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@ -101,7 +101,7 @@ public:
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/// Sets the amount of pressure the gripper applies
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AREXPORT bool gripPressure(int mSecIntervals);
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/// Raises the lift by a given amount of time
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AREXPORT bool liftCarry(int mSecIntervals);
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AREXPORT bool liftCliftCarryarry(int mSecIntervals);
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/// Returns true if the gripper paddles are moving
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AREXPORT bool isGripMoving(void) const;
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/// Returns true if the lift is moving
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@ -4,7 +4,7 @@ RUN sed -i 's/archive.ubuntu.com/old-releases.ubuntu.com/g' /etc/apt/sources.lis
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RUN apt-get update && apt-get install -y apt ros-hydro-tf ros-hydro-dynamic-reconfigure ros-hydro-nav-msgs ros-hydro-hokuyo-node \
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libopencv-dev python-opencv ros-hydro-camera-info-manager ros-hydro-image-transport ros-hydro-cv-bridge \
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libogg-dev libtheora-dev v4l-utils python-catkin-tools vim ffmpeg build-essential libavcodec-dev libswscale-dev \
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ros-hydro-robot-state-publisher ros-hydro-joint-state-publisher
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ros-hydro-robot-state-publisher ros-hydro-joint-state-publisher ros-hydro-compressed-image-transport
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ADD Aria /usr/local/Aria
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COPY entrypoint.sh /entrypoint.sh
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RUN mkdir -p /root/.ros/camera_info/
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@ -21,9 +21,7 @@ echo
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echo
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set -x
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rosrun rosaria RosAria _port:=$ARIA_PORT _tf_prefix:=${ROS_NAMESPACE} &
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rosrun hokuyo_node hokuyo_node _frame_id:="PIONIER${PIONIER_ID}/laser" &
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rosrun tf static_transform_publisher 0.16 0 0 0 0 0 ${ROS_NAMESPACE}/base_link "${ROS_NAMESPACE}/laser" 100
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# rosrun rosaria RosAria _port:=$ARIA_PORT _tf_prefix:=PIONIER${PIONIER_ID} &
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# rosrun hokuyo_node hokuyo_node _frame_id:="${ROS_NAMESPACE}/laser"
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# rosrun usb_cam usb_cam_node _framerate:=10 _tf_prefix:=PIONIER${PIONIER_ID}
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# roslaunch rosaria_bringup rosaria_bringup.launch
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/bin/bash
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@ -688,7 +688,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
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//ADVANCED property for variable: CMAKE_NM
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CMAKE_NM-ADVANCED:INTERNAL=1
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//number of local generators
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CMAKE_NUMBER_OF_LOCAL_GENERATORS:INTERNAL=15
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CMAKE_NUMBER_OF_LOCAL_GENERATORS:INTERNAL=8
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//ADVANCED property for variable: CMAKE_OBJCOPY
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CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
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//ADVANCED property for variable: CMAKE_OBJDUMP
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@ -23,45 +23,16 @@ fb0975d688b15c7bb699a16596532ac5 /home/lab1_5/ws/ws_linux/devel/share/common-lis
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548b6dc829b8c3b7b051e5fc0b33c85f CMakeFiles/doxygen
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548b6dc829b8c3b7b051e5fc0b33c85f CMakeFiles/run_tests
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548b6dc829b8c3b7b051e5fc0b33c85f CMakeFiles/tests
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/actionlib_generate_messages_cpp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/actionlib_generate_messages_lisp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/actionlib_generate_messages_py
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/actionlib_msgs_generate_messages_cpp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/actionlib_msgs_generate_messages_lisp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/actionlib_msgs_generate_messages_py
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/compressed_depth_image_transport_gencfg
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/dynamic_reconfigure_gencfg
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/dynamic_reconfigure_generate_messages_cpp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/dynamic_reconfigure_generate_messages_lisp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/dynamic_reconfigure_generate_messages_py
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/roscpp_generate_messages_cpp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/roscpp_generate_messages_lisp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/roscpp_generate_messages_py
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/rosgraph_msgs_generate_messages_cpp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/rosgraph_msgs_generate_messages_lisp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/rosgraph_msgs_generate_messages_py
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/sensor_msgs_generate_messages_cpp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/sensor_msgs_generate_messages_lisp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/sensor_msgs_generate_messages_py
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/tf2_msgs_generate_messages_cpp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/tf2_msgs_generate_messages_lisp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/tf2_msgs_generate_messages_py
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/tf_generate_messages_cpp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/tf_generate_messages_lisp
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6a4480bb9c2c39211519dd8c3c613db4 image_transport_plugins/compressed_depth_image_transport/CMakeFiles/tf_generate_messages_py
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c99dc3211604ad2f125fc2280190a6fc image_transport_plugins/compressed_image_transport/CMakeFiles/compressed_image_transport_gencfg
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c8e55c74376548a10443b23778094332 image_transport_plugins/image_transport_plugins/CMakeFiles/_catkin_empty_exported_target
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/theora_image_transport_gencfg
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/theora_image_transport_gencpp
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/theora_image_transport_generate_messages
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/theora_image_transport_generate_messages_cpp
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/theora_image_transport_generate_messages_lisp
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/theora_image_transport_generate_messages_py
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/theora_image_transport_genlisp
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/theora_image_transport_genpy
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/topic_tools_generate_messages_cpp
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/topic_tools_generate_messages_lisp
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7e056ec7f1a88a837af500b06e30cd53 image_transport_plugins/theora_image_transport/CMakeFiles/topic_tools_generate_messages_py
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/actionlib_generate_messages_cpp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/actionlib_generate_messages_lisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/actionlib_generate_messages_py
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/actionlib_msgs_generate_messages_cpp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/actionlib_msgs_generate_messages_lisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/actionlib_msgs_generate_messages_py
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/dynamic_reconfigure_gencfg
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/dynamic_reconfigure_generate_messages_cpp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/dynamic_reconfigure_generate_messages_lisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/dynamic_reconfigure_generate_messages_py
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/nav_msgs_generate_messages_cpp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/nav_msgs_generate_messages_lisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/nav_msgs_generate_messages_py
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@ -73,6 +44,21 @@ ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/rosaria_generate_messages_li
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/rosaria_generate_messages_py
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/rosaria_genlisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/rosaria_genpy
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/roscpp_generate_messages_cpp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/roscpp_generate_messages_lisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/roscpp_generate_messages_py
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/rosgraph_msgs_generate_messages_cpp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/rosgraph_msgs_generate_messages_lisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/rosgraph_msgs_generate_messages_py
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/sensor_msgs_generate_messages_cpp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/sensor_msgs_generate_messages_lisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/sensor_msgs_generate_messages_py
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/tf2_msgs_generate_messages_cpp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/tf2_msgs_generate_messages_lisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/tf2_msgs_generate_messages_py
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/tf_generate_messages_cpp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/tf_generate_messages_lisp
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ecb60bf5b43b0dc8aa686e69b54fe939 rosaria/CMakeFiles/tf_generate_messages_py
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27e1afd49078e6f46155a0301c3ca72a rosaria_bringup/CMakeFiles/_run_tests_rosaria_bringup
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27e1afd49078e6f46155a0301c3ca72a rosaria_bringup/CMakeFiles/_run_tests_rosaria_bringup_roslaunch-check
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fe962974fae951744ac72ba0b5d4653d rosaria_bringup/CMakeFiles/_run_tests_rosaria_bringup_roslaunch-check_launch
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@ -10,20 +10,8 @@ SET(CMAKE_MAKEFILE_DEPENDS
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"CMakeFiles/CMakeCCompiler.cmake"
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"CMakeFiles/CMakeCXXCompiler.cmake"
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"CMakeFiles/CMakeSystem.cmake"
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"amr-ros-config/description/catkin_generated/ordered_paths.cmake"
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"amr-ros-config/description/catkin_generated/package.cmake"
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"catkin/catkin_generated/version/package.cmake"
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"catkin_generated/order_packages.cmake"
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"image_transport_plugins/compressed_depth_image_transport/catkin_generated/ordered_paths.cmake"
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"image_transport_plugins/compressed_depth_image_transport/catkin_generated/package.cmake"
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"image_transport_plugins/compressed_image_transport/catkin_generated/ordered_paths.cmake"
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"image_transport_plugins/compressed_image_transport/catkin_generated/package.cmake"
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"image_transport_plugins/image_transport_plugins/catkin_generated/package.cmake"
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"image_transport_plugins/theora_image_transport/catkin_generated/ordered_paths.cmake"
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"image_transport_plugins/theora_image_transport/catkin_generated/package.cmake"
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"image_transport_plugins/theora_image_transport/catkin_generated/theora_image_transport-msg-extras.cmake.develspace.in"
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"image_transport_plugins/theora_image_transport/catkin_generated/theora_image_transport-msg-extras.cmake.installspace.in"
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"image_transport_plugins/theora_image_transport/cmake/theora_image_transport-genmsg.cmake"
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"lab15_pioneer_description/catkin_generated/ordered_paths.cmake"
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"lab15_pioneer_description/catkin_generated/package.cmake"
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"rosaria/catkin_generated/ordered_paths.cmake"
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@ -51,22 +39,9 @@ SET(CMAKE_MAKEFILE_DEPENDS
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"/home/lab1_5/ws/ws_linux/devel/share/rosaria/cmake/rosariaConfig.cmake"
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"/home/lab1_5/ws/ws_linux/devel/share/rosaria_msgs/cmake/rosaria_msgs-msg-paths.cmake"
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"/home/lab1_5/ws/ws_linux/devel/share/safety/cmake/safety-msg-paths.cmake"
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"/home/lab1_5/ws/ws_linux/devel/share/theora_image_transport/cmake/theora_image_transport-msg-paths.cmake"
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"/home/lab1_5/ws/ws_linux/devel/share/usb_cam/cmake/usb_camConfig-version.cmake"
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"/home/lab1_5/ws/ws_linux/devel/share/usb_cam/cmake/usb_camConfig.cmake"
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"/home/lab1_5/ws/ws_linux/src/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/amr-ros-config/description/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/amr-ros-config/description/package.xml"
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"/home/lab1_5/ws/ws_linux/src/amr-ros-config/gazebo/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/amr-ros-config/launch/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/image_transport_plugins/compressed_depth_image_transport/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/image_transport_plugins/compressed_depth_image_transport/package.xml"
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"/home/lab1_5/ws/ws_linux/src/image_transport_plugins/compressed_image_transport/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/image_transport_plugins/compressed_image_transport/package.xml"
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"/home/lab1_5/ws/ws_linux/src/image_transport_plugins/image_transport_plugins/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/image_transport_plugins/image_transport_plugins/package.xml"
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"/home/lab1_5/ws/ws_linux/src/image_transport_plugins/theora_image_transport/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/image_transport_plugins/theora_image_transport/package.xml"
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"/home/lab1_5/ws/ws_linux/src/lab15_pioneer_description/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/lab15_pioneer_description/package.xml"
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"/home/lab1_5/ws/ws_linux/src/rosaria/CMakeLists.txt"
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@ -79,10 +54,6 @@ SET(CMAKE_MAKEFILE_DEPENDS
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"/home/lab1_5/ws/ws_linux/src/safety/package.xml"
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"/home/lab1_5/ws/ws_linux/src/usb_cam/CMakeLists.txt"
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"/home/lab1_5/ws/ws_linux/src/usb_cam/package.xml"
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"/opt/ros/hydro/share/OpenCV/OpenCVConfig-version.cmake"
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"/opt/ros/hydro/share/OpenCV/OpenCVConfig.cmake"
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"/opt/ros/hydro/share/OpenCV/OpenCVModules-relwithdebinfo.cmake"
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"/opt/ros/hydro/share/OpenCV/OpenCVModules.cmake"
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"/opt/ros/hydro/share/actionlib/cmake/actionlib-msg-extras.cmake"
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"/opt/ros/hydro/share/actionlib/cmake/actionlibConfig-version.cmake"
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"/opt/ros/hydro/share/actionlib/cmake/actionlibConfig.cmake"
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@ -152,8 +123,6 @@ SET(CMAKE_MAKEFILE_DEPENDS
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"/opt/ros/hydro/share/class_loader/cmake/class_loaderConfig.cmake"
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"/opt/ros/hydro/share/cpp_common/cmake/cpp_commonConfig-version.cmake"
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"/opt/ros/hydro/share/cpp_common/cmake/cpp_commonConfig.cmake"
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"/opt/ros/hydro/share/cv_bridge/cmake/cv_bridgeConfig-version.cmake"
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"/opt/ros/hydro/share/cv_bridge/cmake/cv_bridgeConfig.cmake"
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"/opt/ros/hydro/share/dynamic_reconfigure/cmake/dynamic_reconfigure-extras.cmake"
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"/opt/ros/hydro/share/dynamic_reconfigure/cmake/dynamic_reconfigure-macros.cmake"
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"/opt/ros/hydro/share/dynamic_reconfigure/cmake/dynamic_reconfigure-msg-extras.cmake"
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@ -199,10 +168,6 @@ SET(CMAKE_MAKEFILE_DEPENDS
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"/opt/ros/hydro/share/pluginlib/cmake/pluginlibConfig.cmake"
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"/opt/ros/hydro/share/robot_state_publisher/cmake/robot_state_publisherConfig-version.cmake"
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"/opt/ros/hydro/share/robot_state_publisher/cmake/robot_state_publisherConfig.cmake"
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"/opt/ros/hydro/share/rosbag/cmake/rosbagConfig-version.cmake"
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"/opt/ros/hydro/share/rosbag/cmake/rosbagConfig.cmake"
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"/opt/ros/hydro/share/rosbag_storage/cmake/rosbag_storageConfig-version.cmake"
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"/opt/ros/hydro/share/rosbag_storage/cmake/rosbag_storageConfig.cmake"
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"/opt/ros/hydro/share/rosconsole/cmake/rosconsole-extras.cmake"
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"/opt/ros/hydro/share/rosconsole/cmake/rosconsoleConfig-version.cmake"
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"/opt/ros/hydro/share/rosconsole/cmake/rosconsoleConfig.cmake"
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@ -254,14 +219,10 @@ SET(CMAKE_MAKEFILE_DEPENDS
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"/opt/ros/hydro/share/tf2_ros/cmake/tf2_rosConfig.cmake"
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"/opt/ros/hydro/share/tf_conversions/cmake/tf_conversionsConfig-version.cmake"
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"/opt/ros/hydro/share/tf_conversions/cmake/tf_conversionsConfig.cmake"
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"/opt/ros/hydro/share/topic_tools/cmake/topic_tools-msg-extras.cmake"
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"/opt/ros/hydro/share/topic_tools/cmake/topic_toolsConfig-version.cmake"
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"/opt/ros/hydro/share/topic_tools/cmake/topic_toolsConfig.cmake"
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"/opt/ros/hydro/share/urdf/cmake/urdfConfig-version.cmake"
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"/opt/ros/hydro/share/urdf/cmake/urdfConfig.cmake"
|
||||
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|
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
|
||||
@ -1374,7 +1140,6 @@ help:
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -1388,18 +1153,28 @@ help:
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@ -1415,20 +1190,6 @@ help:
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
INCLUDE("/home/lab1_5/ws/ws_linux/build/image_transport_plugins/theora_image_transport/cmake_install.cmake")
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -1,2 +1,2 @@
|
||||
CMAKE_PROGRESS_1 = 12
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|
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||||
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|
||||
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||||
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||||
|
||||
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|
||||
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|
||||
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||||
.PHONY : rosaria/CMakeFiles/tf2_msgs_generate_messages_py.dir/rule
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||||
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||||
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|
||||
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|
||||
.PHONY : tf2_msgs_generate_messages_py
|
||||
|
||||
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|
||||
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|
||||
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||||
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||||
|
||||
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|
||||
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|
||||
cd /home/lab1_5/ws/ws_linux/build && $(MAKE) -f CMakeFiles/Makefile2 rosaria/CMakeFiles/tf_generate_messages_cpp.dir/rule
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||||
.PHONY : rosaria/CMakeFiles/tf_generate_messages_cpp.dir/rule
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||||
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|
||||
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|
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.PHONY : tf_generate_messages_cpp
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|
||||
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|
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|
||||
cd /home/lab1_5/ws/ws_linux/build && $(MAKE) -f rosaria/CMakeFiles/tf_generate_messages_cpp.dir/build.make rosaria/CMakeFiles/tf_generate_messages_cpp.dir/build
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||||
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||||
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|
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|
||||
cd /home/lab1_5/ws/ws_linux/build && $(MAKE) -f CMakeFiles/Makefile2 rosaria/CMakeFiles/tf_generate_messages_lisp.dir/rule
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||||
.PHONY : rosaria/CMakeFiles/tf_generate_messages_lisp.dir/rule
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|
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|
||||
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|
||||
|
||||
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|
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|
||||
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.PHONY : tf_generate_messages_lisp/fast
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|
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|
||||
cd /home/lab1_5/ws/ws_linux/build && $(MAKE) -f CMakeFiles/Makefile2 rosaria/CMakeFiles/tf_generate_messages_py.dir/rule
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||||
.PHONY : rosaria/CMakeFiles/tf_generate_messages_py.dir/rule
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||||
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|
||||
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|
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.PHONY : tf_generate_messages_py
|
||||
|
||||
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|
||||
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|
||||
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|
||||
RosAria.o: RosAria.cpp.o
|
||||
.PHONY : RosAria.o
|
||||
|
||||
@ -345,6 +695,16 @@ help:
|
||||
@echo "... clean"
|
||||
@echo "... depend"
|
||||
@echo "... RosAria"
|
||||
@echo "... actionlib_generate_messages_cpp"
|
||||
@echo "... actionlib_generate_messages_lisp"
|
||||
@echo "... actionlib_generate_messages_py"
|
||||
@echo "... actionlib_msgs_generate_messages_cpp"
|
||||
@echo "... actionlib_msgs_generate_messages_lisp"
|
||||
@echo "... actionlib_msgs_generate_messages_py"
|
||||
@echo "... dynamic_reconfigure_gencfg"
|
||||
@echo "... dynamic_reconfigure_generate_messages_cpp"
|
||||
@echo "... dynamic_reconfigure_generate_messages_lisp"
|
||||
@echo "... dynamic_reconfigure_generate_messages_py"
|
||||
@echo "... edit_cache"
|
||||
@echo "... install"
|
||||
@echo "... install/local"
|
||||
@ -362,7 +722,22 @@ help:
|
||||
@echo "... rosaria_generate_messages_py"
|
||||
@echo "... rosaria_genlisp"
|
||||
@echo "... rosaria_genpy"
|
||||
@echo "... roscpp_generate_messages_cpp"
|
||||
@echo "... roscpp_generate_messages_lisp"
|
||||
@echo "... roscpp_generate_messages_py"
|
||||
@echo "... rosgraph_msgs_generate_messages_cpp"
|
||||
@echo "... rosgraph_msgs_generate_messages_lisp"
|
||||
@echo "... rosgraph_msgs_generate_messages_py"
|
||||
@echo "... sensor_msgs_generate_messages_cpp"
|
||||
@echo "... sensor_msgs_generate_messages_lisp"
|
||||
@echo "... sensor_msgs_generate_messages_py"
|
||||
@echo "... test"
|
||||
@echo "... tf2_msgs_generate_messages_cpp"
|
||||
@echo "... tf2_msgs_generate_messages_lisp"
|
||||
@echo "... tf2_msgs_generate_messages_py"
|
||||
@echo "... tf_generate_messages_cpp"
|
||||
@echo "... tf_generate_messages_lisp"
|
||||
@echo "... tf_generate_messages_py"
|
||||
@echo "... RosAria.o"
|
||||
@echo "... RosAria.i"
|
||||
@echo "... RosAria.s"
|
||||
|
||||
@ -1,3 +1,3 @@
|
||||
CMAKE_PROGRESS_1 = 20
|
||||
CMAKE_PROGRESS_2 = 21
|
||||
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|
||||
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|
||||
|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
CMAKE_PROGRESS_1 = 24
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
Binary file not shown.
@ -4,7 +4,7 @@
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
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|
||||
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|
||||
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||||
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|
||||
|
||||
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|
||||
@ -18,7 +18,7 @@
|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
<color rgba="0.851 0.0 0.0 1.0"/>
|
||||
@ -40,7 +40,7 @@
|
||||
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|
||||
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|
||||
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|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/top.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/top.stl"/>
|
||||
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|
||||
<material name="TopBlack">
|
||||
<color rgba="0.038 0.038 0.038 1.0"/>
|
||||
@ -57,30 +57,7 @@
|
||||
<parent link="base_link"/>
|
||||
<child link="top_plate"/>
|
||||
</joint>
|
||||
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|
||||
<inertial>
|
||||
<mass value="0.0001"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
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|
||||
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|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/front_sonar.stl"/>
|
||||
</geometry>
|
||||
<material name="SonarYellow">
|
||||
<color rgba="0.715 0.583 0.210 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link> -->
|
||||
<!-- <gazebo reference="front_sonar">
|
||||
<material value="Gazebo/Yellow"/>
|
||||
</gazebo> -->
|
||||
<!-- <joint name="base_front_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="-0.198 0 0.208"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front_sonar"/>
|
||||
</joint> -->
|
||||
|
||||
<joint name="base_back_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.109 0 0.209"/>
|
||||
<parent link="base_link"/>
|
||||
@ -95,13 +72,14 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/sonar_frame.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/sonar_frame.stl"/>
|
||||
</geometry>
|
||||
<material name="SonarYellow">
|
||||
<color rgba="0.715 0.583 0.210 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<!-- Caster -->
|
||||
<joint name="base_caster_swivel_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.185 0 0.055"/>
|
||||
@ -120,7 +98,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/caster_swivel.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/caster_swivel.stl"/>
|
||||
</geometry>
|
||||
<material name="caster_swivel">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
@ -140,7 +118,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/caster_hubcap.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/caster_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="caster_swivel">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
@ -174,7 +152,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/caster_wheel.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/caster_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
@ -183,7 +161,7 @@
|
||||
<collision>
|
||||
<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/caster_wheel.stl"/>-->
|
||||
<!--<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/caster_wheel.stl"/>-->
|
||||
<cylinder length="0.01" radius="0.0375"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
@ -196,11 +174,13 @@
|
||||
<parent link="caster_wheel"/>
|
||||
<child link="caster_hubcap"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="left_hub">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/left_hubcap.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/left_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="HubcapYellow">
|
||||
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||
@ -209,7 +189,7 @@
|
||||
<collision>
|
||||
<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/caster_wheel.stl"/>-->
|
||||
<!--<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/caster_wheel.stl"/>-->
|
||||
<cylinder length="0.01" radius="0.09"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
@ -224,15 +204,16 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/left_wheel.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/left_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="left_wheel_joint" type="fixed">
|
||||
<joint name="left_wheel_joint" type="continuous">
|
||||
<!-- type="continuous" -->
|
||||
<axis xyz="0.0 -1.0 0.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="left_hub"/>
|
||||
<child link="left_wheel"/>
|
||||
@ -244,7 +225,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/right_hubcap.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/right_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="HubcapYellow">
|
||||
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||
@ -253,7 +234,7 @@
|
||||
<collision>
|
||||
<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/caster_wheel.stl"/>-->
|
||||
<!--<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/caster_wheel.stl"/>-->
|
||||
<cylinder length="0.01" radius="0.09"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
@ -271,15 +252,16 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/right_wheel.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/right_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="right_wheel_joint" type="fixed">
|
||||
<joint name="right_wheel_joint" type="continuous">
|
||||
<!-- type="continuous" -->
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="right_hub"/>
|
||||
<child link="right_wheel"/>
|
||||
@ -293,17 +275,17 @@
|
||||
</create>
|
||||
|
||||
|
||||
<link name="laser">
|
||||
<link name="laser_frame">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
<box size="0.06 0.06 0.07"/>
|
||||
</geometry>
|
||||
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|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/hokuyo_convex.stl"/>
|
||||
<mesh filename="package://lab15_pioneer_description/meshes/p3dx_meshes/hokuyo_convex.stl"/>
|
||||
</geometry>
|
||||
<material name="Hokuyo">
|
||||
<color rgba="0 0 0 1"/>
|
||||
@ -315,11 +297,12 @@
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
|
||||
</inertial>
|
||||
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|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
|
||||
<joint name="laser_joint" type="fixed">
|
||||
<axis xyz="0 0 0" />
|
||||
<origin xyz="0.040 0 0.0625" rpy="0 0 0"/>
|
||||
<parent link="sonar_frame"/>
|
||||
<child link="laser"/>
|
||||
<child link="laser_frame"/>
|
||||
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|
||||
|
||||
|
||||
@ -327,14 +310,14 @@
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.095 0.03 0.03"/>
|
||||
<box size="0.03 0.095 0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<axis xyz="0 0 0" />
|
||||
<origin xyz="0.040 0 0.1125" rpy="0 0 0"/>
|
||||
<origin xyz="0.040 0 0.115" rpy="0 0 0"/>
|
||||
<parent link="sonar_frame"/>
|
||||
<child link="camera_frame"/>
|
||||
</joint>
|
||||
@ -343,11 +326,104 @@
|
||||
|
||||
<!-- ====================[Gripper]====================== -->
|
||||
|
||||
<!-- <link name="gripper_base">
|
||||
<link name="gripper_lift_frame">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.125 0.13"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<material name="GripperBlack">
|
||||
<color rgba="0.1 0.1 0.1 1.0"/>
|
||||
</material>
|
||||
<geometry>
|
||||
<box size="0.05 0.125 0.13"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
</link> -->
|
||||
<joint name="gripper_lift_joint" type="fixed">
|
||||
<axis xyz="0 0 0" />
|
||||
<origin rpy="0 0 0" xyz="0.1575 0 0.12"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="gripper_lift_frame"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_frame">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.07 0.32 0.07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.07 0.32 0.07"/>
|
||||
</geometry>
|
||||
<material name="GripperBlack"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="gripper_joint" type="prismatic">
|
||||
<limit velocity="0.01" effort="10.0" lower="-0.05" upper="0"/>
|
||||
<axis xyz="0 0 1" />
|
||||
<origin rpy="0 0 0" xyz="0.027 0 -0.0125"/>
|
||||
<parent link="gripper_lift_frame"/>
|
||||
<child link="gripper_frame"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_left_paddle_frame">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.095 0.03 0.03"/>
|
||||
<origin rpy="0 0 0" xyz="0.027 -0.016 -0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.0475 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.095 0.03 0.03"/>
|
||||
</geometry>
|
||||
<material name="GripperBlack"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="gripper_left_paddle_joint" type="prismatic">
|
||||
<limit velocity="0.02" effort="10.0" lower="-0.05" upper="0"/>
|
||||
<axis xyz="0 1 0" />
|
||||
<origin rpy="0 0 0" xyz="0.035 -0.015 -0.00625"/>
|
||||
<parent link="gripper_frame"/>
|
||||
<child link="gripper_left_paddle_frame"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_right_paddle_frame">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.095 0.03 0.03"/>
|
||||
<origin rpy="0 0 0" xyz="0.027 -0.016 -0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.0475 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.095 0.03 0.03"/>
|
||||
</geometry>
|
||||
<material name="GripperBlack"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="gripper_right_paddle_joint" type="prismatic">
|
||||
<limit velocity="0.02" effort="10.0" lower="-0.05" upper="0"/>
|
||||
<axis xyz="0 -1 0" />
|
||||
<origin rpy="0 0 0" xyz="0.035 0.015 -0.00625"/>
|
||||
<parent link="gripper_frame"/>
|
||||
<child link="gripper_right_paddle_frame"/>
|
||||
</joint>
|
||||
|
||||
<!-- ====================[Gazebo]====================== -->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
|
||||
@ -113,6 +113,11 @@ protected:
|
||||
bool gripper_up_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
|
||||
bool gripper_down_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
|
||||
|
||||
// Kuba Gripper joint states
|
||||
|
||||
ros::Publisher joint_states_pub;
|
||||
sensor_msgs::JointState gripper_joint_states_msg;
|
||||
|
||||
ros::Time veltime;
|
||||
|
||||
std::string serial_port;
|
||||
@ -366,6 +371,8 @@ RosAriaNode::RosAriaNode(ros::NodeHandle nh) :
|
||||
recharge_state.data = -2;
|
||||
state_of_charge_pub = n.advertise<std_msgs::Float32>("battery_state_of_charge", 100);
|
||||
|
||||
joint_states_pub = n.advertise<sensor_msgs::JointState>("joint_states",1000);
|
||||
|
||||
|
||||
// subscribe to services
|
||||
cmdvel_sub = n.subscribe( "cmd_vel", 1, (boost::function <void(const geometry_msgs::TwistConstPtr&)>)
|
||||
@ -396,6 +403,22 @@ RosAriaNode::RosAriaNode(ros::NodeHandle nh) :
|
||||
minDist = 0.7;
|
||||
|
||||
veltime = ros::Time::now();
|
||||
//todo: USUNAC
|
||||
gripper_joint_states_msg.header.stamp = ros::Time::now();
|
||||
gripper_joint_states_msg.name.resize(3);
|
||||
gripper_joint_states_msg.position.resize(3);
|
||||
gripper_joint_states_msg.velocity.resize(0);
|
||||
gripper_joint_states_msg.effort.resize(0);
|
||||
|
||||
gripper_joint_states_msg.name[0] = "gripper_joint";
|
||||
gripper_joint_states_msg.name[1] = "gripper_left_paddle_joint";
|
||||
gripper_joint_states_msg.name[2] = "gripper_right_paddle_joint";
|
||||
|
||||
gripper_joint_states_msg.position[0] = 0;
|
||||
gripper_joint_states_msg.position[1] = 0;
|
||||
gripper_joint_states_msg.position[2] = 0;
|
||||
|
||||
joint_states_pub.publish(gripper_joint_states_msg);
|
||||
}
|
||||
|
||||
RosAriaNode::~RosAriaNode()
|
||||
@ -658,17 +681,29 @@ void RosAriaNode::publish()
|
||||
Wheel.velocity.resize(2);
|
||||
Wheel.effort.resize(0);
|
||||
|
||||
Wheel.name[0]="Wheel_L";
|
||||
Wheel.name[1]="Wheel_R";
|
||||
Wheel.position[0]=robot->getLeftEncoder();
|
||||
Wheel.position[1]=robot->getRightEncoder();
|
||||
Wheel.velocity[0]=robot->getLeftVel();
|
||||
Wheel.velocity[1]=robot->getRightVel();
|
||||
Wheel.name[0] = "left_wheel_joint";
|
||||
Wheel.name[1] = "right_wheel_joint";
|
||||
Wheel.position[0]=robot->getLeftEncoder()/1000 * 2 * M_PI / 65;
|
||||
Wheel.position[1]=robot->getLeftEncoder()/1000;
|
||||
// Wheel.velocity[0]=robot->getLeftVel();
|
||||
// Wheel.velocity[1]=robot->getRightVel();
|
||||
wheel_pub.publish(Wheel);
|
||||
gripper_joint_states_msg.header.stamp = ros::Time::now();
|
||||
gripper_joint_states_msg.name.resize(3);
|
||||
gripper_joint_states_msg.position.resize(3);
|
||||
gripper_joint_states_msg.velocity.resize(0);
|
||||
gripper_joint_states_msg.effort.resize(0);
|
||||
|
||||
gripper_joint_states_msg.name[0] = "gripper_joint";
|
||||
gripper_joint_states_msg.name[1] = "gripper_left_paddle_joint";
|
||||
gripper_joint_states_msg.name[2] = "gripper_right_paddle_joint";
|
||||
|
||||
|
||||
gripper_joint_states_msg.position[0] = -0.05;
|
||||
gripper_joint_states_msg.position[1] = gripper->getGripState() == 2 ? 0 : 0.12;
|
||||
gripper_joint_states_msg.position[2] = gripper->getGripState() == 2 ? 0 : 0.12;
|
||||
|
||||
|
||||
joint_states_pub.publish(gripper_joint_states_msg);
|
||||
|
||||
// Note, this is called via SensorInterpTask callback (myPublishCB, named "ROSPublishingTask"). ArRobot object 'robot' sholud not be locked or unlocked.
|
||||
pos = robot->getPose();
|
||||
@ -830,8 +865,9 @@ bool RosAriaNode::gripper_open_cb(std_srvs::Empty::Request& request, std_srvs::
|
||||
{
|
||||
robot->lock();
|
||||
gripper->gripOpen();
|
||||
ROS_INFO("RosAria: Gripper opening.");
|
||||
robot->unlock();
|
||||
ROS_INFO("RosAria: Gripper opening.");
|
||||
ROS_INFO("ROSARIA: Gripper State %d", gripper->getGripState());
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -839,8 +875,9 @@ bool RosAriaNode::gripper_close_cb(std_srvs::Empty::Request& request, std_srvs:
|
||||
{
|
||||
robot->lock();
|
||||
gripper->gripClose();
|
||||
ROS_INFO("RosAria: Gripper closing.");
|
||||
robot->unlock();
|
||||
ROS_INFO("RosAria: Gripper closing.");
|
||||
ROS_INFO("ROSARIA: Gripper Type %d", gripper->getType());
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -848,8 +885,8 @@ bool RosAriaNode::gripper_up_cb(std_srvs::Empty::Request& request, std_srvs::Em
|
||||
{
|
||||
robot->lock();
|
||||
gripper->liftUp();
|
||||
ROS_INFO("RosAria: Gripper moving up");
|
||||
robot->unlock();
|
||||
ROS_INFO("RosAria: Gripper moving up");
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -857,8 +894,8 @@ bool RosAriaNode::gripper_down_cb(std_srvs::Empty::Request& request, std_srvs::
|
||||
{
|
||||
robot->lock();
|
||||
gripper->liftDown();
|
||||
ROS_INFO("RosAria: Gripper moving down.");
|
||||
robot->unlock();
|
||||
ROS_INFO("RosAria: Gripper moving down");
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@ -4,22 +4,25 @@
|
||||
<arg name="urdf" default="$(find lab15_pioneer_description)/urdf/pioneer3dx.urdf" />
|
||||
<param name="robot_description" textfile="$(arg urdf)" />
|
||||
|
||||
<node pkg="rosaria" name="RosAria" type="RosAria" ns="PIONIER$(arg pionier_id)">
|
||||
<node pkg="rosaria" name="RosAria" type="RosAria" ns="PIONIER$(arg pionier_id)" >
|
||||
<param name="port" value="$(arg port)" />
|
||||
<param name="tf_prefix" value="PIONIER$(arg pionier_id)"/>
|
||||
<remap from="PIONIER$(arg pionier_id)/RosAria/wheels" to="joint_state"/>
|
||||
<remap from="/PIONIER$(arg pionier_id)/RosAria/wheels" to="/joint_states"/>
|
||||
<!-- <remap from="/PIONIER$(arg pionier_id)/RosAria/joint_states" to="/lol/joint_states"/> -->
|
||||
</node>
|
||||
|
||||
<node pkg="hokuyo_node" type="hokuyo_node" name="Lidar" ns="PIONIER$(arg pionier_id)/Laser">
|
||||
<param name="frame_id" value="PIONIER$(arg pionier_id)/laser"/>
|
||||
|
||||
<node pkg="hokuyo_node" type="hokuyo_node" name="Laser" ns="PIONIER$(arg pionier_id)/">
|
||||
<param name="frame_id" value="PIONIER$(arg pionier_id)/laser_frame"/>
|
||||
</node>
|
||||
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
|
||||
<param name="tf_prefix" value="PIONIER$(arg pionier_id)"/>
|
||||
</node>
|
||||
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
|
||||
<!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
|
||||
<rosparam param="source_list">["PIONIER5/RosAria/wheels"]</rosparam>
|
||||
</node> -->
|
||||
|
||||
|
||||
<node pkg="usb_cam" type="usb_cam_node" name="Camera" ns="PIONIER$(arg pionier_id)" output="screen">
|
||||
<param name="framerate" value="30"/>
|
||||
|
||||
2
run.sh
2
run.sh
@ -3,5 +3,5 @@
|
||||
echo "ID: $PIONIER_ID"
|
||||
|
||||
docker run --privileged --network=host --device=/dev/ttyS0 -i -e ROS_IP=$(hostname -I | awk '{print $1}') -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g')\
|
||||
--mount type=bind,source=/home/lab1_5/rosaria/Legacy/ws_linux,target=/home/lab1_5/ws/ws_linux rosaria-cam
|
||||
--mount type=bind,source=/home/lab1_5/rosaria/Legacy/ws_linux,target=/home/lab1_5/ws/ws_linux rosaria-cam /bin/bash
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user