Merge lp:~guihome/sr-ros-interface/manip-electric_corr3 into lp:sr-ros-interface

Proposed by Guillaume W.
Status: Merged
Merged at revision: 390
Proposed branch: lp:~guihome/sr-ros-interface/manip-electric_corr3
Merge into: lp:sr-ros-interface
Diff against target: 783 lines (+152/-108)
34 files modified
sr_description/arm/xacro/base/shadowarm_base.urdf.xacro (+1/-1)
sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.urdf.xacro (+1/-1)
sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.urdf.xacro (+1/-1)
sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro (+1/-1)
sr_description/arm/xacro/trunk/shadowarm_trunk.urdf.xacro (+1/-1)
sr_description/arm/xacro/upper_arm/shadowarm_upperarm.urdf.xacro (+1/-1)
sr_description/hand/xacro/finger/distal/distal.urdf.xacro (+1/-1)
sr_description/hand/xacro/finger/distal/distal_ellipsoid.urdf.xacro (+1/-1)
sr_description/hand/xacro/finger/middle/middle.urdf.xacro (+1/-0)
sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro (+1/-0)
sr_description/hand/xacro/forearm/forearm_motor.urdf.xacro (+1/-1)
sr_description/hand/xacro/forearm/forearm_muscle.urdf.xacro (+1/-1)
sr_description/hand/xacro/thumb/thdistal.urdf.xacro (+1/-1)
sr_description/hand/xacro/thumb/thdistal_ellipsoid.urdf.xacro (+1/-1)
sr_description/hand/xacro/wrist/wrist.urdf.xacro (+1/-1)
sr_description/loaders/load_support_model.launch (+3/-0)
sr_description/other/xacro/desk/desk.urdf.xacro (+16/-18)
sr_description/other/xacro/desk/desk_robot.urdf.xacro (+5/-0)
sr_description/robots/arm_and_hand_motor.urdf.xacro (+3/-6)
sr_description/robots/arm_and_hand_motor_ellipsoid.urdf.xacro (+3/-6)
sr_description/robots/arm_and_hand_motor_three_finger.urdf.xacro (+3/-6)
sr_description/robots/arm_and_hand_muscle.urdf.xacro (+4/-6)
sr_description/robots/arm_and_sr_one_finger_motor.urdf.xacro (+4/-6)
sr_description/robots/desk_arm_and_hand_motor.urdf.xacro (+4/-6)
sr_description/robots/sr_arm_motor.urdf.xacro (+4/-7)
sr_description/robots/sr_arm_muscle.urdf.xacro (+4/-6)
sr_hand/launch/advanced/static_transforms.launch (+5/-4)
sr_hand/launch/gazebo/gazebo_arm.launch (+4/-2)
sr_hand/launch/gazebo/gazebo_arm_and_hand.launch (+6/-2)
sr_hand/launch/sr_arm_and_hand.launch (+4/-3)
sr_mechanism_controllers/src/joint_spline_trajectory_action_controller.cpp (+18/-9)
sr_move_arm/src/reactive_actions/reactive_grasp.py (+16/-7)
sr_tactile_sensors/include/sr_tactile_sensors/sr_generic_tactile_sensor.hpp (+1/-0)
sr_tactile_sensors/src/sr_generic_tactile_sensor.cpp (+30/-1)
To merge this branch: bzr merge lp:~guihome/sr-ros-interface/manip-electric_corr3
Reviewer Review Type Date Requested Status
Shadow Robot Pending
Review via email: mp+132254@code.launchpad.net

Description of the change

This update works in pair with the newer manipulation stack (removed frames), trying to make the stack more generic to add any platform support (hence renaming it support and separating from the main urdf)
Corrected joint_spline_trajectory to run nicely in actionlib or command topic mode.

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1=== modified file 'sr_description/arm/xacro/base/shadowarm_base.urdf.xacro'
2--- sr_description/arm/xacro/base/shadowarm_base.urdf.xacro 2012-07-23 13:49:05 +0000
3+++ sr_description/arm/xacro/base/shadowarm_base.urdf.xacro 2012-10-31 08:34:23 +0000
4@@ -26,7 +26,7 @@
5 </link>
6 <gazebo reference="shadowarm_base">
7 <material>Gazebo/Grey</material>
8- <selfCollide>true</selfCollide>
9+ <selfCollide>false</selfCollide>
10 </gazebo>
11
12 </xacro:macro>
13
14=== modified file 'sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.urdf.xacro'
15--- sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.urdf.xacro 2012-07-24 07:32:08 +0000
16+++ sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.urdf.xacro 2012-10-31 08:34:23 +0000
17@@ -26,7 +26,7 @@
18 </link>
19 <gazebo reference="shadowarm_handsupport">
20 <material>Gazebo/Grey</material>
21- <selfCollide>true</selfCollide>
22+ <selfCollide>false</selfCollide>
23 </gazebo>
24
25 <joint name="ElbowJRotate" type="revolute">
26
27=== modified file 'sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.urdf.xacro'
28--- sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.urdf.xacro 2012-07-24 07:32:08 +0000
29+++ sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.urdf.xacro 2012-10-31 08:34:23 +0000
30@@ -26,7 +26,7 @@
31 </link>
32 <gazebo reference="shadowarm_handsupport">
33 <material>Gazebo/Grey</material>
34- <selfCollide>true</selfCollide>
35+ <selfCollide>false</selfCollide>
36 </gazebo>
37
38 <joint name="ElbowJRotate" type="revolute">
39
40=== modified file 'sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro'
41--- sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro 2012-07-23 12:23:41 +0000
42+++ sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro 2012-10-31 08:34:23 +0000
43@@ -26,7 +26,7 @@
44 </link>
45 <gazebo reference="shadowarm_lowerarm">
46 <material>Gazebo/Grey</material>
47- <selfCollide>true</selfCollide>
48+ <selfCollide>false</selfCollide>
49 </gazebo>
50
51 <joint name="ElbowJSwing" type="revolute">
52
53=== modified file 'sr_description/arm/xacro/trunk/shadowarm_trunk.urdf.xacro'
54--- sr_description/arm/xacro/trunk/shadowarm_trunk.urdf.xacro 2012-07-23 12:23:41 +0000
55+++ sr_description/arm/xacro/trunk/shadowarm_trunk.urdf.xacro 2012-10-31 08:34:23 +0000
56@@ -27,7 +27,7 @@
57 </link>
58 <gazebo reference="shadowarm_trunk">
59 <material>Gazebo/Grey</material>
60- <selfCollide>true</selfCollide>
61+ <selfCollide>false</selfCollide>
62 </gazebo>
63
64 <joint name="ShoulderJRotate" type="revolute">
65
66=== modified file 'sr_description/arm/xacro/upper_arm/shadowarm_upperarm.urdf.xacro'
67--- sr_description/arm/xacro/upper_arm/shadowarm_upperarm.urdf.xacro 2012-07-23 12:23:41 +0000
68+++ sr_description/arm/xacro/upper_arm/shadowarm_upperarm.urdf.xacro 2012-10-31 08:34:23 +0000
69@@ -26,7 +26,7 @@
70 </link>
71 <gazebo reference="shadowarm_upperarm">
72 <material>Gazebo/Grey</material>
73- <selfCollide>true</selfCollide>
74+ <selfCollide>false</selfCollide>
75 </gazebo>
76
77 <joint name="ShoulderJSwing" type="revolute">
78
79=== modified file 'sr_description/hand/xacro/finger/distal/distal.urdf.xacro'
80--- sr_description/hand/xacro/finger/distal/distal.urdf.xacro 2012-07-23 13:49:05 +0000
81+++ sr_description/hand/xacro/finger/distal/distal.urdf.xacro 2012-10-31 08:34:23 +0000
82@@ -50,7 +50,7 @@
83 <kd value="1.0" />
84
85 <material>Gazebo/Grey</material>
86- <selfCollide>false</selfCollide>
87+ <selfCollide>true</selfCollide>
88 </gazebo>
89
90 <joint name="${joint_prefix}J1" type="revolute">
91
92=== modified file 'sr_description/hand/xacro/finger/distal/distal_ellipsoid.urdf.xacro'
93--- sr_description/hand/xacro/finger/distal/distal_ellipsoid.urdf.xacro 2012-07-23 13:49:05 +0000
94+++ sr_description/hand/xacro/finger/distal/distal_ellipsoid.urdf.xacro 2012-10-31 08:34:23 +0000
95@@ -55,7 +55,7 @@
96 <kp value="10000000.0" />
97 <kd value="1.0" />
98 <material>Gazebo/Grey</material>
99- <selfCollide>false</selfCollide>
100+ <selfCollide>true</selfCollide>
101 </gazebo>
102
103 <joint name="${joint_prefix}J1" type="revolute">
104
105=== modified file 'sr_description/hand/xacro/finger/middle/middle.urdf.xacro'
106--- sr_description/hand/xacro/finger/middle/middle.urdf.xacro 2012-07-23 13:49:05 +0000
107+++ sr_description/hand/xacro/finger/middle/middle.urdf.xacro 2012-10-31 08:34:23 +0000
108@@ -44,6 +44,7 @@
109 </controller:gazebo_ros_bumper>
110 </sensor:contact>
111 <material>Gazebo/Grey</material>
112+ <selfCollide>true</selfCollide>
113 </gazebo>
114
115 <joint name="${joint_prefix}J2" type="revolute">
116
117=== modified file 'sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro'
118--- sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro 2012-07-23 13:49:05 +0000
119+++ sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro 2012-10-31 08:34:23 +0000
120@@ -44,6 +44,7 @@
121 </controller:gazebo_ros_bumper>
122 </sensor:contact>
123 <material>Gazebo/Grey</material>
124+ <selfCollide>true</selfCollide>
125 </gazebo>
126
127 <joint name="${joint_prefix}J3" type="revolute">
128
129=== modified file 'sr_description/hand/xacro/forearm/forearm_motor.urdf.xacro'
130--- sr_description/hand/xacro/forearm/forearm_motor.urdf.xacro 2012-07-23 14:42:29 +0000
131+++ sr_description/hand/xacro/forearm/forearm_motor.urdf.xacro 2012-10-31 08:34:23 +0000
132@@ -26,7 +26,7 @@
133 </link>
134 <gazebo reference="forearm">
135 <material>Gazebo/Grey</material>
136- <selfCollide>true</selfCollide>
137+ <selfCollide>false</selfCollide>
138 </gazebo>
139
140 </xacro:macro>
141
142=== modified file 'sr_description/hand/xacro/forearm/forearm_muscle.urdf.xacro'
143--- sr_description/hand/xacro/forearm/forearm_muscle.urdf.xacro 2012-07-23 14:42:29 +0000
144+++ sr_description/hand/xacro/forearm/forearm_muscle.urdf.xacro 2012-10-31 08:34:23 +0000
145@@ -26,7 +26,7 @@
146 </link>
147 <gazebo reference="forearm">
148 <material>Gazebo/Grey</material>
149- <selfCollide>true</selfCollide>
150+ <selfCollide>false</selfCollide>
151 </gazebo>
152
153
154
155=== modified file 'sr_description/hand/xacro/thumb/thdistal.urdf.xacro'
156--- sr_description/hand/xacro/thumb/thdistal.urdf.xacro 2012-07-23 13:49:05 +0000
157+++ sr_description/hand/xacro/thumb/thdistal.urdf.xacro 2012-10-31 08:34:23 +0000
158@@ -53,7 +53,7 @@
159 <kd value="1.0" />
160
161 <material>Gazebo/Grey</material>
162- <selfCollide>false</selfCollide>
163+ <selfCollide>true</selfCollide>
164 </gazebo>
165
166 <joint name="THJ1" type="revolute">
167
168=== modified file 'sr_description/hand/xacro/thumb/thdistal_ellipsoid.urdf.xacro'
169--- sr_description/hand/xacro/thumb/thdistal_ellipsoid.urdf.xacro 2012-07-23 13:49:05 +0000
170+++ sr_description/hand/xacro/thumb/thdistal_ellipsoid.urdf.xacro 2012-10-31 08:34:23 +0000
171@@ -51,7 +51,7 @@
172 <kd value="1.0" />
173
174 <material>Gazebo/Grey</material>
175- <selfCollide>false</selfCollide>
176+ <selfCollide>true</selfCollide>
177 </gazebo>
178
179 <joint name="THJ1" type="revolute">
180
181=== modified file 'sr_description/hand/xacro/wrist/wrist.urdf.xacro'
182--- sr_description/hand/xacro/wrist/wrist.urdf.xacro 2012-07-23 13:49:05 +0000
183+++ sr_description/hand/xacro/wrist/wrist.urdf.xacro 2012-10-31 08:34:23 +0000
184@@ -43,7 +43,7 @@
185 </link>
186 <gazebo reference="wrist">
187 <material>PR2/Grey2</material>
188- <selfCollide>true</selfCollide>
189+ <selfCollide>false</selfCollide>
190 </gazebo>
191
192 <joint name="WRJ2" type="revolute">
193
194=== added file 'sr_description/loaders/load_support_model.launch'
195--- sr_description/loaders/load_support_model.launch 1970-01-01 00:00:00 +0000
196+++ sr_description/loaders/load_support_model.launch 2012-10-31 08:34:23 +0000
197@@ -0,0 +1,3 @@
198+<launch>
199+ <param name="support_description" command="$(find xacro)/xacro.py '$(find sr_description)/other/xacro/desk/desk_robot.urdf.xacro'" />
200+</launch>
201
202=== modified file 'sr_description/other/xacro/desk/desk.urdf.xacro'
203--- sr_description/other/xacro/desk/desk.urdf.xacro 2012-07-23 13:49:05 +0000
204+++ sr_description/other/xacro/desk/desk.urdf.xacro 2012-10-31 08:34:23 +0000
205@@ -1,39 +1,35 @@
206 <robot name="desk" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" xmlns:xacro="http://ros.org/wiki/xacro">
207 <xacro:macro name="desk">
208-
209+ <link name="world"/>
210 <link name="desk_pillar">
211 <inertial>
212 <origin xyz="0 0 0.5"/>
213- <mass value="1000.0"/>
214+ <mass value="10.0"/>
215 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
216 </inertial>
217 <visual>
218 <origin rpy="0 0 0" xyz="0 0 0.51"/>
219 <geometry name="desk_visual">
220- <cylinder length="0.98" radius="0.1"/>
221+ <cylinder length="0.97" radius="0.1"/>
222 </geometry>
223 <material name="Green"/>
224 </visual>
225 <collision>
226 <origin rpy="0 0 0" xyz="0 0 0.51"/>
227 <geometry name="desk_collision">
228- <cylinder length=".98" radius="0.1"/>
229+ <cylinder length=".97" radius="0.05"/>
230 </geometry>
231 </collision>
232 </link>
233 <gazebo reference="desk_pillar">
234 <material>Gazebo/Green</material>
235- <mu1>1000.0</mu1>
236- <mu2>1000.0</mu2>
237- <kp>10000000.0</kp>
238- <kd>1.0</kd>
239- <selfCollide>true</selfCollide>
240+ <selfCollide>false</selfCollide>
241 </gazebo>
242
243 <link name="desk_support">
244 <inertial>
245 <origin xyz="0 0 0"/>
246- <mass value="1000.0"/>
247+ <mass value="10.0"/>
248 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
249 </inertial>
250 <visual>
251@@ -46,24 +42,26 @@
252 <collision>
253 <origin rpy="0 0 0" xyz="0 0 0.01"/>
254 <geometry name="desk_s_collision">
255- <cylinder length="0.02" radius="1.0"/>
256+ <cylinder length="0.002" radius="0.01"/>
257 </geometry>
258 </collision>
259 </link>
260 <gazebo reference="desk_support">
261 <material>Gazebo/Green</material>
262- <mu1>1000.0</mu1>
263- <mu2>1000.0</mu2>
264- <kp>10000000.0</kp>
265- <kd>1.0</kd>
266- <selfCollide>true</selfCollide>
267+ <selfCollide>false</selfCollide>
268 </gazebo>
269
270 <joint name="desk_joint" type="fixed">
271 <parent link="desk_support"/>
272 <child link="desk_pillar"/>
273- <origin rpy="0 0 0" xyz="0 0 0.02"/>
274- </joint>
275+ <origin rpy="0 0 0" xyz="0 0 0"/>
276+ </joint>
277+ <joint name="desk_to_world_joint" type="fixed">
278+ <parent link="world"/>
279+ <child link="desk_support"/>
280+ <origin rpy="0 0 0" xyz="0 0 0"/>
281+ </joint>
282+
283
284 </xacro:macro>
285 </robot>
286
287=== added file 'sr_description/other/xacro/desk/desk_robot.urdf.xacro'
288--- sr_description/other/xacro/desk/desk_robot.urdf.xacro 1970-01-01 00:00:00 +0000
289+++ sr_description/other/xacro/desk/desk_robot.urdf.xacro 2012-10-31 08:34:23 +0000
290@@ -0,0 +1,5 @@
291+<robot name="desk" xmlns:xacro="http://ros.org/wiki/xacro">
292+ <include filename="$(find sr_description)/materials.urdf.xacro" />
293+ <include filename="$(find sr_description)/other/xacro/desk/desk.urdf.xacro" />
294+ <xacro:desk />
295+</robot>
296
297=== modified file 'sr_description/robots/arm_and_hand_motor.urdf.xacro'
298--- sr_description/robots/arm_and_hand_motor.urdf.xacro 2012-07-24 07:32:08 +0000
299+++ sr_description/robots/arm_and_hand_motor.urdf.xacro 2012-10-31 08:34:23 +0000
300@@ -5,12 +5,9 @@
301 <include filename="$(find sr_description)/hand/xacro/full_hand_motor.urdf.xacro" />
302 <include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro" />
303
304- <include filename="$(find sr_description)/other/xacro/desk/desk.urdf.xacro" />
305-
306- <xacro:desk/>
307-
308- <joint name="arm_to_desk_fixed" type="fixed">
309- <parent link="desk_pillar"/>
310+ <link name="world" />
311+ <joint name="arm_to_world_fixed" type="fixed">
312+ <parent link="world"/>
313 <child link="shadowarm_base"/>
314 <origin rpy="0 0 0" xyz="0 0 1.0"/>
315 </joint>
316
317=== modified file 'sr_description/robots/arm_and_hand_motor_ellipsoid.urdf.xacro'
318--- sr_description/robots/arm_and_hand_motor_ellipsoid.urdf.xacro 2012-07-24 07:32:08 +0000
319+++ sr_description/robots/arm_and_hand_motor_ellipsoid.urdf.xacro 2012-10-31 08:34:23 +0000
320@@ -5,12 +5,9 @@
321 <include filename="$(find sr_description)/hand/xacro/full_hand_motor_ellipsoid.urdf.xacro" />
322 <include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro" />
323
324- <include filename="$(find sr_description)/other/xacro/desk/desk.urdf.xacro" />
325-
326- <xacro:desk/>
327-
328- <joint name="arm_to_desk_fixed" type="fixed">
329- <parent link="desk_pillar"/>
330+ <link name="world" />
331+ <joint name="arm_to_world_fixed" type="fixed">
332+ <parent link="world"/>
333 <child link="shadowarm_base"/>
334 <origin rpy="0 0 0" xyz="0 0 1.0"/>
335 </joint>
336
337=== modified file 'sr_description/robots/arm_and_hand_motor_three_finger.urdf.xacro'
338--- sr_description/robots/arm_and_hand_motor_three_finger.urdf.xacro 2012-07-24 07:32:08 +0000
339+++ sr_description/robots/arm_and_hand_motor_three_finger.urdf.xacro 2012-10-31 08:34:23 +0000
340@@ -5,12 +5,9 @@
341 <include filename="$(find sr_description)/hand/xacro/three_finger_unit_motor.urdf.xacro" />
342 <include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro" />
343
344- <include filename="$(find sr_description)/other/xacro/desk/desk.urdf.xacro" />
345-
346- <xacro:desk/>
347-
348- <joint name="arm_to_desk_fixed" type="fixed">
349- <parent link="desk_pillar"/>
350+ <link name="world" />
351+ <joint name="arm_to_world_fixed" type="fixed">
352+ <parent link="world"/>
353 <child link="shadowarm_base"/>
354 <origin rpy="0 0 0" xyz="0 0 1.0"/>
355 </joint>
356
357=== modified file 'sr_description/robots/arm_and_hand_muscle.urdf.xacro'
358--- sr_description/robots/arm_and_hand_muscle.urdf.xacro 2012-07-24 07:32:08 +0000
359+++ sr_description/robots/arm_and_hand_muscle.urdf.xacro 2012-10-31 08:34:23 +0000
360@@ -4,12 +4,10 @@
361 <include filename="$(find sr_description)/arm/xacro/full_arm_muscle.urdf.xacro" />
362 <include filename="$(find sr_description)/hand/xacro/full_hand_muscle.urdf.xacro" />
363 <include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro" />
364- <include filename="$(find sr_description)/other/xacro/desk/desk.urdf.xacro" />
365-
366- <xacro:desk/>
367-
368- <joint name="arm_to_desk_fixed" type="fixed">
369- <parent link="desk_pillar"/>
370+
371+ <link name="world" />
372+ <joint name="arm_to_world_fixed" type="fixed">
373+ <parent link="world"/>
374 <child link="shadowarm_base"/>
375 <origin rpy="0 0 0" xyz="0 0 1.0"/>
376 </joint>
377
378=== modified file 'sr_description/robots/arm_and_sr_one_finger_motor.urdf.xacro'
379--- sr_description/robots/arm_and_sr_one_finger_motor.urdf.xacro 2012-07-24 07:32:08 +0000
380+++ sr_description/robots/arm_and_sr_one_finger_motor.urdf.xacro 2012-10-31 08:34:23 +0000
381@@ -4,12 +4,10 @@
382 <include filename="$(find sr_description)/arm/xacro/full_arm_motor.urdf.xacro" />
383 <include filename="$(find sr_description)/hand/xacro/one_finger_unit_motor.urdf.xacro" />
384 <include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro" />
385- <include filename="$(find sr_description)/other/xacro/desk/desk.urdf.xacro" />
386-
387- <xacro:desk/>
388-
389- <joint name="arm_to_desk_fixed" type="fixed">
390- <parent link="desk_pillar"/>
391+
392+ <link name="world" />
393+ <joint name="arm_to_world_fixed" type="fixed">
394+ <parent link="world"/>
395 <child link="shadowarm_base"/>
396 <origin rpy="0 0 0" xyz="0 0 1.0"/>
397 </joint>
398
399=== modified file 'sr_description/robots/desk_arm_and_hand_motor.urdf.xacro'
400--- sr_description/robots/desk_arm_and_hand_motor.urdf.xacro 2012-07-24 07:32:08 +0000
401+++ sr_description/robots/desk_arm_and_hand_motor.urdf.xacro 2012-10-31 08:34:23 +0000
402@@ -4,12 +4,10 @@
403 <include filename="$(find sr_description)/arm/xacro/full_arm_motor.urdf.xacro" />
404 <include filename="$(find sr_description)/hand/xacro/full_hand_motor.urdf.xacro" />
405 <include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro" />
406- <include filename="$(find sr_description)/other/xacro/desk/desk.urdf.xacro" />
407-
408- <xacro:desk/>
409-
410- <joint name="base_fix" type="fixed">
411- <parent link="desk_pillar"/>
412+
413+ <link name="world" />
414+ <joint name="arm_to_world_fixed" type="fixed">
415+ <parent link="world"/>
416 <child link="shadowarm_base"/>
417 <origin rpy="0 0 0" xyz="0 0 1.0"/>
418 </joint>
419
420=== modified file 'sr_description/robots/sr_arm_motor.urdf.xacro'
421--- sr_description/robots/sr_arm_motor.urdf.xacro 2012-07-23 13:49:05 +0000
422+++ sr_description/robots/sr_arm_motor.urdf.xacro 2012-10-31 08:34:23 +0000
423@@ -6,13 +6,10 @@
424
425 <include filename="$(find sr_description)/materials.urdf.xacro" />
426 <include filename="$(find sr_description)/arm/xacro/full_arm_motor.urdf.xacro" />
427- <include filename="$(find sr_description)/other/xacro/desk/desk.urdf.xacro" />
428 <include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro" />
429-
430- <xacro:desk/>
431-
432- <joint name="arm_to_desk_fixed" type="fixed">
433- <parent link="desk_pillar"/>
434+ <link name="world" />
435+ <joint name="arm_to_world_fixed" type="fixed">
436+ <parent link="world"/>
437 <child link="shadowarm_base"/>
438 <origin rpy="0 0 0" xyz="0 0 1.0"/>
439 </joint>
440@@ -20,4 +17,4 @@
441 <xacro:sr_arm_motor>
442 </xacro:sr_arm_motor>
443
444-</robot>
445\ No newline at end of file
446+</robot>
447
448=== modified file 'sr_description/robots/sr_arm_muscle.urdf.xacro'
449--- sr_description/robots/sr_arm_muscle.urdf.xacro 2012-07-23 13:49:05 +0000
450+++ sr_description/robots/sr_arm_muscle.urdf.xacro 2012-10-31 08:34:23 +0000
451@@ -4,15 +4,13 @@
452 xmlns:xacro="http://www.ros.org/wiki/xacro"
453 name="sr_arm_muscle">
454
455- <include filename="$(find sr_description)/other/xacro/desk/desk.urdf.xacro" />
456 <include filename="$(find sr_description)/materials.urdf.xacro" />
457 <include filename="$(find sr_description)/arm/xacro/full_arm_muscle.urdf.xacro" />
458 <include filename="$(find sr_description)/other/xacro/gazebo/gazebo.urdf.xacro" />
459
460- <xacro:desk/>
461-
462- <joint name="arm_to_desk_fixed" type="fixed">
463- <parent link="desk_pillar"/>
464+ <link name="world" />
465+ <joint name="arm_to_world_fixed" type="fixed">
466+ <parent link="world"/>
467 <child link="shadowarm_base"/>
468 <origin rpy="0 0 0" xyz="0 0 1.0"/>
469 </joint>
470@@ -20,4 +18,4 @@
471 <xacro:sr_arm_muscle>
472 </xacro:sr_arm_muscle>
473
474-</robot>
475\ No newline at end of file
476+</robot>
477
478=== modified file 'sr_hand/launch/advanced/static_transforms.launch'
479--- sr_hand/launch/advanced/static_transforms.launch 2012-07-24 07:34:33 +0000
480+++ sr_hand/launch/advanced/static_transforms.launch 2012-10-31 08:34:23 +0000
481@@ -1,8 +1,9 @@
482 <launch>
483- <node pkg="tf" type="static_transform_publisher" name="world_to_fixed"
484- args="0 0 0 0 0 0 /world /fixed 100"/>
485- <node pkg="tf" type="static_transform_publisher" name="world_to_base_link"
486- args="0 0 0 0 0 0 /world /base_link 100"/>
487+
488+<!-- we start this in sr_manipulation <node pkg="tf" type="static_transform_publisher" name="world_to_fixed"
489+ args="0 0 0 0 0 0 /world /fixed 100"/> -->
490+<!-- <node pkg="tf" type="static_transform_publisher" name="world_to_base_link"
491+ args="0 0 0 0 0 0 /world /base_link 100"/> -->
492 <!-- <node pkg="tf" type="static_transform_publisher" name="base_link_to_fixed"
493 args="0 0 0 0 0 0 /base_link /fixed 100"/>-->
494
495
496=== modified file 'sr_hand/launch/gazebo/gazebo_arm.launch'
497--- sr_hand/launch/gazebo/gazebo_arm.launch 2012-07-24 13:43:35 +0000
498+++ sr_hand/launch/gazebo/gazebo_arm.launch 2012-10-31 08:34:23 +0000
499@@ -2,6 +2,9 @@
500
501 <!-- start gazebo with an empty plane -->
502 <include file="$(find sr_hand)/launch/gazebo/loaders/empty_world.launch"/>
503+ <!-- spawn the support model -->
504+ <include file="$(find sr_description)/loaders/load_support_model.launch" />
505+ <node name="spawn_support" pkg="gazebo" type="spawn_model" args="-urdf -param support_description -z 0.0 -model support_model" respawn="false" output="screen" />
506
507 <!-- spawn the arm model -->
508 <group if="$(optenv MUSCLE 0)">
509@@ -10,8 +13,7 @@
510 <group unless="$(optenv MUSCLE 0)">
511 <param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_arm_motor.urdf.xacro'" />
512 </group>
513-
514- <node name="spawn_hand" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -z 0.01 -model shadow_model -J ShoulderJSwing 0.78 -J ElbowJSwing 2.0" respawn="false" output="screen" />
515+ <node name="spawn_hand" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -z 0.0 -model shadow_model -J ShoulderJSwing 0.78 -J ElbowJSwing 2.0" respawn="false" output="screen" />
516
517 <!-- Controllers for the arm -->
518 <include file="$(find sr_hand)/launch/gazebo/loaders/arm_controllers.launch"/>
519
520=== modified file 'sr_hand/launch/gazebo/gazebo_arm_and_hand.launch'
521--- sr_hand/launch/gazebo/gazebo_arm_and_hand.launch 2012-08-28 09:41:05 +0000
522+++ sr_hand/launch/gazebo/gazebo_arm_and_hand.launch 2012-10-31 08:34:23 +0000
523@@ -3,9 +3,13 @@
524 <!-- start gazebo with an empty plane -->
525 <include file="$(find sr_hand)/launch/gazebo/loaders/empty_world.launch"/>
526
527+ <!-- spawn the support model -->
528+ <include file="$(find sr_description)/loaders/load_support_model.launch" />
529+ <node name="spawn_support" pkg="gazebo" type="spawn_model" args="-urdf -param support_description -z 0.0 -model support_model" respawn="false" output="screen" />
530+
531+ <!-- spawn the arm and hand model -->
532 <include file="$(find sr_description)/loaders/load_arm_and_hand_model.launch" />
533-
534- <node name="spawn_hand" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -z 0.01 -model shadow_model -J ShoulderJSwing 0.78 -J ElbowJSwing 2.0" respawn="false" output="screen" />
535+ <node name="spawn_hand" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -z 0.0 -model shadow_model -J ShoulderJSwing 0.78 -J ElbowJSwing 2.0" respawn="false" output="screen" />
536
537 <!-- Controllers for the arm and hand -->
538 <include file="$(find sr_hand)/launch/gazebo/loaders/hand_controllers.launch"/>
539
540=== modified file 'sr_hand/launch/sr_arm_and_hand.launch'
541--- sr_hand/launch/sr_arm_and_hand.launch 2012-08-08 07:32:34 +0000
542+++ sr_hand/launch/sr_arm_and_hand.launch 2012-10-31 08:34:23 +0000
543@@ -75,11 +75,12 @@
544 point at 0 0 0, to remap the arm base for both positions and
545 targets.
546 -->
547- <node pkg="tf" type="static_transform_publisher" name="fixed_frame_pos_pub_arm" args="0 0 0 0 0 0 fixed /sr_arm/position/desk_support 100" />
548- <node pkg="tf" type="static_transform_publisher" name="fixed_frame_target_pub_arm" args="0 0 0 0 0 0 fixed /sr_arm/target/desk_support 100" />
549+<!-- try to get rid of /fixed replace it by /world -->
550+ <node pkg="tf" type="static_transform_publisher" name="fixed_frame_pos_pub_arm" args="0 0 0 0 0 0 /world /sr_arm/position/world 100" />
551+ <node pkg="tf" type="static_transform_publisher" name="fixed_frame_target_pub_arm" args="0 0 0 0 0 0 /world /sr_arm/target/world 100" />
552
553 <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_pos" args="0 0 0 2.3562 0 0 /sr_arm/position/shadowarm_handsupport /srh/position/forearm 100" />
554- <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_target" args="0 0 0 2.3562 0 0 /sr_arm/target/shadowarm_handsupport /srh/target/forearm 100" />
555+ <node pkg="tf" type="static_transform_publisher" name="link_hand_arm_target" args="0 0 0 2.3562 0 0 /sr_arm/target/shadowarm_handsupport /srh/target/forearm 100" />
556
557 <!-- Joint States positions merger to get one single vector for both arm and hand -->
558 <node pkg="sr_utilities" type="ordered_position_joint_states_merger.py" name="ordered_position_joint_states_merger"/>
559
560=== modified file 'sr_mechanism_controllers/src/joint_spline_trajectory_action_controller.cpp'
561--- sr_mechanism_controllers/src/joint_spline_trajectory_action_controller.cpp 2012-07-25 20:52:06 +0000
562+++ sr_mechanism_controllers/src/joint_spline_trajectory_action_controller.cpp 2012-10-31 08:34:23 +0000
563@@ -283,7 +283,8 @@
564 {
565 bool success = true;
566
567- ros::Time time = ros::Time::now() + ros::Duration(0.1);
568+ ros::Time time = ros::Time::now() - ros::Duration(0.05);
569+ last_time_ = time;
570 ROS_DEBUG("Figuring out new trajectory at %.3lf, with data from %.3lf",
571 time.toSec(), goal->trajectory.header.stamp.toSec());
572
573@@ -585,10 +586,12 @@
574 void JointTrajectoryActionController::commandCB(const trajectory_msgs::JointTrajectoryConstPtr &msg)
575 {
576 bool success = true;
577+
578+ ros::Time time = ros::Time::now()-ros::Duration(0.05);
579+ last_time_ = time;
580
581- ros::Time time = last_time_ + ros::Duration(0.01);
582- ROS_DEBUG("Figuring out new trajectory at %.3lf, with data from %.3lf",
583- time.toSec(), msg->header.stamp.toSec());
584+ ROS_ERROR("Figuring out new trajectory at %.3lf, with data from %.3lf with %d waypoints",
585+ time.toSec(), msg->header.stamp.toSec(),msg->points.size());
586
587 boost::shared_ptr<SpecifiedTrajectory> new_traj_ptr(new SpecifiedTrajectory);
588 SpecifiedTrajectory &traj = *new_traj_ptr;
589@@ -635,28 +638,34 @@
590 for (size_t i = 0; i < msg->points.size(); ++i)
591 {
592 Segment seg;
593-
594+ ROS_DEBUG("Current time %f and header time %f",msg->header.stamp.toSec(),ros::Time(0.0).toSec());
595 if(msg->header.stamp == ros::Time(0.0))
596+ {
597 seg.start_time = (time + msg->points[i].time_from_start).toSec() - durations[i];
598+ ROS_DEBUG("Segment %d start time A %f,time_from_start %f, duration, %f",i,seg.start_time,msg->points[i].time_from_start.toSec(),durations[i]);
599+ }
600 else
601+ {
602 seg.start_time = (msg->header.stamp + msg->points[i].time_from_start).toSec() - durations[i];
603+ ROS_DEBUG("Segment start time B %f",seg.start_time);
604+ }
605 seg.duration = durations[i];
606 seg.splines.resize(joint_names_.size());
607
608 // Checks that the incoming segment has the right number of elements.
609 if (msg->points[i].accelerations.size() != 0 && msg->points[i].accelerations.size() != joint_names_.size())
610 {
611- ROS_ERROR("Command point %d has %d elements for the accelerations", (int)i, (int)msg->points[i].accelerations.size());
612+ ROS_DEBUG("Command point %d has %d elements for the accelerations", (int)i, (int)msg->points[i].accelerations.size());
613 return;
614 }
615 if (msg->points[i].velocities.size() != 0 && msg->points[i].velocities.size() != joint_names_.size())
616 {
617- ROS_ERROR("Command point %d has %d elements for the velocities", (int)i, (int)msg->points[i].velocities.size());
618+ ROS_DEBUG("Command point %d has %d elements for the velocities", (int)i, (int)msg->points[i].velocities.size());
619 return;
620 }
621 if (msg->points[i].positions.size() != joint_names_.size())
622 {
623- ROS_ERROR("Command point %d has %d elements for the positions", (int)i, (int)msg->points[i].positions.size());
624+ ROS_DEBUG("Command point %d has %d elements for the positions", (int)i, (int)msg->points[i].positions.size());
625 return;
626 }
627
628@@ -777,7 +786,7 @@
629 // if the last trajectory is already in the past, stop the servoing
630 if( (traj[traj.size()-1].start_time+traj[traj.size()-1].duration) < time.toSec())
631 {
632- ROS_DEBUG("trajectory is finished %f<%f",(traj[traj.size()-1].start_time+traj[traj.size()-1].duration),time.toSec());
633+ ROS_DEBUG("trajectory is finished %f<%f",(traj[traj.size()-1].start_time+traj[traj.size()-1].duration),time.toSec());
634 break;
635 }
636
637
638=== modified file 'sr_move_arm/src/reactive_actions/reactive_grasp.py'
639--- sr_move_arm/src/reactive_actions/reactive_grasp.py 2012-07-25 20:52:06 +0000
640+++ sr_move_arm/src/reactive_actions/reactive_grasp.py 2012-10-31 08:34:23 +0000
641@@ -10,7 +10,7 @@
642 from object_manipulation_msgs.msg import GripperTranslation, ManipulationPhase
643 from sr_robot_msgs.msg import sendupdate, joint
644 from sr_robot_msgs.srv import which_fingers_are_touching
645-
646+from trajectory_msgs.msg import JointTrajectory
647 from actionlib import SimpleActionClient
648 #from motion_planning_msgs.msg import *
649 from arm_navigation_msgs.msg import *
650@@ -28,6 +28,8 @@
651 self.using_slip_detection = slip_detection
652 self.whicharm = which_arm
653
654+ self.mypub = rospy.Publisher("/command",JointTrajectory)
655+
656 #force to use when closing hard
657 self.close_force = 100
658 if self.using_slip_detection:
659@@ -42,7 +44,7 @@
660 #root and tip name for listening
661 #to the current palm pose
662 self.tf_listener = tf.TransformListener()
663- self.root_name = "base_link"
664+ self.root_name = "world"
665 self.tip_name = "palm"
666
667 #for taking photos of each step
668@@ -190,7 +192,13 @@
669 #follow the joint_path if one is given
670 if joint_path != None:
671 self.check_preempt()
672- joint_names = joint_path.joint_names
673+
674+ self.mypub.publish(joint_path)
675+ rospy.logerr("Sent a trajectory !")
676+ rospy.sleep(10)
677+ rospy.logerr("Trajectory should be finished !")
678+ '''joint_names = joint_path.joint_names
679+ countTime = 5
680
681 for trajectory_step in joint_path.points:
682 sendupdate_msg = []
683@@ -203,11 +211,12 @@
684 self.sr_hand_target_pub.publish(sendupdate(len(sendupdate_msg), sendupdate_msg) )
685
686 current_sleep_time = trajectory_step.time_from_start - last_time
687- rospy.sleep( current_sleep_time )
688+ rospy.sleep( countTime ) # current_sleep_time )
689+ countTime=max(countTime-1,0.5)
690 last_time = trajectory_step.time_from_start
691 else:
692 #if no joint_path is given, go to the current_goal_pose
693- self.command_cartesian( current_goal_pose )
694+ self.command_cartesian( current_goal_pose )'''
695
696 return self.reactive_approach_result_dict["success"]
697
698@@ -414,7 +423,7 @@
699 approach_vect = scipy.array(grasp_pos) - scipy.array(approach_pos)
700 return approach_vect
701
702- def return_rel_pose(self, vector, frame, start_pose = None, orthogonal_to_vect = None, orthogonal_to_vect_frame = 'base_link'):
703+ def return_rel_pose(self, vector, frame, start_pose = None, orthogonal_to_vect = None, orthogonal_to_vect_frame = 'world'):
704 """
705 convert a relative vector in frame to a pose in the base_link frame
706 if start_pose is not specified, uses current pose of the wrist
707@@ -468,7 +477,7 @@
708
709 self.sr_hand_target_pub.publish(sendupdate(len(sendupdate_msg), sendupdate_msg) )
710
711- def command_cartesian(self, pose, frame_id='base_link'):
712+ def command_cartesian(self, pose, frame_id='world'):
713 """
714 Tries to go to the given pose with the arm.
715 """
716
717=== modified file 'sr_tactile_sensors/include/sr_tactile_sensors/sr_generic_tactile_sensor.hpp'
718--- sr_tactile_sensors/include/sr_tactile_sensors/sr_generic_tactile_sensor.hpp 2011-11-01 15:24:16 +0000
719+++ sr_tactile_sensors/include/sr_tactile_sensors/sr_generic_tactile_sensor.hpp 2012-10-31 08:34:23 +0000
720@@ -34,6 +34,7 @@
721
722 #include <boost/smart_ptr.hpp>
723 #include <std_msgs/Float64.h>
724+#include <XmlRpcValue.h>
725 #include <sr_robot_msgs/is_hand_occupied.h>
726 #include <sr_robot_msgs/which_fingers_are_touching.h>
727
728
729=== modified file 'sr_tactile_sensors/src/sr_generic_tactile_sensor.cpp'
730--- sr_tactile_sensors/src/sr_generic_tactile_sensor.cpp 2011-11-01 15:24:16 +0000
731+++ sr_tactile_sensors/src/sr_generic_tactile_sensor.cpp 2012-10-31 08:34:23 +0000
732@@ -57,6 +57,7 @@
733 SrTactileSensorManager::SrTactileSensorManager() :
734 n_tilde("~"), publish_rate(20.0)
735 {
736+ using namespace XmlRpc;
737 double publish_freq;
738 n_tilde.param("publish_frequency", publish_freq, 20.0);
739 publish_rate = ros::Rate(publish_freq);
740@@ -64,7 +65,34 @@
741 //initializing the thresholds to test if the hand is holding
742 //something or not (compared agains the pressure value).
743 double tmp[5]={117,117,113,111,0};
744- is_hand_occupied_thresholds = std::vector<double>(tmp, tmp+5);
745+ XmlRpc::XmlRpcValue threshold_xmlrpc;
746+ if(n_tilde.getParam("/grasp_touch_thresholds",threshold_xmlrpc))
747+ {
748+ ROS_ASSERT(threshold_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeArray);
749+ if(threshold_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeArray)
750+ {
751+ if(threshold_xmlrpc.size() == 5)
752+ {
753+ for (int i = 0; i < threshold_xmlrpc.size(); ++i)
754+ {
755+ if(threshold_xmlrpc[i].getType() == XmlRpc::XmlRpcValue::TypeDouble)
756+ tmp[i] = static_cast<double>(threshold_xmlrpc[i]);
757+ else
758+ ROS_ERROR("grasp_touch_thresholds value %d is not a double, not loading",i+1);
759+ }
760+ }
761+ else
762+ ROS_ERROR("grasp_touch_thresholds must be of size 5, using default values");
763+ }
764+ else
765+ ROS_ERROR("grasp_touch_thresholds must be an array, using default values");
766+ }
767+ else
768+ ROS_WARN("grasp_touch_thresholds not set, using default values");
769+
770+ is_hand_occupied_thresholds = std::vector<double>(tmp, tmp+5);
771+ ROS_DEBUG("is_hand_occupied_thresholds:[%f %f %f %f %f]", is_hand_occupied_thresholds.at(0),is_hand_occupied_thresholds.at(1),is_hand_occupied_thresholds.at(2),is_hand_occupied_thresholds.at(3),is_hand_occupied_thresholds.at(4));
772+
773
774 is_hand_occupied_server = n_tilde.advertiseService("is_hand_occupied", &SrTactileSensorManager::is_hand_occupied_cb, this);
775 which_fingers_are_touching_server = n_tilde.advertiseService("which_fingers_are_touching", &SrTactileSensorManager::which_fingers_are_touching_cb, this);
776@@ -83,6 +111,7 @@
777 if(tactile_sensors[i]->get_touch_data() < is_hand_occupied_thresholds[i])
778 {
779 is_occupied = false;
780+ ROS_DEBUG("is_hand_occupied_thresholds %d with val %f is smaller than threshold %f",i,tactile_sensors[i]->get_touch_data(),is_hand_occupied_thresholds[i]);
781 break;
782 }
783 }

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