo_description/rrbot/urdf/rrbot.materials.xacro diff --git a/example_1/description/urdf/rrbot_description.urdf.xacro b/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro similarity index 100% rename from example_1/description/urdf/rrbot_description.urdf.xacro rename to ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro From 961e93a081ad24bb7da168c2bf86ffccabef09ea Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 13 Aug 2023 09:39:29 +0000 Subject: [PATCH 3/7] Extract materials urdf and rviz files if no wrench is used --- example_1/doc/userdoc.rst | 4 +- example_12/CMakeLists.txt | 2 +- .../description/launch/view_robot.launch.py | 6 +- example_12/description/rviz/rrbot.rviz | 187 ---------------- .../description/urdf/rrbot.materials.xacro | 44 ---- example_12/description/urdf/rrbot.urdf.xacro | 2 +- example_12/doc/userdoc.rst | 2 +- .../description/launch/view_robot.launch.py | 2 +- example_3/doc/userdoc.rst | 4 +- .../description/urdf/rrbot.materials.xacro | 44 ---- .../urdf/rrbot_system_with_sensor.urdf.xacro | 2 +- example_4/package.xml | 1 + .../description/urdf/rrbot.materials.xacro | 44 ---- ...bot_system_with_external_sensor.urdf.xacro | 2 +- example_5/package.xml | 1 + example_6/CMakeLists.txt | 2 +- .../description/launch/view_robot.launch.py | 6 +- example_6/description/rviz/rrbot.rviz | 187 ---------------- .../description/urdf/rrbot.materials.xacro | 44 ---- .../urdf/rrbot_modular_actuators.urdf.xacro | 2 +- example_6/doc/userdoc.rst | 2 +- example_6/package.xml | 1 + example_8/CMakeLists.txt | 2 +- .../description/launch/view_robot.launch.py | 6 +- example_8/description/rviz/rrbot.rviz | 205 ------------------ .../description/urdf/rrbot.materials.xacro | 44 ---- ...nsmissions_system_position_only.urdf.xacro | 2 +- example_8/doc/userdoc.rst | 2 +- example_8/package.xml | 1 + example_9/CMakeLists.txt | 2 +- .../description/launch/view_robot.launch.py | 6 +- example_9/description/rviz/rrbot.rviz | 187 ---------------- .../description/urdf/rrbot.materials.xacro | 44 ---- example_9/description/urdf/rrbot.urdf.xacro | 2 +- example_9/doc/userdoc.rst | 2 +- example_9/package.xml | 1 + 36 files changed, 36 insertions(+), 1061 deletions(-) delete mode 100644 example_12/description/rviz/rrbot.rviz delete mode 100644 example_12/description/urdf/rrbot.materials.xacro delete mode 100644 example_4/description/urdf/rrbot.materials.xacro delete mode 100644 example_5/description/urdf/rrbot.materials.xacro delete mode 100644 example_6/description/rviz/rrbot.rviz delete mode 100644 example_6/description/urdf/rrbot.materials.xacro delete mode 100644 example_8/description/rviz/rrbot.rviz delete mode 100644 example_8/description/urdf/rrbot.materials.xacro delete mode 100644 example_9/description/rviz/rrbot.rviz delete mode 100644 example_9/description/urdf/rrbot.materials.xacro diff --git a/example_1/doc/userdoc.rst b/example_1/doc/userdoc.rst index ed825a43..62083311 100644 --- a/example_1/doc/userdoc.rst +++ b/example_1/doc/userdoc.rst @@ -221,10 +221,10 @@ Files used for this demos * Controllers yaml: `rrbot_controllers.yaml `__ * URDF file: `rrbot.urdf.xacro `__ - * Description: `rrbot_description.urdf.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ * ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ * Test nodes goals configuration: + `rrbot_forward_position_publisher `__ diff --git a/example_12/CMakeLists.txt b/example_12/CMakeLists.txt index 4637d22d..63a2474b 100644 --- a/example_12/CMakeLists.txt +++ b/example_12/CMakeLists.txt @@ -76,7 +76,7 @@ install( DESTINATION include/ros2_control_demo_example_12 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/gazebo description/rviz + DIRECTORY description/launch description/ros2_control description/urdf description/gazebo DESTINATION share/ros2_control_demo_example_12 ) install( diff --git a/example_12/description/launch/view_robot.launch.py b/example_12/description/launch/view_robot.launch.py index 9737f2bf..f61bf733 100644 --- a/example_12/description/launch/view_robot.launch.py +++ b/example_12/description/launch/view_robot.launch.py @@ -26,7 +26,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_package", - default_value="ros2_control_demo_example_12", + default_value="ros2_control_demo_description", description="Description package with robot URDF/xacro files. Usually the argument \ is not set, it enables use of a custom description.", ) @@ -59,7 +59,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare("ros2_control_demo_example_12"), "urdf", description_file] ), " ", "prefix:=", @@ -69,7 +69,7 @@ def generate_launch_description(): robot_description = {"robot_description": robot_description_content} rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.rviz"] + [FindPackageShare(description_package), "rrbot/rviz", "rrbot.rviz"] ) joint_state_publisher_node = Node( diff --git a/example_12/description/rviz/rrbot.rviz b/example_12/description/rviz/rrbot.rviz deleted file mode 100644 index 8e78cd63..00000000 --- a/example_12/description/rviz/rrbot.rviz +++ /dev/null @@ -1,187 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 1096 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - hokuyo_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool_link: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Mass Properties: - Inertia: false - Mass: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 8.443930625915527 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.0044944556429982185 - Y: 1.0785865783691406 - Z: 2.4839563369750977 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.23039916157722473 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.150422096252441 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1379 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 1470 diff --git a/example_12/description/urdf/rrbot.materials.xacro b/example_12/description/urdf/rrbot.materials.xacro deleted file mode 100644 index eb8e0212..00000000 --- a/example_12/description/urdf/rrbot.materials.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_12/description/urdf/rrbot.urdf.xacro b/example_12/description/urdf/rrbot.urdf.xacro index f7d3ccab..bd355d18 100644 --- a/example_12/description/urdf/rrbot.urdf.xacro +++ b/example_12/description/urdf/rrbot.urdf.xacro @@ -12,7 +12,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_12/doc/userdoc.rst b/example_12/doc/userdoc.rst index 766c55dd..741d9dea 100644 --- a/example_12/doc/userdoc.rst +++ b/example_12/doc/userdoc.rst @@ -172,7 +172,7 @@ Files used for this demos + Description: `rrbot_description.urdf.xacro `__ + ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ -- RViz configuration: `rrbot.rviz `__ +- RViz configuration: `rrbot.rviz `__ - Hardware interface plugin: `rrbot.cpp `__ diff --git a/example_3/description/launch/view_robot.launch.py b/example_3/description/launch/view_robot.launch.py index d72277ff..be7e715a 100644 --- a/example_3/description/launch/view_robot.launch.py +++ b/example_3/description/launch/view_robot.launch.py @@ -79,7 +79,7 @@ def generate_launch_description(): robot_description = {"robot_description": robot_description_content} rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.rviz"] + [FindPackageShare(description_package), "rrbot/rviz", "rrbot.rviz"] ) joint_state_publisher_node = Node( diff --git a/example_3/doc/userdoc.rst b/example_3/doc/userdoc.rst index 4481d854..cf2c755d 100644 --- a/example_3/doc/userdoc.rst +++ b/example_3/doc/userdoc.rst @@ -192,11 +192,11 @@ Files used for this demos * Launch file: `rrbot_system_multi_interface.launch.py `__ * Controllers yaml: `rrbot_multi_interface_forward_controllers.yaml `__ -* URDF: `rrbot_system_multi_interface.urdf.xacro `__ +* URDF: `rrbot_system_multi_interface.urdf.xacro `__ * ``ros2_control`` URDF tag: `rrbot_system_multi_interface.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ * Hardware interface plugin: `rrbot_system_multi_interface.cpp `__ Controllers from this demo diff --git a/example_4/description/urdf/rrbot.materials.xacro b/example_4/description/urdf/rrbot.materials.xacro deleted file mode 100644 index eb8e0212..00000000 --- a/example_4/description/urdf/rrbot.materials.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro b/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro index e06eedeb..04c2846c 100644 --- a/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro +++ b/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro @@ -16,7 +16,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_4/package.xml b/example_4/package.xml index d2520c9b..28eb1c63 100644 --- a/example_4/package.xml +++ b/example_4/package.xml @@ -23,6 +23,7 @@ joint_state_broadcaster joint_state_publisher_gui robot_state_publisher + ros2_control_demo_description ros2_controllers_test_nodes ros2controlcli ros2launch diff --git a/example_5/description/urdf/rrbot.materials.xacro b/example_5/description/urdf/rrbot.materials.xacro deleted file mode 100644 index eb8e0212..00000000 --- a/example_5/description/urdf/rrbot.materials.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro b/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro index 49b35d2d..1bc37a93 100644 --- a/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro +++ b/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro @@ -16,7 +16,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_5/package.xml b/example_5/package.xml index c6e96fc3..062ff58d 100644 --- a/example_5/package.xml +++ b/example_5/package.xml @@ -23,6 +23,7 @@ joint_state_broadcaster joint_state_publisher_gui robot_state_publisher + ros2_control_demo_description ros2_controllers_test_nodes ros2controlcli ros2launch diff --git a/example_6/CMakeLists.txt b/example_6/CMakeLists.txt index 120b2af4..4ed33d33 100644 --- a/example_6/CMakeLists.txt +++ b/example_6/CMakeLists.txt @@ -49,7 +49,7 @@ install( DESTINATION include/ros2_control_demo_example_6 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DIRECTORY description/launch description/ros2_control description/urdf DESTINATION share/ros2_control_demo_example_6 ) install( diff --git a/example_6/description/launch/view_robot.launch.py b/example_6/description/launch/view_robot.launch.py index 1d671d76..d5ce1ca4 100644 --- a/example_6/description/launch/view_robot.launch.py +++ b/example_6/description/launch/view_robot.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_package", - default_value="ros2_control_demo_example_6", + default_value="ros2_control_demo_description", description="Description package with robot URDF/xacro files. Usually the argument \ is not set, it enables use of a custom description.", ) @@ -69,7 +69,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare("ros2_control_demo_example_6"), "urdf", description_file] ), " ", "prefix:=", @@ -79,7 +79,7 @@ def generate_launch_description(): robot_description = {"robot_description": robot_description_content} rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.rviz"] + [FindPackageShare(description_package), "rrbot/rviz", "rrbot.rviz"] ) joint_state_publisher_node = Node( diff --git a/example_6/description/rviz/rrbot.rviz b/example_6/description/rviz/rrbot.rviz deleted file mode 100644 index 373bae55..00000000 --- a/example_6/description/rviz/rrbot.rviz +++ /dev/null @@ -1,187 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 905 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - hokuyo_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool_link: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Mass Properties: - Inertia: false - Mass: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 8.443930625915527 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.0044944556429982185 - Y: 1.0785865783691406 - Z: 2.4839563369750977 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.23039916157722473 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.150422096252441 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1137 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000041bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000041b000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001100000041bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000041b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004fa0000041b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1920 - X: 1920 - Y: 23 diff --git a/example_6/description/urdf/rrbot.materials.xacro b/example_6/description/urdf/rrbot.materials.xacro deleted file mode 100644 index eb8e0212..00000000 --- a/example_6/description/urdf/rrbot.materials.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro b/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro index 18414ea8..f6589674 100644 --- a/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro +++ b/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro @@ -14,7 +14,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_6/doc/userdoc.rst b/example_6/doc/userdoc.rst index 9f6de521..6965a613 100644 --- a/example_6/doc/userdoc.rst +++ b/example_6/doc/userdoc.rst @@ -111,7 +111,7 @@ Files used for this demos * ``ros2_control`` URDF tag: `rrbot_modular_actuators.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ * Hardware interface plugin: `rrbot_actuator.cpp `__ diff --git a/example_6/package.xml b/example_6/package.xml index 10c77c4f..1b89e08a 100644 --- a/example_6/package.xml +++ b/example_6/package.xml @@ -23,6 +23,7 @@ joint_state_broadcaster joint_state_publisher_gui robot_state_publisher + ros2_control_demo_description ros2_controllers_test_nodes ros2controlcli ros2launch diff --git a/example_8/CMakeLists.txt b/example_8/CMakeLists.txt index 5222b5c4..2ce4b3ed 100644 --- a/example_8/CMakeLists.txt +++ b/example_8/CMakeLists.txt @@ -50,7 +50,7 @@ install( DESTINATION include/ros2_control_demo_example_8 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DIRECTORY description/launch description/ros2_control description/urdf DESTINATION share/ros2_control_demo_example_8 ) install( diff --git a/example_8/description/launch/view_robot.launch.py b/example_8/description/launch/view_robot.launch.py index 7bac36d9..ddc47aab 100644 --- a/example_8/description/launch/view_robot.launch.py +++ b/example_8/description/launch/view_robot.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_package", - default_value="ros2_control_demo_example_8", + default_value="ros2_control_demo_description", description="Description package with robot URDF/xacro files. Usually the argument \ is not set, it enables use of a custom description.", ) @@ -69,7 +69,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare("ros2_control_demo_example_8"), "urdf", description_file] ), " ", "prefix:=", @@ -79,7 +79,7 @@ def generate_launch_description(): robot_description = {"robot_description": robot_description_content} rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.rviz"] + [FindPackageShare(description_package), "rrbot/rviz", "rrbot.rviz"] ) joint_state_publisher_node = Node( diff --git a/example_8/description/rviz/rrbot.rviz b/example_8/description/rviz/rrbot.rviz deleted file mode 100644 index 0efbecc3..00000000 --- a/example_8/description/rviz/rrbot.rviz +++ /dev/null @@ -1,205 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 1096 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - hokuyo_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool_link: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Mass Properties: - Inertia: false - Mass: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Alpha: 1 - Arrow Width: 0.5 - Class: rviz_default_plugins/Wrench - Enabled: true - Force Arrow Scale: 0.20000000298023224 - Force Color: 204; 51; 51 - History Length: 1 - Name: Wrench - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /fts_broadcaster/wrench - Torque Arrow Scale: 0.20000000298023224 - Torque Color: 204; 204; 51 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 8.443930625915527 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.0044944556429982185 - Y: 1.0785865783691406 - Z: 2.4839563369750977 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.23039916157722473 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.150422096252441 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1379 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 1470 diff --git a/example_8/description/urdf/rrbot.materials.xacro b/example_8/description/urdf/rrbot.materials.xacro deleted file mode 100644 index eb8e0212..00000000 --- a/example_8/description/urdf/rrbot.materials.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro b/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro index 83328e16..3d6af1eb 100644 --- a/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro +++ b/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro @@ -14,7 +14,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_8/doc/userdoc.rst b/example_8/doc/userdoc.rst index e417a2dc..2eb889b6 100644 --- a/example_8/doc/userdoc.rst +++ b/example_8/doc/userdoc.rst @@ -110,7 +110,7 @@ Files used for this demos * Description: `rrbot_description.urdf.xacro `__ * ``ros2_control`` tag: `rrbot_transmissions_system_position_only.ros2_control.xacro `__ -* RViz configuration: `rrbot.rviz `__ +* RViz configuration: `rrbot.rviz `__ * Hardware interface plugin: `rrbot_transmissions_system_position_only.cpp `__ diff --git a/example_8/package.xml b/example_8/package.xml index a8b436ca..e1d5e47d 100644 --- a/example_8/package.xml +++ b/example_8/package.xml @@ -26,6 +26,7 @@ joint_state_broadcaster joint_state_publisher_gui robot_state_publisher + ros2_control_demo_description ros2_controllers_test_nodes ros2controlcli ros2launch diff --git a/example_9/CMakeLists.txt b/example_9/CMakeLists.txt index 2b8780f5..c0ce90a5 100644 --- a/example_9/CMakeLists.txt +++ b/example_9/CMakeLists.txt @@ -49,7 +49,7 @@ install( DESTINATION include/ros2_control_demo_example_9 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/gazebo description/rviz + DIRECTORY description/launch description/ros2_control description/urdf description/gazebo DESTINATION share/ros2_control_demo_example_9 ) install( diff --git a/example_9/description/launch/view_robot.launch.py b/example_9/description/launch/view_robot.launch.py index 00e6ff0c..3f7da6b9 100644 --- a/example_9/description/launch/view_robot.launch.py +++ b/example_9/description/launch/view_robot.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_package", - default_value="ros2_control_demo_example_9", + default_value="ros2_control_demo_description", description="Description package with robot URDF/xacro files. Usually the argument \ is not set, it enables use of a custom description.", ) @@ -69,7 +69,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare("ros2_control_demo_example_9"), "urdf", description_file] ), " ", "prefix:=", @@ -79,7 +79,7 @@ def generate_launch_description(): robot_description = {"robot_description": robot_description_content} rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "rrbot.rviz"] + [FindPackageShare(description_package), "rrbot/rviz", "rrbot.rviz"] ) joint_state_publisher_node = Node( diff --git a/example_9/description/rviz/rrbot.rviz b/example_9/description/rviz/rrbot.rviz deleted file mode 100644 index 8e78cd63..00000000 --- a/example_9/description/rviz/rrbot.rviz +++ /dev/null @@ -1,187 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 87 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 1096 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - hokuyo_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - tool_link: - Alpha: 1 - Show Axes: false - Show Trail: false - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Mass Properties: - Inertia: false - Mass: false - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 8.443930625915527 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.0044944556429982185 - Y: 1.0785865783691406 - Z: 2.4839563369750977 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.23039916157722473 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.150422096252441 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1379 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000048000004f00000010101000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000110000004f0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000048000004f0000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000004f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2560 - X: 0 - Y: 1470 diff --git a/example_9/description/urdf/rrbot.materials.xacro b/example_9/description/urdf/rrbot.materials.xacro deleted file mode 100644 index eb8e0212..00000000 --- a/example_9/description/urdf/rrbot.materials.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_9/description/urdf/rrbot.urdf.xacro b/example_9/description/urdf/rrbot.urdf.xacro index 4f18345c..f49458b4 100644 --- a/example_9/description/urdf/rrbot.urdf.xacro +++ b/example_9/description/urdf/rrbot.urdf.xacro @@ -12,7 +12,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_9/doc/userdoc.rst b/example_9/doc/userdoc.rst index 91506735..36c82266 100644 --- a/example_9/doc/userdoc.rst +++ b/example_9/doc/userdoc.rst @@ -143,7 +143,7 @@ Files used for this demos + Description: `rrbot_description.urdf.xacro `__ + ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ -- RViz configuration: `rrbot.rviz `__ +- RViz configuration: `rrbot.rviz `__ - Test nodes goals configuration: + `rrbot_forward_position_publisher `__ diff --git a/example_9/package.xml b/example_9/package.xml index de98b11a..cc7f7fc9 100644 --- a/example_9/package.xml +++ b/example_9/package.xml @@ -29,6 +29,7 @@ joint_state_publisher_gui joint_trajectory_controller robot_state_publisher + ros2_control_demo_description ros2_controllers_test_nodes ros2controlcli rviz2 From 96a1eb1400601e05ac4409c7b864f9a9f473ae8b Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 13 Aug 2023 09:58:18 +0000 Subject: [PATCH 4/7] Import global rrbot_description in all examples --- example_12/description/urdf/rrbot.urdf.xacro | 2 +- .../urdf/rrbot_description.urdf.xacro | 119 -------------- example_12/doc/userdoc.rst | 2 +- example_3/doc/userdoc.rst | 3 +- .../urdf/rrbot_description.urdf.xacro | 129 --------------- .../urdf/rrbot_system_with_sensor.urdf.xacro | 2 +- example_4/doc/userdoc.rst | 1 + .../urdf/rrbot_description.urdf.xacro | 129 --------------- ...bot_system_with_external_sensor.urdf.xacro | 2 +- example_5/doc/userdoc.rst | 1 + .../urdf/rrbot_description.urdf.xacro | 119 -------------- .../urdf/rrbot_modular_actuators.urdf.xacro | 2 +- example_6/doc/userdoc.rst | 1 + .../urdf/rrbot_description.urdf.xacro | 119 -------------- ...nsmissions_system_position_only.urdf.xacro | 2 +- example_8/doc/userdoc.rst | 2 +- example_9/description/urdf/rrbot.urdf.xacro | 2 +- .../urdf/rrbot_description.urdf.xacro | 119 -------------- example_9/doc/userdoc.rst | 2 +- .../rrbot/urdf/rrbot_description.urdf.xacro | 154 ++++++++++-------- 20 files changed, 96 insertions(+), 816 deletions(-) delete mode 100644 example_12/description/urdf/rrbot_description.urdf.xacro delete mode 100644 example_4/description/urdf/rrbot_description.urdf.xacro delete mode 100644 example_5/description/urdf/rrbot_description.urdf.xacro delete mode 100644 example_6/description/urdf/rrbot_description.urdf.xacro delete mode 100644 example_8/description/urdf/rrbot_description.urdf.xacro delete mode 100644 example_9/description/urdf/rrbot_description.urdf.xacro diff --git a/example_12/description/urdf/rrbot.urdf.xacro b/example_12/description/urdf/rrbot.urdf.xacro index bd355d18..f1f526bf 100644 --- a/example_12/description/urdf/rrbot.urdf.xacro +++ b/example_12/description/urdf/rrbot.urdf.xacro @@ -9,7 +9,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_12/description/urdf/rrbot_description.urdf.xacro b/example_12/description/urdf/rrbot_description.urdf.xacro deleted file mode 100644 index cfcb0388..00000000 --- a/example_12/description/urdf/rrbot_description.urdf.xacro +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_12/doc/userdoc.rst b/example_12/doc/userdoc.rst index 741d9dea..77db80a4 100644 --- a/example_12/doc/userdoc.rst +++ b/example_12/doc/userdoc.rst @@ -170,7 +170,7 @@ Files used for this demos - Controllers yaml: `rrbot_controllers.yaml `__ - URDF file: `rrbot.urdf.xacro `__ - + Description: `rrbot_description.urdf.xacro `__ + + Description: `rrbot_description.urdf.xacro `__ + ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ - RViz configuration: `rrbot.rviz `__ - Hardware interface plugin: `rrbot.cpp `__ diff --git a/example_3/doc/userdoc.rst b/example_3/doc/userdoc.rst index cf2c755d..249b1c5a 100644 --- a/example_3/doc/userdoc.rst +++ b/example_3/doc/userdoc.rst @@ -192,8 +192,9 @@ Files used for this demos * Launch file: `rrbot_system_multi_interface.launch.py `__ * Controllers yaml: `rrbot_multi_interface_forward_controllers.yaml `__ -* URDF: `rrbot_system_multi_interface.urdf.xacro `__ +* URDF: `rrbot_system_multi_interface.urdf.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ * ``ros2_control`` URDF tag: `rrbot_system_multi_interface.ros2_control.xacro `__ * RViz configuration: `rrbot.rviz `__ diff --git a/example_4/description/urdf/rrbot_description.urdf.xacro b/example_4/description/urdf/rrbot_description.urdf.xacro deleted file mode 100644 index d4ddcb74..00000000 --- a/example_4/description/urdf/rrbot_description.urdf.xacro +++ /dev/null @@ -1,129 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro b/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro index 04c2846c..2fd17295 100644 --- a/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro +++ b/example_4/description/urdf/rrbot_system_with_sensor.urdf.xacro @@ -13,7 +13,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_4/doc/userdoc.rst b/example_4/doc/userdoc.rst index 6c70870f..b0909a28 100644 --- a/example_4/doc/userdoc.rst +++ b/example_4/doc/userdoc.rst @@ -139,6 +139,7 @@ Files used for this demo * Controllers yaml: `rrbot_with_sensor_controllers.yaml `__ * URDF: `rrbot_system_with_sensor.urdf.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ * ``ros2_control`` URDF tag: `rrbot_system_with_sensor.ros2_control.xacro `__ * RViz configuration: `rrbot.rviz `__ diff --git a/example_5/description/urdf/rrbot_description.urdf.xacro b/example_5/description/urdf/rrbot_description.urdf.xacro deleted file mode 100644 index 8ef1f053..00000000 --- a/example_5/description/urdf/rrbot_description.urdf.xacro +++ /dev/null @@ -1,129 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro b/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro index 1bc37a93..b332cf46 100644 --- a/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro +++ b/example_5/description/urdf/rrbot_system_with_external_sensor.urdf.xacro @@ -13,7 +13,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_5/doc/userdoc.rst b/example_5/doc/userdoc.rst index 2e6266f8..5a3ccc52 100644 --- a/example_5/doc/userdoc.rst +++ b/example_5/doc/userdoc.rst @@ -144,6 +144,7 @@ Files used for this demos * Controllers yaml: `rrbot_with_external_sensor_controllers.yaml `__ * URDF: `rrbot_with_external_sensor_controllers.urdf.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ * ``ros2_control`` robot: `rrbot_system_position_only.ros2_control.xacro `__ * ``ros2_control`` sensor: `external_rrbot_force_torque_sensor.ros2_control.xacro `__ diff --git a/example_6/description/urdf/rrbot_description.urdf.xacro b/example_6/description/urdf/rrbot_description.urdf.xacro deleted file mode 100644 index cfcb0388..00000000 --- a/example_6/description/urdf/rrbot_description.urdf.xacro +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro b/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro index f6589674..64d24875 100644 --- a/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro +++ b/example_6/description/urdf/rrbot_modular_actuators.urdf.xacro @@ -11,7 +11,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_6/doc/userdoc.rst b/example_6/doc/userdoc.rst index 6965a613..eb98b843 100644 --- a/example_6/doc/userdoc.rst +++ b/example_6/doc/userdoc.rst @@ -109,6 +109,7 @@ Files used for this demos * Controllers yaml: `rrbot_modular_actuators.yaml `__ * URDF: `rrbot_modular_actuators.urdf.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ * ``ros2_control`` URDF tag: `rrbot_modular_actuators.ros2_control.xacro `__ * RViz configuration: `rrbot.rviz `__ diff --git a/example_8/description/urdf/rrbot_description.urdf.xacro b/example_8/description/urdf/rrbot_description.urdf.xacro deleted file mode 100644 index cfcb0388..00000000 --- a/example_8/description/urdf/rrbot_description.urdf.xacro +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro b/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro index 3d6af1eb..02181f55 100644 --- a/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro +++ b/example_8/description/urdf/rrbot_transmissions_system_position_only.urdf.xacro @@ -11,7 +11,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_8/doc/userdoc.rst b/example_8/doc/userdoc.rst index 2eb889b6..553c2c54 100644 --- a/example_8/doc/userdoc.rst +++ b/example_8/doc/userdoc.rst @@ -107,7 +107,7 @@ Files used for this demos * Controllers yaml: `rrbot_controllers.yaml `__ * URDF file: `rrbot_transmissions_system_position_only.urdf.xacro `__ - * Description: `rrbot_description.urdf.xacro `__ + * Description: `rrbot_description.urdf.xacro `__ * ``ros2_control`` tag: `rrbot_transmissions_system_position_only.ros2_control.xacro `__ * RViz configuration: `rrbot.rviz `__ diff --git a/example_9/description/urdf/rrbot.urdf.xacro b/example_9/description/urdf/rrbot.urdf.xacro index f49458b4..a77033ce 100644 --- a/example_9/description/urdf/rrbot.urdf.xacro +++ b/example_9/description/urdf/rrbot.urdf.xacro @@ -9,7 +9,7 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc - + diff --git a/example_9/description/urdf/rrbot_description.urdf.xacro b/example_9/description/urdf/rrbot_description.urdf.xacro deleted file mode 100644 index cfcb0388..00000000 --- a/example_9/description/urdf/rrbot_description.urdf.xacro +++ /dev/null @@ -1,119 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/example_9/doc/userdoc.rst b/example_9/doc/userdoc.rst index 36c82266..6417f4e2 100644 --- a/example_9/doc/userdoc.rst +++ b/example_9/doc/userdoc.rst @@ -140,7 +140,7 @@ Files used for this demos - Controllers yaml: `rrbot_controllers.yaml `__ - URDF file: `rrbot.urdf.xacro `__ - + Description: `rrbot_description.urdf.xacro `__ + + Description: `rrbot_description.urdf.xacro `__ + ``ros2_control`` tag: `rrbot.ros2_control.xacro `__ - RViz configuration: `rrbot.rviz `__ diff --git a/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro b/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro index cfcb0388..a86af5c6 100644 --- a/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro +++ b/ros2_control_demo_description/rrbot/urdf/rrbot_description.urdf.xacro @@ -41,78 +41,88 @@ ixx="${mass / 12.0 * (width*width + height1*height1)}" ixy="0.0" ixz="0.0" iyy="${mass / 12.0 * (height1*height1 + width*width)}" iyz="0.0" izz="${mass / 12.0 * (width*width + width*width)}"/> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 48591c47d05740c45d30fffcf35271ad7e843dd2 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 13 Aug 2023 10:06:46 +0000 Subject: [PATCH 5/7] Fix gazebo launch file description --- example_9/doc/userdoc.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/example_9/doc/userdoc.rst b/example_9/doc/userdoc.rst index 6417f4e2..3e612d1e 100644 --- a/example_9/doc/userdoc.rst +++ b/example_9/doc/userdoc.rst @@ -65,7 +65,7 @@ Tutorial steps .. code-block:: shell - ros2 launch ros2_control_demo_example_9 rrbot_gazebo_classic.launch.py + ros2 launch ros2_control_demo_example_9 rrbot_gazebo_classic.launch.py gui:=true The launch file loads the robot description, starts Gazebo Classic, *Joint State Broadcaster* and *Forward Command Controller*. If you can see two orange and one yellow "box" in Gazebo Classic everything has started properly. From eb17bc9237736cce56985f2bda38129c7218ff86 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 13 Aug 2023 10:06:54 +0000 Subject: [PATCH 6/7] Fix rviz paths --- example_12/bringup/launch/rrbot.launch.py | 2 +- example_6/bringup/launch/rrbot_modular_actuators.launch.py | 2 +- .../launch/rrbot_transmissions_system_position_only.launch.py | 2 +- example_9/bringup/launch/rrbot.launch.py | 2 +- example_9/bringup/launch/rrbot_gazebo_classic.launch.py | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py index 51e8a88c..07b4a486 100644 --- a/example_12/bringup/launch/rrbot.launch.py +++ b/example_12/bringup/launch/rrbot.launch.py @@ -47,7 +47,7 @@ def generate_launch_description(): ] ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_12"), "rviz", "rrbot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"] ) control_node = Node( diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py index c327b19a..d84d2bec 100644 --- a/example_6/bringup/launch/rrbot_modular_actuators.launch.py +++ b/example_6/bringup/launch/rrbot_modular_actuators.launch.py @@ -113,7 +113,7 @@ def generate_launch_description(): ] ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_6"), "rviz", "rrbot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"] ) control_node = Node( diff --git a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py index d5c00e9d..f4299977 100644 --- a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py +++ b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py @@ -90,7 +90,7 @@ def generate_launch_description(): ] ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_8"), "rviz", "rrbot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"] ) control_node = Node( diff --git a/example_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py index aa8ca913..2a61c1ce 100644 --- a/example_9/bringup/launch/rrbot.launch.py +++ b/example_9/bringup/launch/rrbot.launch.py @@ -62,7 +62,7 @@ def generate_launch_description(): ] ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_9"), "rviz", "rrbot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"] ) control_node = Node( diff --git a/example_9/bringup/launch/rrbot_gazebo_classic.launch.py b/example_9/bringup/launch/rrbot_gazebo_classic.launch.py index 4b936215..1fd754f7 100644 --- a/example_9/bringup/launch/rrbot_gazebo_classic.launch.py +++ b/example_9/bringup/launch/rrbot_gazebo_classic.launch.py @@ -57,7 +57,7 @@ def generate_launch_description(): ) robot_description = {"robot_description": robot_description_content} rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_9"), "rviz", "rrbot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "rrbot/rviz", "rrbot.rviz"] ) node_robot_state_publisher = Node( From 02d459724c0d237ae85c4e2c3dadab7cb9b9aa3f Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 13 Aug 2023 10:11:06 +0000 Subject: [PATCH 7/7] Move diffbot description to description package --- example_2/CMakeLists.txt | 2 +- example_2/bringup/launch/diffbot.launch.py | 2 +- example_2/description/launch/view_robot.launch.py | 6 +++--- example_2/description/urdf/diffbot.urdf.xacro | 4 ++-- example_2/doc/userdoc.rst | 4 ++-- example_2/package.xml | 1 + ros2_control_demo_description/CMakeLists.txt | 5 +++++ .../diffbot}/rviz/diffbot.rviz | 0 .../diffbot}/rviz/diffbot_view.rviz | 0 .../diffbot}/urdf/diffbot.materials.xacro | 0 .../diffbot}/urdf/diffbot_description.urdf.xacro | 0 11 files changed, 15 insertions(+), 9 deletions(-) rename {example_2/description => ros2_control_demo_description/diffbot}/rviz/diffbot.rviz (100%) rename {example_2/description => ros2_control_demo_description/diffbot}/rviz/diffbot_view.rviz (100%) rename {example_2/description => ros2_control_demo_description/diffbot}/urdf/diffbot.materials.xacro (100%) rename {example_2/description => ros2_control_demo_description/diffbot}/urdf/diffbot_description.urdf.xacro (100%) diff --git a/example_2/CMakeLists.txt b/example_2/CMakeLists.txt index ae795104..1c06f916 100644 --- a/example_2/CMakeLists.txt +++ b/example_2/CMakeLists.txt @@ -49,7 +49,7 @@ install( DESTINATION include/ros2_control_demo_example_2 ) install( - DIRECTORY description/launch description/ros2_control description/urdf description/rviz + DIRECTORY description/launch description/ros2_control description/urdf DESTINATION share/ros2_control_demo_example_2 ) install( diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py index b07d4e44..45ca0237 100644 --- a/example_2/bringup/launch/diffbot.launch.py +++ b/example_2/bringup/launch/diffbot.launch.py @@ -56,7 +56,7 @@ def generate_launch_description(): ] ) rviz_config_file = PathJoinSubstitution( - [FindPackageShare("ros2_control_demo_example_2"), "rviz", "diffbot.rviz"] + [FindPackageShare("ros2_control_demo_description"), "diffbot/rviz", "diffbot.rviz"] ) control_node = Node( diff --git a/example_2/description/launch/view_robot.launch.py b/example_2/description/launch/view_robot.launch.py index 650994e7..8c030d3a 100644 --- a/example_2/description/launch/view_robot.launch.py +++ b/example_2/description/launch/view_robot.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): declared_arguments.append( DeclareLaunchArgument( "description_package", - default_value="ros2_control_demo_example_2", + default_value="ros2_control_demo_description", description="Description package with robot URDF/xacro files. Usually the argument \ is not set, it enables use of a custom description.", ) @@ -69,7 +69,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare(description_package), "urdf", description_file] + [FindPackageShare("ros2_control_demo_example_2"), "urdf", description_file] ), " ", "prefix:=", @@ -79,7 +79,7 @@ def generate_launch_description(): robot_description = {"robot_description": robot_description_content} rviz_config_file = PathJoinSubstitution( - [FindPackageShare(description_package), "rviz", "diffbot_view.rviz"] + [FindPackageShare(description_package), "diffbot/rviz", "diffbot_view.rviz"] ) joint_state_publisher_node = Node( diff --git a/example_2/description/urdf/diffbot.urdf.xacro b/example_2/description/urdf/diffbot.urdf.xacro index a2858e1b..0f68baad 100644 --- a/example_2/description/urdf/diffbot.urdf.xacro +++ b/example_2/description/urdf/diffbot.urdf.xacro @@ -3,10 +3,10 @@ - + - + diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst index 4754aade..c986757d 100644 --- a/example_2/doc/userdoc.rst +++ b/example_2/doc/userdoc.rst @@ -110,10 +110,10 @@ Files used for this demos * Controllers yaml: `diffbot_controllers.yaml `__ * URDF file: `diffbot.urdf.xacro `__ - * Description: `diffbot_description.urdf.xacro `__ + * Description: `diffbot_description.urdf.xacro `__ * ``ros2_control`` tag: `diffbot.ros2_control.xacro `__ -* RViz configuration: `diffbot.rviz `__ +* RViz configuration: `diffbot.rviz `__ * Hardware interface plugin: `diffbot_system.cpp `__ diff --git a/example_2/package.xml b/example_2/package.xml index 1b545f1b..ce70fa0b 100644 --- a/example_2/package.xml +++ b/example_2/package.xml @@ -25,6 +25,7 @@ joint_state_broadcaster joint_state_publisher_gui robot_state_publisher + ros2_control_demo_description ros2_controllers_test_nodes ros2controlcli ros2launch diff --git a/ros2_control_demo_description/CMakeLists.txt b/ros2_control_demo_description/CMakeLists.txt index 7c1cd693..b7aedafb 100644 --- a/ros2_control_demo_description/CMakeLists.txt +++ b/ros2_control_demo_description/CMakeLists.txt @@ -8,6 +8,11 @@ install( DESTINATION share/${PROJECT_NAME}/rrbot ) +install( + DIRECTORY diffbot/urdf diffbot/rviz + DESTINATION share/${PROJECT_NAME}/diffbot +) + install( DIRECTORY r6bot/meshes r6bot/srdf r6bot/urdf r6bot/rviz DESTINATION share/${PROJECT_NAME}/r6bot diff --git a/example_2/description/rviz/diffbot.rviz b/ros2_control_demo_description/diffbot/rviz/diffbot.rviz similarity index 100% rename from example_2/description/rviz/diffbot.rviz rename to ros2_control_demo_description/diffbot/rviz/diffbot.rviz diff --git a/example_2/description/rviz/diffbot_view.rviz b/ros2_control_demo_description/diffbot/rviz/diffbot_view.rviz similarity index 100% rename from example_2/description/rviz/diffbot_view.rviz rename to ros2_control_demo_description/diffbot/rviz/diffbot_view.rviz diff --git a/example_2/description/urdf/diffbot.materials.xacro b/ros2_control_demo_description/diffbot/urdf/diffbot.materials.xacro similarity index 100% rename from example_2/description/urdf/diffbot.materials.xacro rename to ros2_control_demo_description/diffbot/urdf/diffbot.materials.xacro diff --git a/example_2/description/urdf/diffbot_description.urdf.xacro b/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro similarity index 100% rename from example_2/description/urdf/diffbot_description.urdf.xacro rename to ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro