From e1071a3b3e31e0ee322fd9bafd4af4d8b32983f3 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Wed, 2 Oct 2024 12:30:15 -0400 Subject: [PATCH 01/67] Updated dependencies.repos to use humble branches. --- dependencies.repos | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/dependencies.repos b/dependencies.repos index 6f713c07..d9798bbe 100644 --- a/dependencies.repos +++ b/dependencies.repos @@ -2,8 +2,8 @@ repositories: clearpath_config: type: git url: https://github.com/clearpathrobotics/clearpath_config.git - version: main + version: humble clearpath_msgs: type: git url: https://github.com/clearpathrobotics/clearpath_msgs.git - version: main + version: humble From 976b0f628e4f23b63643a562460422655b3f55ac Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Thu, 3 Oct 2024 12:10:30 -0400 Subject: [PATCH 02/67] Added phidget spatial URDF --- .../urdf/phidgets_spatial.urdf.xacro | 35 +++++++++++++++++++ 1 file changed, 35 insertions(+) create mode 100644 clearpath_sensors_description/urdf/phidgets_spatial.urdf.xacro diff --git a/clearpath_sensors_description/urdf/phidgets_spatial.urdf.xacro b/clearpath_sensors_description/urdf/phidgets_spatial.urdf.xacro new file mode 100644 index 00000000..be1b0fcc --- /dev/null +++ b/clearpath_sensors_description/urdf/phidgets_spatial.urdf.xacro @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + true + ${update_rate} + true + ${name}_link + $(arg namespace)/sensors/${name}/data + + + + From e23f18c35b910ac4bf96bfb93350200e5d1f9423 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Thu, 3 Oct 2024 17:46:42 -0400 Subject: [PATCH 03/67] Add OAKD --- .../meshes/oakd_lite.dae | 106 +++++++++++ .../meshes/oakd_pro.dae | 106 +++++++++++ .../urdf/luxonis_oakd.urdf.xacro | 175 ++++++++++++++++++ 3 files changed, 387 insertions(+) create mode 100644 clearpath_sensors_description/meshes/oakd_lite.dae create mode 100644 clearpath_sensors_description/meshes/oakd_pro.dae create 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62805 133698 62955 133698 59721 133698 63621 133699 62955 133699 62805 133699 63435 133700 63621 133700 62805 133700 63960 133701 63621 133701 63435 133701 63713 133702 63960 133702 63435 133702 64116 133703 63960 133703 63713 133703 63920 133704 64116 133704 63713 133704 64293 133705 64338 133705 64340 133705 64291 133706 64293 133706 64340 133706 64259 133707 64293 133707 64291 133707 64260 133708 64259 133708 64291 133708 64118 133709 64259 133709 64260 133709 64116 133710 64118 133710 64260 133710 63919 133711 64118 133711 64116 133711 63919 133712 64116 133712 63920 133712 63547 133713 63919 133713 63920 133713 63546 133714 63919 133714 63547 133714 63599 133715 64154 133715 63958 133715 62997 133716 59725 133716 59719 133716 64293 133717 64320 133717 64338 133717 63523 133718 63919 133718 63546 133718 62775 133719 59702 133719 59726 133719 62797 133720 62775 133720 59726 133720 63298 133721 62775 133721 62797 133721 63410 133722 63298 133722 62797 133722 63523 133723 63298 133723 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35934 133800 35945 133801 24890 133801 35934 133801 24849 133802 24890 133802 35945 133802 35935 133803 24849 133803 35945 133803 24774 133804 24849 133804 35935 133804 23637 133805 24774 133805 35935 133805 20416 133806 24774 133806 23637 133806 19732 133807 20416 133807 23637 133807 19256 133808 20416 133808 19732 133808 18669 133809 19256 133809 19732 133809 14222 133810 19256 133810 18669 133810 19732 133811 11943 133811 11581 133811 19732 133812 11581 133812 11456 133812 11303 133813 19732 133813 11456 133813 18669 133814 19732 133814 11303 133814 11294 133815 18669 133815 11303 133815 14222 133816 18669 133816 11294 133816 11295 133817 14222 133817 11294 133817 14223 133818 14222 133818 11295 133818 35923 133819 59705 133819 59704 133819 11943 133820 35923 133820 59704 133820 23637 133821 35923 133821 11943 133821 19732 133822 23637 133822 11943 133822 14222 133823 14223 133823 18842 133823 19007 133824 14222 133824 18842 133824 19538 133825 19335 133825 19539 133825 19007 133826 18842 133826 19008 133826 19204 133827 19007 133827 19008 133827 19334 133828 19007 133828 19204 133828 19335 133829 19334 133829 19204 133829 19369 133830 19334 133830 19335 133830 19538 133831 19369 133831 19335 133831 19571 133832 19570 133832 19582 133832 19583 133833 19571 133833 19582 133833 19580 133834 19583 133834 19581 133834 19573 133835 19575 133835 19574 133835 19583 133836 19580 133836 19577 133836 19576 133837 19583 133837 19577 133837 19571 133838 19583 133838 19576 133838 19575 133839 19571 133839 19576 133839 19572 133840 19571 133840 19575 133840 19573 133841 19572 133841 19575 133841 19529 133842 19528 133842 19538 133842 19539 133843 19529 133843 19538 133843 19536 133844 19539 133844 19537 133844 19531 133845 19533 133845 19532 133845 19539 133846 19536 133846 19535 133846 19534 133847 19539 133847 19535 133847 19529 133848 19539 133848 19534 133848 19533 133849 19529 133849 19534 133849 19530 133850 19529 133850 19533 133850 19531 133851 19530 133851 19533 133851 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11293 133903 11271 133903 10808 133904 10864 133904 11271 133904 10736 133905 10864 133905 10808 133905 10483 133906 10176 133906 10170 133906 10477 133907 10483 133907 10170 133907 10809 133908 10483 133908 10477 133908 10482 133909 10497 133909 10736 133909 10808 133910 10482 133910 10736 133910 10803 133911 10482 133911 10808 133911 11266 133912 10803 133912 10808 133912 11272 133913 10803 133913 11266 133913 10175 133914 10291 133914 10497 133914 10482 133915 10175 133915 10497 133915 10477 133916 10175 133916 10482 133916 10803 133917 10477 133917 10482 133917 10809 133918 10477 133918 10803 133918 11272 133919 10809 133919 10803 133919 11295 133920 10809 133920 11272 133920 9895 133921 10010 133921 10291 133921 10175 133922 9895 133922 10291 133922 10011 133923 9895 133923 10175 133923 10170 133924 10011 133924 10175 133924 10121 133925 10011 133925 10170 133925 10176 133926 10121 133926 10170 133926 10165 133927 10121 133927 10176 133927 10483 133928 10165 133928 10176 133928 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10806 133954 10157 133955 10495 133955 10173 133955 9894 133956 10157 133956 10173 133956 10006 133957 10157 133957 9894 133957 10290 133958 10009 133958 10008 133958 10174 133959 10290 133959 10008 133959 10481 133960 10290 133960 10174 133960 10169 133961 10481 133961 10174 133961 10476 133962 10481 133962 10169 133962 10173 133963 10476 133963 10169 133963 10480 133964 10476 133964 10173 133964 10495 133965 10480 133965 10173 133965 10885 133966 10480 133966 10495 133966 10885 133967 11291 133967 11269 133967 10806 133968 10885 133968 11269 133968 10480 133969 10885 133969 10806 133969 10802 133970 10480 133970 10806 133970 10476 133971 10480 133971 10802 133971 10807 133972 10476 133972 10802 133972 10481 133973 10476 133973 10807 133973 10863 133974 10481 133974 10807 133974 10735 133975 10481 133975 10863 133975 10157 133976 10006 133976 10005 133976 10156 133977 10157 133977 10005 133977 10495 133978 10157 133978 10156 133978 10494 133979 10495 133979 10156 133979 10885 133980 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10474 134006 10597 134006 10711 134006 10367 134007 10597 134007 10474 134007 10301 134008 10367 134008 10474 134008 10213 134009 10367 134009 10301 134009 11405 134010 11886 134010 11907 134010 11530 134011 11405 134011 11907 134011 10871 134012 11405 134012 11530 134012 11119 134013 10871 134013 11530 134013 10571 134014 10871 134014 11119 134014 10930 134015 10571 134015 11119 134015 10494 134016 10571 134016 10930 134016 10884 134017 10494 134017 10930 134017 11152 134018 11901 134018 11886 134018 11405 134019 11152 134019 11886 134019 10711 134020 11152 134020 11405 134020 10871 134021 10711 134021 11405 134021 10474 134022 10711 134022 10871 134022 10571 134023 10474 134023 10871 134023 10301 134024 10474 134024 10571 134024 10190 134025 10301 134025 10571 134025 10213 134026 10301 134026 10190 134026 10005 134027 10213 134027 10190 134027 11941 134028 11753 134028 11936 134028 11691 134029 11753 134029 11941 134029 11717 134030 11691 134030 11941 134030 11255 134031 11691 134031 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+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_sensors_description/urdf/luxonis_oakd.urdf.xacro b/clearpath_sensors_description/urdf/luxonis_oakd.urdf.xacro new file mode 100644 index 00000000..f52992c6 --- /dev/null +++ b/clearpath_sensors_description/urdf/luxonis_oakd.urdf.xacro @@ -0,0 +1,175 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.25 + + 320 + 240 + + + 0.3 + 100 + + ${name}_rgb_camera_optical_frame + + 1 + 30 + true + + + + + + true + + + + true + + + + true + + + + true + + + + true + + + + true + + + + true + + + + true + + + + From a75b146d997ee7cc487a950c29cf77af19dc0d1b Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Fri, 4 Oct 2024 17:32:18 -0400 Subject: [PATCH 04/67] Changes. --- clearpath_common/CHANGELOG.rst | 3 +++ clearpath_control/CHANGELOG.rst | 3 +++ clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 3 +++ clearpath_generator_common/CHANGELOG.rst | 3 +++ clearpath_manipulators/CHANGELOG.rst | 3 +++ clearpath_manipulators_description/CHANGELOG.rst | 3 +++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 3 +++ clearpath_sensors_description/CHANGELOG.rst | 6 ++++++ 11 files changed, 36 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 3dcf1f09..94b59dac 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 5ab4b19a..96cc4b52 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 37f4bf60..4944f54d 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 7eb1b7d7..eea96bed 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index def1502b..4372d8db 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index a713e3b5..9bc867a4 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 0a57df14..ea8faee7 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 2572ba47..f0f773aa 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_platform/CHANGELOG.rst b/clearpath_platform/CHANGELOG.rst index 70a2eac2..5cb20b6f 100644 --- a/clearpath_platform/CHANGELOG.rst +++ b/clearpath_platform/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 374f56cd..fa799746 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.2 (2024-09-29) ------------------ * Fix outstanding merge conflict diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 3a031fb0..3b050706 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add OAKD +* Added phidget spatial URDF +* Contributors: Luis Camero + 0.3.2 (2024-09-29) ------------------ From aefe1fab198ae83345a8c9fba213ff21acd25f8f Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Fri, 4 Oct 2024 17:32:26 -0400 Subject: [PATCH 05/67] 0.3.3 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform/CHANGELOG.rst | 4 ++-- clearpath_platform/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 22 files changed, 33 insertions(+), 33 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 94b59dac..4f8bff07 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index f38d6dd4..c3f7c45c 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 0.3.2 + 0.3.3 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 96cc4b52..7bc413fc 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index 9c5ad2f3..5b1a5eaa 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 0.3.2 + 0.3.3 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 4944f54d..4659fb29 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index 09b2447d..d34f02c1 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 0.3.2 + 0.3.3 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index eea96bed..019f3fec 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 7f5fdbad..21999b0b 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 0.3.2 + 0.3.3 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 4372d8db..902d4197 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index d470be4b..a44171cd 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 0.3.2 + 0.3.3 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 9bc867a4..de02361f 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index 20bd8633..548b7ae4 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 0.3.2 + 0.3.3 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index ea8faee7..22f59eb5 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index ba4cc2bd..1384c41d 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 0.3.2 + 0.3.3 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index f0f773aa..5ff2705f 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index a1808b66..f5260053 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 0.3.2 + 0.3.3 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform/CHANGELOG.rst b/clearpath_platform/CHANGELOG.rst index 5cb20b6f..4c9f6673 100644 --- a/clearpath_platform/CHANGELOG.rst +++ b/clearpath_platform/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_platform/package.xml b/clearpath_platform/package.xml index 4814d92a..195d95fb 100644 --- a/clearpath_platform/package.xml +++ b/clearpath_platform/package.xml @@ -2,7 +2,7 @@ clearpath_platform - 0.3.2 + 0.3.3 Clearpath Platform Drivers. Mike Purvis diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index fa799746..8277ff91 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ 0.3.2 (2024-09-29) ------------------ diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index d6102360..b246f276 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 0.3.2 + 0.3.3 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 3b050706..17fe8435 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.3 (2024-10-04) +------------------ * Add OAKD * Added phidget spatial URDF * Contributors: Luis Camero diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index 594b7a67..5ea46865 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 0.3.2 + 0.3.3 Clearpath sensors URDF descriptions Luis Camero From 40f5ffc90912842d072ad87e75d656d6101c78f7 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 8 Oct 2024 12:56:42 -0400 Subject: [PATCH 06/67] Fixed OakD URDF (#99) --- .../urdf/luxonis_oakd.urdf.xacro | 20 +++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/clearpath_sensors_description/urdf/luxonis_oakd.urdf.xacro b/clearpath_sensors_description/urdf/luxonis_oakd.urdf.xacro index f52992c6..5705376e 100644 --- a/clearpath_sensors_description/urdf/luxonis_oakd.urdf.xacro +++ b/clearpath_sensors_description/urdf/luxonis_oakd.urdf.xacro @@ -1,7 +1,23 @@ + + + + + + + + + + + + + + @@ -26,7 +42,7 @@ - + @@ -136,7 +152,7 @@ 30 true - + From 2b59df7e2758eaa81a91a6f7a7ab67a1105c620d Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 8 Oct 2024 13:42:12 -0400 Subject: [PATCH 07/67] Changes. --- clearpath_common/CHANGELOG.rst | 3 +++ clearpath_control/CHANGELOG.rst | 3 +++ clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 3 +++ clearpath_generator_common/CHANGELOG.rst | 3 +++ clearpath_manipulators/CHANGELOG.rst | 3 +++ clearpath_manipulators_description/CHANGELOG.rst | 3 +++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 3 +++ clearpath_sensors_description/CHANGELOG.rst | 5 +++++ 11 files changed, 35 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 4f8bff07..252e795d 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 7bc413fc..6b31a3c3 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 4659fb29..d4a4d13b 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 019f3fec..721a9f9a 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 902d4197..9583b21d 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index de02361f..ee081234 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 22f59eb5..cfd8ccc8 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 5ff2705f..c5cc7e5d 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_platform/CHANGELOG.rst b/clearpath_platform/CHANGELOG.rst index 4c9f6673..dec718d5 100644 --- a/clearpath_platform/CHANGELOG.rst +++ b/clearpath_platform/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 8277ff91..22ead9e5 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 17fe8435..d3794230 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fixed OakD URDF. +* Contributors: Luis Camero + 0.3.3 (2024-10-04) ------------------ * Add OAKD From 0e0bd4bc25fb0568fa4cef4e018fc42dca9c9c7e Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 8 Oct 2024 13:42:56 -0400 Subject: [PATCH 08/67] 0.3.4 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform/CHANGELOG.rst | 4 ++-- clearpath_platform/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 22 files changed, 33 insertions(+), 33 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 252e795d..791d82fe 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index c3f7c45c..91fd1c30 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 0.3.3 + 0.3.4 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 6b31a3c3..90dd83e5 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index 5b1a5eaa..790b502a 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 0.3.3 + 0.3.4 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index d4a4d13b..a890f008 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index d34f02c1..32b7f828 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 0.3.3 + 0.3.4 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 721a9f9a..62eab418 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 21999b0b..95a9f9ae 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 0.3.3 + 0.3.4 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 9583b21d..ee6f8b12 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index a44171cd..e6a56e79 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 0.3.3 + 0.3.4 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index ee081234..742689ce 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index 548b7ae4..d0088f1f 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 0.3.3 + 0.3.4 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index cfd8ccc8..867d4475 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 1384c41d..06b85eef 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 0.3.3 + 0.3.4 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index c5cc7e5d..179bce2f 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index f5260053..0601dcfc 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 0.3.3 + 0.3.4 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform/CHANGELOG.rst b/clearpath_platform/CHANGELOG.rst index dec718d5..66ecc43f 100644 --- a/clearpath_platform/CHANGELOG.rst +++ b/clearpath_platform/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_platform/package.xml b/clearpath_platform/package.xml index 195d95fb..caa23efd 100644 --- a/clearpath_platform/package.xml +++ b/clearpath_platform/package.xml @@ -2,7 +2,7 @@ clearpath_platform - 0.3.3 + 0.3.4 Clearpath Platform Drivers. Mike Purvis diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 22ead9e5..fe90cd78 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ 0.3.3 (2024-10-04) ------------------ diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index b246f276..95a6c5d9 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 0.3.3 + 0.3.4 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index d3794230..2c2ecf92 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.4 (2024-10-08) +------------------ * Fixed OakD URDF. * Contributors: Luis Camero diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index 5ea46865..2ea42f8d 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 0.3.3 + 0.3.4 Clearpath sensors URDF descriptions Luis Camero From 2f04d13cd607b0249032f3812101e5855592bf5c Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 8 Oct 2024 21:36:07 -0400 Subject: [PATCH 09/67] Add test exception for Zed (#100) --- clearpath_generator_common/test/test_generator_description.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/clearpath_generator_common/test/test_generator_description.py b/clearpath_generator_common/test/test_generator_description.py index 7861a20e..1dcba5c6 100644 --- a/clearpath_generator_common/test/test_generator_description.py +++ b/clearpath_generator_common/test/test_generator_description.py @@ -61,6 +61,8 @@ def test_samples(self): try: xacro.process_file(os.path.join(os.path.dirname(dst), 'robot.urdf.xacro')).toxml() except xacro.XacroException as e: + if 'stereolabs' in src and 'package not found' in e.args[0]: + continue errors.append("Sample '%s' xacro failed to load: '%s'" % ( sample, e.args[0], From 9f8e5375c747fcbc5c4c40c7b7f911c30ab5ca57 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 19 Nov 2024 08:20:56 -0500 Subject: [PATCH 10/67] [clearpath_platform_description] Fixed gazebo_controllers param file. (#107) --- clearpath_platform_description/urdf/r100/r100.urdf.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro index 76fd7b6b..77454f6f 100644 --- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro +++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -3,7 +3,7 @@ - + From 3f5f569764236bc30abf9a423ffbd382b0d9efaa Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 19 Nov 2024 08:31:00 -0500 Subject: [PATCH 11/67] Add collision tags for MoveIt to avoid these objects (#108) --- clearpath_platform_description/urdf/links/box.urdf.xacro | 6 ++++++ .../urdf/links/cylinder.urdf.xacro | 6 ++++++ clearpath_platform_description/urdf/links/mesh.urdf.xacro | 6 ++++++ clearpath_platform_description/urdf/links/sphere.urdf.xacro | 6 ++++++ 4 files changed, 24 insertions(+) diff --git a/clearpath_platform_description/urdf/links/box.urdf.xacro b/clearpath_platform_description/urdf/links/box.urdf.xacro index d2716e86..aa65d880 100644 --- a/clearpath_platform_description/urdf/links/box.urdf.xacro +++ b/clearpath_platform_description/urdf/links/box.urdf.xacro @@ -8,6 +8,12 @@ + + + + + + diff --git a/clearpath_platform_description/urdf/links/cylinder.urdf.xacro b/clearpath_platform_description/urdf/links/cylinder.urdf.xacro index d3ca2c96..6dcc4cae 100644 --- a/clearpath_platform_description/urdf/links/cylinder.urdf.xacro +++ b/clearpath_platform_description/urdf/links/cylinder.urdf.xacro @@ -8,6 +8,12 @@ + + + + + + diff --git a/clearpath_platform_description/urdf/links/mesh.urdf.xacro b/clearpath_platform_description/urdf/links/mesh.urdf.xacro index 8eabd57a..4b175ff5 100644 --- a/clearpath_platform_description/urdf/links/mesh.urdf.xacro +++ b/clearpath_platform_description/urdf/links/mesh.urdf.xacro @@ -8,6 +8,12 @@ + + + + + + diff --git a/clearpath_platform_description/urdf/links/sphere.urdf.xacro b/clearpath_platform_description/urdf/links/sphere.urdf.xacro index facce0f9..5f57fe3a 100644 --- a/clearpath_platform_description/urdf/links/sphere.urdf.xacro +++ b/clearpath_platform_description/urdf/links/sphere.urdf.xacro @@ -8,6 +8,12 @@ + + + + + + From aecb5607d522f4981b57ad706196047745b12e60 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 19 Nov 2024 08:32:34 -0500 Subject: [PATCH 12/67] Update the Puma messages to use the new clearpath_motor_msgs package (#111) Co-authored-by: Chris Iverach-Brereton --- clearpath_platform/CMakeLists.txt | 4 ++-- .../clearpath_platform/puma/hardware_interface.hpp | 12 ++++++------ clearpath_platform/package.xml | 2 +- clearpath_platform/src/puma/hardware_interface.cpp | 8 ++++---- 4 files changed, 13 insertions(+), 13 deletions(-) diff --git a/clearpath_platform/CMakeLists.txt b/clearpath_platform/CMakeLists.txt index 5eb965d2..73ce76b0 100644 --- a/clearpath_platform/CMakeLists.txt +++ b/clearpath_platform/CMakeLists.txt @@ -18,7 +18,7 @@ find_package(controller_manager_msgs REQUIRED) find_package(clearpath_platform_msgs REQUIRED) find_package(hardware_interface REQUIRED) find_package(pluginlib REQUIRED) -find_package(puma_motor_msgs REQUIRED) +find_package(clearpath_motor_msgs REQUIRED) find_package(rclcpp REQUIRED) find_package(geometry_msgs REQUIRED) @@ -162,7 +162,7 @@ target_include_directories( ament_target_dependencies( puma_hardware - puma_motor_msgs + clearpath_motor_msgs clearpath_platform_msgs hardware_interface pluginlib diff --git a/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp b/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp index e5dbe925..f3151a0a 100644 --- a/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp +++ b/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp @@ -36,8 +36,8 @@ #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/joint_state.hpp" -#include "puma_motor_msgs/msg/feedback.hpp" -#include "puma_motor_msgs/msg/multi_feedback.hpp" +#include "clearpath_motor_msgs/msg/puma_feedback.hpp" +#include "clearpath_motor_msgs/msg/puma_multi_feedback.hpp" namespace clearpath_platform { @@ -51,14 +51,14 @@ class PumaHardwareInterface void drive_command(const sensor_msgs::msg::JointState msg); bool has_new_feedback(); - void feedback_callback(const puma_motor_msgs::msg::MultiFeedback::SharedPtr msg); - puma_motor_msgs::msg::MultiFeedback get_feedback(); + void feedback_callback(const clearpath_motor_msgs::msg::PumaMultiFeedback::SharedPtr msg); + clearpath_motor_msgs::msg::PumaMultiFeedback get_feedback(); private: rclcpp::Publisher::SharedPtr pub_cmd_; - rclcpp::Subscription::SharedPtr sub_feedback_; + rclcpp::Subscription::SharedPtr sub_feedback_; - puma_motor_msgs::msg::MultiFeedback feedback_; + clearpath_motor_msgs::msg::PumaMultiFeedback feedback_; std::atomic_bool has_feedback_; }; diff --git a/clearpath_platform/package.xml b/clearpath_platform/package.xml index caa23efd..02f7cfb8 100644 --- a/clearpath_platform/package.xml +++ b/clearpath_platform/package.xml @@ -21,12 +21,12 @@ controller_interface controller_manager controller_manager_msgs + clearpath_motor_msgs clearpath_platform_msgs hardware_interface geometry_msgs nav_msgs pluginlib - puma_motor_msgs rclcpp sensor_msgs std_msgs diff --git a/clearpath_platform/src/puma/hardware_interface.cpp b/clearpath_platform/src/puma/hardware_interface.cpp index 682d5e09..3071cab6 100644 --- a/clearpath_platform/src/puma/hardware_interface.cpp +++ b/clearpath_platform/src/puma/hardware_interface.cpp @@ -37,7 +37,7 @@ using clearpath_platform::PumaHardwareInterface; PumaHardwareInterface::PumaHardwareInterface(std::string node_name) : Node(node_name) { - sub_feedback_ = create_subscription( + sub_feedback_ = create_subscription( "platform/puma/feedback", rclcpp::SensorDataQoS(), std::bind(&PumaHardwareInterface::feedback_callback, this, std::placeholders::_1)); @@ -52,7 +52,7 @@ PumaHardwareInterface::PumaHardwareInterface(std::string node_name) * * @param msg */ -void PumaHardwareInterface::feedback_callback(const puma_motor_msgs::msg::MultiFeedback::SharedPtr msg) +void PumaHardwareInterface::feedback_callback(const clearpath_motor_msgs::msg::PumaMultiFeedback::SharedPtr msg) { feedback_ = *msg; has_feedback_ = true; @@ -83,9 +83,9 @@ bool PumaHardwareInterface::has_new_feedback() /** * @brief Get feedback * - * @return puma_motor_msgs::msg::MultiFeedback + * @return clearpath_motor_msgs::msg::PumaMultiFeedback */ -puma_motor_msgs::msg::MultiFeedback PumaHardwareInterface::get_feedback() +clearpath_motor_msgs::msg::PumaMultiFeedback PumaHardwareInterface::get_feedback() { has_feedback_ = false; return feedback_; From 66d0058e182173af5888601204c0d1557cd4c3c8 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 19 Nov 2024 08:33:13 -0500 Subject: [PATCH 13/67] VCAN Rework (#112) * VCan service script generator * Use formatted strings to shorten line length and expose variables --- clearpath_generator_common/CMakeLists.txt | 2 + .../vcan/generate_vcan | 46 +++++++++++ .../vcan/generator.py | 79 +++++++++++++++++++ .../test/test_generator_vcan.py | 57 +++++++++++++ 4 files changed, 184 insertions(+) create mode 100755 clearpath_generator_common/clearpath_generator_common/vcan/generate_vcan create mode 100644 clearpath_generator_common/clearpath_generator_common/vcan/generator.py create mode 100644 clearpath_generator_common/test/test_generator_vcan.py diff --git a/clearpath_generator_common/CMakeLists.txt b/clearpath_generator_common/CMakeLists.txt index d42b6492..025e88d3 100644 --- a/clearpath_generator_common/CMakeLists.txt +++ b/clearpath_generator_common/CMakeLists.txt @@ -16,6 +16,7 @@ install(PROGRAMS ${PROJECT_NAME}/discovery_server/generate_discovery_server ${PROJECT_NAME}/bash/generate_bash ${PROJECT_NAME}/semantic_description/generate_semantic_description + ${PROJECT_NAME}/vcan/generate_vcan DESTINATION lib/${PROJECT_NAME} ) @@ -50,6 +51,7 @@ if(BUILD_TESTING) test/test_generator_bash.py test/test_generator_description.py test/test_generator_discovery_server.py + test/test_generator_vcan.py ) foreach(_test_path ${_pytest_tests}) get_filename_component(_test_name ${_test_path} NAME_WE) diff --git a/clearpath_generator_common/clearpath_generator_common/vcan/generate_vcan b/clearpath_generator_common/clearpath_generator_common/vcan/generate_vcan new file mode 100755 index 00000000..e12be70d --- /dev/null +++ b/clearpath_generator_common/clearpath_generator_common/vcan/generate_vcan @@ -0,0 +1,46 @@ +#!/usr/bin/env python3 + +# Software License Agreement (BSD) +# +# @author Luis Camero +# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# Redistribution and use in source and binary forms, with or without +# modification, is not permitted without the express permission +# of Clearpath Robotics. + +from clearpath_generator_common.common import BaseGenerator +from clearpath_generator_common.vcan.generator import VirtualCANGenerator + + +def main(): + setup_path = BaseGenerator.get_args() + dsg = VirtualCANGenerator(setup_path) + dsg.generate() + + +if __name__ == '__main__': + main() diff --git a/clearpath_generator_common/clearpath_generator_common/vcan/generator.py b/clearpath_generator_common/clearpath_generator_common/vcan/generator.py new file mode 100644 index 00000000..963b75ce --- /dev/null +++ b/clearpath_generator_common/clearpath_generator_common/vcan/generator.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python3 + +# Software License Agreement (BSD) +# +# @author Luis Camero +# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# Redistribution and use in source and binary forms, with or without +# modification, is not permitted without the express permission +# of Clearpath Robotics. +from clearpath_config.common.types.platform import Platform +from clearpath_generator_common.bash.writer import BashWriter +from clearpath_generator_common.common import BaseGenerator, BashFile + +PLATFORMS = [ + Platform.DD100, + Platform.DD150, + Platform.DO100, + Platform.DO150, + Platform.R100, +] + + +class VirtualCANGenerator(BaseGenerator): + + ROS_DISTRO_PATH = '/opt/ros/humble/' + + def generate(self) -> None: + # Generate vcan start up script + self.generate_vcan_start() + + def generate_vcan_start(self) -> None: + # Generate vcan start up script + vcan_start = BashFile(filename='vcan-start', path=self.setup_path) + bash_writer = BashWriter(vcan_start) + + # Check platform + if self.clearpath_config.get_platform_model() in PLATFORMS: + port = 11412 + serial = '/dev/ttycan0' + can = 'vcan0' + baud = 's8' + bash_writer.write( + f'/bin/sh -e /usr/sbin/clearpath-vcan-bridge ' + f'-p {port} ' + f'-d {serial} ' + f'-v {can} ' + f'-b {baud}' + ) + else: + bash_writer.add_echo( + 'No vcan bridge required.' + + 'If this was launched as a service then the service will now end.' + ) + + bash_writer.close() diff --git a/clearpath_generator_common/test/test_generator_vcan.py b/clearpath_generator_common/test/test_generator_vcan.py new file mode 100644 index 00000000..e33643ea --- /dev/null +++ b/clearpath_generator_common/test/test_generator_vcan.py @@ -0,0 +1,57 @@ +# Software License Agreement (BSD) +# +# @author Luis Camero +# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +import os +import shutil + +from ament_index_python.packages import get_package_share_directory +from clearpath_generator_common.vcan.generator import VirtualCANGenerator + + +class TestRobotLaunchGenerator: + + def test_samples(self): + errors = [] + share_dir = get_package_share_directory('clearpath_config') + sample_dir = os.path.join(share_dir, 'sample') + for sample in os.listdir(sample_dir): + # Create Clearpath Directory + src = os.path.join(sample_dir, sample) + dst = os.path.join(os.environ['HOME'], '.clearpath', 'robot.yaml') + shutil.rmtree(os.path.dirname(dst), ignore_errors=True) + os.makedirs(os.path.dirname(dst), exist_ok=True) + shutil.copy(src, dst) + # Generate + try: + rlg = VirtualCANGenerator(os.path.dirname(dst)) + rlg.generate() + except Exception as e: + errors.append("Sample '%s' failed to load: '%s'" % ( + sample, + e.args[0], + )) + assert not errors, 'Errors: %s' % '\n'.join(errors) From 086f896d84202e4f195b94c190d1af7fd39415b2 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 19 Nov 2024 08:34:24 -0500 Subject: [PATCH 14/67] Add UR arm (#110) --- .../description/manipulators.py | 16 +- .../config/arm/universal_robots/control.yaml | 30 +++ .../universal_robots/initial_positions.yaml | 9 + .../arm/universal_robots/joint_limits.yaml | 25 +++ .../universal_robots/moveit_controllers.yaml | 19 ++ .../package.xml | 1 + .../srdf/arm/universal_robots.srdf.xacro | 37 ++++ .../urdf/arm/universal_robots.urdf.xacro | 181 ++++++++++++++++++ 8 files changed, 316 insertions(+), 2 deletions(-) create mode 100644 clearpath_manipulators_description/config/arm/universal_robots/control.yaml create mode 100644 clearpath_manipulators_description/config/arm/universal_robots/initial_positions.yaml create mode 100644 clearpath_manipulators_description/config/arm/universal_robots/joint_limits.yaml create mode 100644 clearpath_manipulators_description/config/arm/universal_robots/moveit_controllers.yaml create mode 100644 clearpath_manipulators_description/srdf/arm/universal_robots.srdf.xacro create mode 100644 clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro diff --git a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py index dc0ff2d0..f06dece2 100644 --- a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py @@ -36,6 +36,7 @@ KinovaGen3Dof6, KinovaGen3Dof7, KinovaGen3Lite, + UniversalRobots ) from clearpath_config.manipulators.types.grippers import ( Kinova2FLite, @@ -82,8 +83,8 @@ def rpy(self) -> List[float]: return self.manipulator.rpy class ArmDescription(BaseDescription): - IP = 'ip' - PORT = 'port' + IP = BaseArm.IP_ADDRESS + PORT = BaseArm.IP_PORT def __init__(self, arm: BaseArm) -> None: super().__init__(arm) @@ -108,10 +109,21 @@ def __init__(self, arm: BaseArm) -> None: self.parameters[self.GRIPPER_JOINT] = ( arm.gripper.name + self.GRIPPER_NAMES[arm.gripper.get_manipulator_model()]) + class UniversalRobotsDescription(ArmDescription): + UR_TYPE = 'ur_type' + IP = UniversalRobots.IP_ADDRESS + PORT = UniversalRobots.IP_PORT + + def __init__(self, arm: BaseArm) -> None: + super().__init__(arm) + self.parameters.pop(self.PORT) + self.parameters.update(arm.get_urdf_parameters()) + MODEL = { KinovaGen3Dof6.MANIPULATOR_MODEL: KinovaArmDescription, KinovaGen3Dof7.MANIPULATOR_MODEL: KinovaArmDescription, KinovaGen3Lite.MANIPULATOR_MODEL: KinovaArmDescription, + UniversalRobots.MANIPULATOR_MODEL: UniversalRobotsDescription, } def __new__(cls, manipulator: BaseManipulator) -> BaseManipulator: diff --git a/clearpath_manipulators_description/config/arm/universal_robots/control.yaml b/clearpath_manipulators_description/config/arm/universal_robots/control.yaml new file mode 100644 index 00000000..b3f3541d --- /dev/null +++ b/clearpath_manipulators_description/config/arm/universal_robots/control.yaml @@ -0,0 +1,30 @@ +controller_manager: + ros__parameters: + update_rate: 1000 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + ${name}_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + +${name}_joint_trajectory_controller: + ros__parameters: + joints: + - ${name}_shoulder_pan_joint + - ${name}_shoulder_lift_joint + - ${name}_elbow_joint + - ${name}_wrist_1_joint + - ${name}_wrist_2_joint + - ${name}_wrist_3_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 100.0 + action_monitor_rate: 20.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.0 + goal_time: 0.0 diff --git a/clearpath_manipulators_description/config/arm/universal_robots/initial_positions.yaml b/clearpath_manipulators_description/config/arm/universal_robots/initial_positions.yaml new file mode 100644 index 00000000..fae1c9be --- /dev/null +++ b/clearpath_manipulators_description/config/arm/universal_robots/initial_positions.yaml @@ -0,0 +1,9 @@ +# Default initial positions for robot's ros2_control fake system + +initial_positions: + ${name}_shoulder_pan_joint: 0.0 + ${name}_shoulder_lift_joint: -1.57 + ${name}_elbow_joint: 0.0 + ${name}_wrist_1_joint: -1.57 + ${name}_wrist_2_joint: 0.0 + ${name}_wrist_3_joint: 0.0 diff --git a/clearpath_manipulators_description/config/arm/universal_robots/joint_limits.yaml b/clearpath_manipulators_description/config/arm/universal_robots/joint_limits.yaml new file mode 100644 index 00000000..3d67acc5 --- /dev/null +++ b/clearpath_manipulators_description/config/arm/universal_robots/joint_limits.yaml @@ -0,0 +1,25 @@ +# These limits are used by MoveIt and augment/override the definitions in ur_description. +# +# While the robot does not inherently have any limits on joint accelerations (only on torques), +# MoveIt needs them for time parametrization. They were chosen conservatively to work in most use +# cases. For specific applications, higher values might lead to better execution performance. + +joint_limits: + ${name}_shoulder_pan_joint: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_shoulder_lift_joint: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_elbow_joint: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_wrist_1_joint: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_wrist_2_joint: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_wrist_3_joint: + has_acceleration_limits: true + max_acceleration: 5.0 diff --git a/clearpath_manipulators_description/config/arm/universal_robots/moveit_controllers.yaml b/clearpath_manipulators_description/config/arm/universal_robots/moveit_controllers.yaml new file mode 100644 index 00000000..d425aaf5 --- /dev/null +++ b/clearpath_manipulators_description/config/arm/universal_robots/moveit_controllers.yaml @@ -0,0 +1,19 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - ${controller_name}_joint_trajectory_controller + + ${controller_name}_joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - ${name}_shoulder_pan_joint + - ${name}_shoulder_lift_joint + - ${name}_elbow_joint + - ${name}_wrist_1_joint + - ${name}_wrist_2_joint + - ${name}_wrist_3_joint diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 06b85eef..991a4782 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -20,6 +20,7 @@ xacro kortex_description robotiq_description + ur_description ament_cmake diff --git a/clearpath_manipulators_description/srdf/arm/universal_robots.srdf.xacro b/clearpath_manipulators_description/srdf/arm/universal_robots.srdf.xacro new file mode 100644 index 00000000..65202af1 --- /dev/null +++ b/clearpath_manipulators_description/srdf/arm/universal_robots.srdf.xacro @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro b/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro new file mode 100644 index 00000000..f67f1e2e --- /dev/null +++ b/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro @@ -0,0 +1,181 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 14b31541236b2c3f60aad3bc4a04412de4209860 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 19 Nov 2024 08:34:50 -0500 Subject: [PATCH 15/67] Fix controller names and kinematics (#109) --- clearpath_control/launch/control.launch.py | 2 +- clearpath_manipulators/config/kinematics/arm.yaml | 5 +++-- clearpath_manipulators/config/kinematics/gripper.yaml | 5 +++-- clearpath_manipulators/config/kinematics/lift.yaml | 5 +++-- 4 files changed, 10 insertions(+), 7 deletions(-) diff --git a/clearpath_control/launch/control.launch.py b/clearpath_control/launch/control.launch.py index 8b6e1482..123d7f96 100644 --- a/clearpath_control/launch/control.launch.py +++ b/clearpath_control/launch/control.launch.py @@ -100,7 +100,7 @@ def launch_setup(context, *args, **kwargs): 'platform' in controller): continue controllers.append(Node( - name='test', + name=controller, package='controller_manager', executable='spawner', arguments=['--controller-manager-timeout', '60', controller], diff --git a/clearpath_manipulators/config/kinematics/arm.yaml b/clearpath_manipulators/config/kinematics/arm.yaml index 8bb23815..424029ef 100644 --- a/clearpath_manipulators/config/kinematics/arm.yaml +++ b/clearpath_manipulators/config/kinematics/arm.yaml @@ -1,4 +1,5 @@ ${name}: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 diff --git a/clearpath_manipulators/config/kinematics/gripper.yaml b/clearpath_manipulators/config/kinematics/gripper.yaml index 8bb23815..424029ef 100644 --- a/clearpath_manipulators/config/kinematics/gripper.yaml +++ b/clearpath_manipulators/config/kinematics/gripper.yaml @@ -1,4 +1,5 @@ ${name}: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 diff --git a/clearpath_manipulators/config/kinematics/lift.yaml b/clearpath_manipulators/config/kinematics/lift.yaml index 8bb23815..424029ef 100644 --- a/clearpath_manipulators/config/kinematics/lift.yaml +++ b/clearpath_manipulators/config/kinematics/lift.yaml @@ -1,4 +1,5 @@ ${name}: kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.0050000000000000001 - kinematics_solver_timeout: 0.0050000000000000001 + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 From 75347f93b77db5eeaa644e2c9413037033e708ed Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com> Date: Wed, 20 Nov 2024 13:40:51 -0500 Subject: [PATCH 16/67] Add support for Axis cameras (#113) * Add axis camera URDFs & meshes * Fix the path for the meshes * Add the AxisCameraDescription class * Remove the axis_camera files, add a dependency on axis_description. Add a new meta-macro that uses the camera type * Use the device_type to set the model for the new description macro * Add the update_rate to the URDF * Add default topic for the URDF * Remove the update_rate parameter; it's not supported by axis_camera * Add the update_rate parameter back to the meta macro, but don't pass it * Add the axis camera URDFs & STLs from axis_description, use the local copies instead of having an external dependency * Add RGBA values for the "black" material, rename it to avoid conflicting with any other material definitions --- .../description/sensors.py | 12 ++ .../meshes/axis_dome.stl | Bin 0 -> 70984 bytes .../meshes/axis_q62_base.stl | Bin 0 -> 44284 bytes .../meshes/axis_q62_top.stl | Bin 0 -> 371284 bytes .../urdf/axis/axis_dome_fixed.urdf.xacro | 84 +++++++++ .../urdf/axis/axis_dome_ptz.urdf.xacro | 146 +++++++++++++++ .../urdf/axis/axis_q62.urdf.xacro | 168 ++++++++++++++++++ .../urdf/axis_camera.urdf.xacro | 42 +++++ 8 files changed, 452 insertions(+) create mode 100644 clearpath_sensors_description/meshes/axis_dome.stl create mode 100644 clearpath_sensors_description/meshes/axis_q62_base.stl create mode 100644 clearpath_sensors_description/meshes/axis_q62_top.stl create mode 100644 clearpath_sensors_description/urdf/axis/axis_dome_fixed.urdf.xacro create mode 100644 clearpath_sensors_description/urdf/axis/axis_dome_ptz.urdf.xacro create mode 100644 clearpath_sensors_description/urdf/axis/axis_q62.urdf.xacro create mode 100644 clearpath_sensors_description/urdf/axis_camera.urdf.xacro diff --git a/clearpath_generator_common/clearpath_generator_common/description/sensors.py b/clearpath_generator_common/clearpath_generator_common/description/sensors.py index 4ec9b831..8fe4dd09 100644 --- a/clearpath_generator_common/clearpath_generator_common/description/sensors.py +++ b/clearpath_generator_common/clearpath_generator_common/description/sensors.py @@ -32,6 +32,7 @@ from typing import List from clearpath_config.sensors.types.cameras import ( + AxisCamera, BaseCamera, FlirBlackfly, IntelRealsense, @@ -149,6 +150,16 @@ def __init__(self, sensor: BaseCamera) -> None: self.UPDATE_RATE: sensor.fps }) + class AxisCameraDescription(CameraDescription): + MODEL = 'model' + + def __init__(self, sensor: AxisCamera) -> None: + super().__init__(sensor) + + self.parameters.update({ + self.MODEL: sensor.device_type + }) + class IntelRealsenseDescription(CameraDescription): IMAGE_WIDTH = 'image_width' IMAGE_HEIGHT = 'image_height' @@ -176,6 +187,7 @@ def __init__(self, sensor: StereolabsZed) -> None: SickLMS1XX.SENSOR_MODEL: Lidar2dDescription, IntelRealsense.SENSOR_MODEL: IntelRealsenseDescription, FlirBlackfly.SENSOR_MODEL: CameraDescription, + AxisCamera.SENSOR_MODEL: AxisCameraDescription, Microstrain.SENSOR_MODEL: ImuDescription, VelodyneLidar.SENSOR_MODEL: Lidar3dDescription, CHRoboticsUM6.SENSOR_MODEL: ImuDescription, diff --git a/clearpath_sensors_description/meshes/axis_dome.stl 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zr@2O;3o|dO)h=H|SCd}SyUp#i3=0xCVpacn$WodY_c!I~&|V|Zg&8C@OV4*c*=}DX z@2Xw3Oc4?|@>c6P>n@?3?at8{f1N-VX2Mi|cjjDjGJYqg+3Ng3$etmA83eUA)%yh$ z*mM&;>aP>%!i=8Uhh@?{>d|m94R;)CfGWfC__^_R$RK{^v`-_@l{GuwJi|}z%h{?J zovYo3Pk$|-Rd{g}|M^!psS>bCayKwX+uq%(8m(Wp z4gVn|(Dl;UT`ncAl3z!fqwQ}l`wV+bPfkDnf>1#M?})|nMs4KO*>eDwoq1Lx(DibL zyQE%TCDUJ+U+OK__ZmTIgW0+GZbAhK{a!hht!)gtJd6)CT%!@_%35#m + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + 15 + + 6.28 + 1.57 + + 640 + 480 + R8G8B8 + + + 0.05 + 500.0 + + + + true + ${prefix}_camera + ${topic} + camera_info + ${prefix}_camera_link + + + + + \ No newline at end of file diff --git a/clearpath_sensors_description/urdf/axis/axis_dome_ptz.urdf.xacro b/clearpath_sensors_description/urdf/axis/axis_dome_ptz.urdf.xacro new file mode 100644 index 00000000..e045dcd8 --- /dev/null +++ b/clearpath_sensors_description/urdf/axis/axis_dome_ptz.urdf.xacro @@ -0,0 +1,146 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/LightGrey + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + 1 + + + + Gazebo/Black + + 15 + + 1.5184351666666667 + 1.0122901111111111 + + 640 + 480 + R8G8B8 + + + 0.05 + 500.0 + + + + true + ${prefix}_camera + ${topic} + camera_info + ${prefix}_camera_link + + + + + \ No newline at end of file diff --git a/clearpath_sensors_description/urdf/axis/axis_q62.urdf.xacro b/clearpath_sensors_description/urdf/axis/axis_q62.urdf.xacro new file mode 100644 index 00000000..454d652e --- /dev/null +++ b/clearpath_sensors_description/urdf/axis/axis_q62.urdf.xacro @@ -0,0 +1,168 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Grey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Grey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + 1 + + + + Gazebo/Black + + 15 + + 1.5184351666666667 + 1.0122901111111111 + + 640 + 480 + R8G8B8 + + + 0.05 + 500.0 + + + + true + ${prefix}_camera + ${topic} + camera_info + ${prefix}_camera_link + + + + + \ No newline at end of file diff --git a/clearpath_sensors_description/urdf/axis_camera.urdf.xacro b/clearpath_sensors_description/urdf/axis_camera.urdf.xacro new file mode 100644 index 00000000..2b7186f0 --- /dev/null +++ b/clearpath_sensors_description/urdf/axis_camera.urdf.xacro @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 25806c4f96422f0db0ffa8877a6f3df9fadb6be1 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Thu, 21 Nov 2024 11:40:15 -0500 Subject: [PATCH 17/67] Removed clearpath_platform --- clearpath_platform/CHANGELOG.rst | 204 --- clearpath_platform/CMakeLists.txt | 214 --- clearpath_platform/config/imu_filter.yaml | 17 - .../clearpath_platform/a200/hardware.hpp | 91 -- .../a200/horizon_legacy/Exception.h | 68 - .../a200/horizon_legacy/Logger.h | 111 -- .../a200/horizon_legacy/Message.h | 320 ----- .../a200/horizon_legacy/Message_cmd.h | 297 ---- .../a200/horizon_legacy/Message_data.h | 1089 --------------- .../a200/horizon_legacy/Message_request.h | 65 - .../a200/horizon_legacy/Number.h | 84 -- .../a200/horizon_legacy/Transport.h | 179 --- .../a200/horizon_legacy/clearpath.h | 55 - .../a200/horizon_legacy/crc.h | 60 - .../horizon_legacy/horizon_legacy_wrapper.h | 124 -- .../a200/horizon_legacy/serial.h | 61 - .../clearpath_platform/a200/status.hpp | 66 - .../diff_drive/hardware.hpp | 103 -- .../diff_drive/hardware_interface.hpp | 69 - .../clearpath_platform/j100/hardware.hpp | 54 - .../j100/hardware_interface.hpp | 53 - .../clearpath_platform/lighting/color.hpp | 96 -- .../clearpath_platform/lighting/lighting.hpp | 144 -- .../clearpath_platform/lighting/platform.hpp | 76 -- .../clearpath_platform/lighting/sequence.hpp | 102 -- .../clearpath_platform/puma/hardware.hpp | 104 -- .../puma/hardware_interface.hpp | 67 - .../clearpath_platform/w200/hardware.hpp | 103 -- .../w200/hardware_interface.hpp | 69 - clearpath_platform/launch/platform.launch.py | 155 --- clearpath_platform/package.xml | 44 - clearpath_platform/src/a200/hardware.cpp | 473 ------- clearpath_platform/src/a200/hardware.xml | 10 - .../src/a200/horizon_legacy/Logger.cpp | 153 --- .../src/a200/horizon_legacy/Message.cpp | 501 ------- .../src/a200/horizon_legacy/Message_cmd.cpp | 376 ------ .../src/a200/horizon_legacy/Message_data.cpp | 1194 ----------------- .../a200/horizon_legacy/Message_request.cpp | 65 - .../src/a200/horizon_legacy/Number.cpp | 167 --- .../src/a200/horizon_legacy/Transport.cpp | 695 ---------- .../src/a200/horizon_legacy/crc.cpp | 88 -- .../horizon_legacy/horizon_legacy_wrapper.cpp | 98 -- .../src/a200/horizon_legacy/linux_serial.cpp | 174 --- clearpath_platform/src/a200/status.cpp | 125 -- .../src/diff_drive/hardware.cpp | 320 ----- .../src/diff_drive/hardware_interface.cpp | 98 -- clearpath_platform/src/j100/hardware.cpp | 58 - clearpath_platform/src/j100/hardware.xml | 10 - .../src/j100/hardware_interface.cpp | 45 - clearpath_platform/src/lighting/color.cpp | 143 -- clearpath_platform/src/lighting/lighting.cpp | 432 ------ clearpath_platform/src/lighting/main.cpp | 56 - clearpath_platform/src/lighting/sequence.cpp | 301 ----- clearpath_platform/src/puma/hardware.cpp | 318 ----- clearpath_platform/src/puma/hardware.xml | 10 - .../src/puma/hardware_interface.cpp | 92 -- clearpath_platform/src/w200/hardware.cpp | 313 ----- clearpath_platform/src/w200/hardware.xml | 10 - .../src/w200/hardware_interface.cpp | 134 -- 59 files changed, 10803 deletions(-) delete mode 100644 clearpath_platform/CHANGELOG.rst delete mode 100644 clearpath_platform/CMakeLists.txt delete mode 100644 clearpath_platform/config/imu_filter.yaml delete mode 100644 clearpath_platform/include/clearpath_platform/a200/hardware.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Exception.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Logger.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_cmd.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_data.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_request.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Number.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Transport.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/clearpath.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/crc.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/horizon_legacy_wrapper.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/horizon_legacy/serial.h delete mode 100644 clearpath_platform/include/clearpath_platform/a200/status.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/diff_drive/hardware.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/diff_drive/hardware_interface.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/j100/hardware.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/j100/hardware_interface.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/lighting/color.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/lighting/lighting.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/lighting/platform.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/lighting/sequence.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/puma/hardware.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/w200/hardware.hpp delete mode 100644 clearpath_platform/include/clearpath_platform/w200/hardware_interface.hpp delete mode 100644 clearpath_platform/launch/platform.launch.py delete mode 100644 clearpath_platform/package.xml delete mode 100644 clearpath_platform/src/a200/hardware.cpp delete mode 100644 clearpath_platform/src/a200/hardware.xml delete mode 100644 clearpath_platform/src/a200/horizon_legacy/Logger.cpp delete mode 100644 clearpath_platform/src/a200/horizon_legacy/Message.cpp delete mode 100644 clearpath_platform/src/a200/horizon_legacy/Message_cmd.cpp delete mode 100644 clearpath_platform/src/a200/horizon_legacy/Message_data.cpp delete mode 100644 clearpath_platform/src/a200/horizon_legacy/Message_request.cpp delete mode 100644 clearpath_platform/src/a200/horizon_legacy/Number.cpp delete mode 100644 clearpath_platform/src/a200/horizon_legacy/Transport.cpp delete mode 100644 clearpath_platform/src/a200/horizon_legacy/crc.cpp delete mode 100644 clearpath_platform/src/a200/horizon_legacy/horizon_legacy_wrapper.cpp delete mode 100644 clearpath_platform/src/a200/horizon_legacy/linux_serial.cpp delete mode 100644 clearpath_platform/src/a200/status.cpp delete mode 100644 clearpath_platform/src/diff_drive/hardware.cpp delete mode 100644 clearpath_platform/src/diff_drive/hardware_interface.cpp delete mode 100644 clearpath_platform/src/j100/hardware.cpp delete mode 100644 clearpath_platform/src/j100/hardware.xml delete mode 100644 clearpath_platform/src/j100/hardware_interface.cpp delete mode 100644 clearpath_platform/src/lighting/color.cpp delete mode 100644 clearpath_platform/src/lighting/lighting.cpp delete mode 100644 clearpath_platform/src/lighting/main.cpp delete mode 100644 clearpath_platform/src/lighting/sequence.cpp delete mode 100644 clearpath_platform/src/puma/hardware.cpp delete mode 100644 clearpath_platform/src/puma/hardware.xml delete mode 100644 clearpath_platform/src/puma/hardware_interface.cpp delete mode 100644 clearpath_platform/src/w200/hardware.cpp delete mode 100644 clearpath_platform/src/w200/hardware.xml delete mode 100644 clearpath_platform/src/w200/hardware_interface.cpp diff --git a/clearpath_platform/CHANGELOG.rst b/clearpath_platform/CHANGELOG.rst deleted file mode 100644 index 66ecc43f..00000000 --- a/clearpath_platform/CHANGELOG.rst +++ /dev/null @@ -1,204 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package clearpath_platform -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.3.4 (2024-10-08) ------------------- - -0.3.3 (2024-10-04) ------------------- - -0.3.2 (2024-09-29) ------------------- - -0.3.1 (2024-09-23) ------------------- - -0.3.0 (2024-09-19) ------------------- -* Changes. -* 0.3.0 Release Candidate with Main Changes (`#81 `_) - * Added tests - * Added action to build from release and source - * Generator linting erros - * Customization linting errors - * Linting - * Fix: Remove IP address from discovery server launch so it listens on all NICs - * Changes. - * 0.2.8 - * Add sysctl config file that changes ipfrag settings to support receiving large messages - * Added Zed URDF - * Added Zed to description generator - * Modified common parameter generation to always flatten - * Changes. - * 0.2.9 - * Missing important remapping to mirror hardware topics - * Added topic to gazebo plugins - * Updated topic names to match gazebo message types - * Topics of simulated onboard sensors - * Realsense adds optical links when in simulator - * Changes. - * 0.2.10 - * Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF - * Fixes styling issues - * Set spawner as super client - * Changes. - * 0.2.11 - * Removed duplicate class - * Use ROS1 covariance values - * Updated renamed macanum drive controller - * Enable gazebo friction plugin on DingoO - --------- - Co-authored-by: Hilary Luo - Co-authored-by: Tony Baltovski - Co-authored-by: Steve Macenski - Co-authored-by: robbiefish -* Add headers to Puma hardware -* Updated puma topics -* PumaHardwareInterface -* 0.2.8 -* Changes. -* 0.2.7 -* Changes. -* 0.2.6 -* Changes. -* 0.2.5 -* Changes. -* 0.2.4 -* Changes. -* Fixed lighting lib install -* 0.2.3 -* Changes. -* 0.2.2 -* Changes.xx -* Fixed status topic names -* 0.2.1 -* Changes. -* Added needs reset lighting pattern -* Contributors: Luis Camero, Roni Kreinin, Tony Baltovski, luis-camero - -* Added tests -* Added action to build from release and source -* Generator linting erros -* Customization linting errors -* Linting -* Fix: Remove IP address from discovery server launch so it listens on all NICs -* Add sysctl config file that changes ipfrag settings to support receiving large messages -* Added Zed URDF -* Added Zed to description generator -* Modified common parameter generation to always flatten -* Missing important remapping to mirror hardware topics -* Added topic to gazebo plugins -* Updated topic names to match gazebo message types -* Topics of simulated onboard sensors -* Realsense adds optical links when in simulator -* Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF -* Fixes styling issues -* Set spawner as super client -* Removed duplicate class -* Use ROS1 covariance values -* Updated renamed macanum drive controller -* Enable gazebo friction plugin on DingoO -* Contributors: Luis Camero, Roni Kreinin, Tony Baltovski, luis-camero - -0.2.11 (2024-08-08) -------------------- - -0.2.10 (2024-07-25) -------------------- - -0.2.9 (2024-05-28) ------------------- - -0.2.8 (2024-05-14) ------------------- - -0.2.7 (2024-04-08) ------------------- - -0.2.6 (2024-01-18) ------------------- - -0.2.5 (2024-01-15) ------------------- - -0.2.4 (2024-01-11) ------------------- -* Fixed lighting lib install -* Contributors: Roni Kreinin - -0.2.3 (2024-01-08) ------------------- - -0.2.2 (2024-01-04) ------------------- -* Fixed status topic names -* Contributors: Roni Kreinin - -0.2.1 (2023-12-21) ------------------- - -0.2.0 (2023-12-08) ------------------- -* Pass robot description to controller manager over topic -* [clearpath_platform] Re-added position state to hardware interface. -* Added W200 Hardware interface. -* Use path substitution -* Updated lighting patterns - Added charged state -* Comments -* Cleanup -* Fill lights by platform -* Lighting states -* Working HSV -* Initial lighting node -* Whitespace -* Base diff drive hardware and hardware interface class - J100 and W200 inherit from diff drive - Moved each platform into its own folder -* Contributors: Luis Camero, Roni Kreinin, Tony Baltovski - -0.1.3 (2023-11-03) ------------------- - -0.1.2 (2023-10-02) ------------------- - -0.1.1 (2023-08-25) ------------------- - -0.1.0 (2023-08-17) ------------------- - -0.0.9 (2023-07-31) ------------------- - -0.0.8 (2023-07-24) ------------------- - -0.0.7 (2023-07-19) ------------------- - -0.0.6 (2023-07-13) ------------------- - -0.0.5 (2023-07-12) ------------------- - -0.0.4 (2023-07-07) ------------------- - -0.0.3 (2023-07-05) ------------------- - -0.0.2 (2023-07-04) ------------------- - -0.0.1 (2023-06-21) ------------------- -* Added namespacing support -* Updated dependencies -* Added clearpath_generator_common - Moved clearpath_platform to clearpath_common - Fixed use_sim_time parameter issue with ekf_node -* Contributors: Roni Kreinin diff --git a/clearpath_platform/CMakeLists.txt b/clearpath_platform/CMakeLists.txt deleted file mode 100644 index 73ce76b0..00000000 --- a/clearpath_platform/CMakeLists.txt +++ /dev/null @@ -1,214 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(clearpath_platform) - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) - -find_package(controller_interface REQUIRED) -find_package(controller_manager REQUIRED) -find_package(controller_manager_msgs REQUIRED) -find_package(clearpath_platform_msgs REQUIRED) -find_package(hardware_interface REQUIRED) -find_package(pluginlib REQUIRED) -find_package(clearpath_motor_msgs REQUIRED) -find_package(rclcpp REQUIRED) - -find_package(geometry_msgs REQUIRED) -find_package(nav_msgs REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(std_srvs REQUIRED) -find_package(tf2 REQUIRED) -find_package(tf2_ros REQUIRED) - - -## COMPILE - -# Lighting -set(LIGHTING_EXECUTABLE lighting_node) -set(LIGHTING_LIB clearpath_platform_lighting) -set(LIGHTING_DEPENDENCIES - clearpath_platform_msgs - sensor_msgs - rclcpp -) - -add_library( - ${LIGHTING_LIB} - SHARED - src/lighting/lighting.cpp - src/lighting/sequence.cpp - src/lighting/color.cpp -) - -ament_target_dependencies(${LIGHTING_LIB} ${LIGHTING_DEPENDENCIES}) - -target_include_directories( - ${LIGHTING_LIB} - PRIVATE - include -) - -add_executable(${LIGHTING_EXECUTABLE} src/lighting/main.cpp) -target_link_libraries(${LIGHTING_EXECUTABLE} ${LIGHTING_LIB}) -ament_target_dependencies(${LIGHTING_EXECUTABLE} ${LIGHTING_DEPENDENCIES}) - -target_include_directories( - ${LIGHTING_EXECUTABLE} - PRIVATE - include -) - -# A200 Hardware -add_library( - a200_hardware - SHARED - src/a200/hardware.cpp - src/a200/status.cpp - src/a200/horizon_legacy/horizon_legacy_wrapper.cpp - src/a200/horizon_legacy/crc.cpp - src/a200/horizon_legacy/Logger.cpp - src/a200/horizon_legacy/Message.cpp - src/a200/horizon_legacy/Message_data.cpp - src/a200/horizon_legacy/Message_request.cpp - src/a200/horizon_legacy/Message_cmd.cpp - src/a200/horizon_legacy/Transport.cpp - src/a200/horizon_legacy/Number.cpp - src/a200/horizon_legacy/linux_serial.cpp -) - -target_include_directories( - a200_hardware - PRIVATE - include -) - -ament_target_dependencies( - a200_hardware - clearpath_platform_msgs - hardware_interface - pluginlib - rclcpp -) - - -# J100 Hardware -add_library( - j100_hardware - SHARED - src/j100/hardware.cpp - src/j100/hardware_interface.cpp - src/diff_drive/hardware.cpp - src/diff_drive/hardware_interface.cpp -) - -target_include_directories( - j100_hardware - PRIVATE - include -) - -ament_target_dependencies( - j100_hardware - clearpath_platform_msgs - hardware_interface - pluginlib - rclcpp -) - -# W200 Hardware -add_library( - w200_hardware - SHARED - src/w200/hardware.cpp - src/w200/hardware_interface.cpp -) - -target_include_directories( - w200_hardware - PRIVATE - include -) - -ament_target_dependencies( - w200_hardware - clearpath_platform_msgs - hardware_interface - pluginlib - rclcpp -) - -# Puma Hardware -add_library( - puma_hardware - SHARED - src/puma/hardware.cpp - src/puma/hardware_interface.cpp -) - -target_include_directories( - puma_hardware - PRIVATE - include -) - -ament_target_dependencies( - puma_hardware - clearpath_motor_msgs - clearpath_platform_msgs - hardware_interface - pluginlib - rclcpp -) - -pluginlib_export_plugin_description_file(hardware_interface src/a200/hardware.xml) -pluginlib_export_plugin_description_file(hardware_interface src/j100/hardware.xml) -pluginlib_export_plugin_description_file(hardware_interface src/w200/hardware.xml) -pluginlib_export_plugin_description_file(hardware_interface src/puma/hardware.xml) - -# INSTALL -install( - TARGETS a200_hardware - j100_hardware - w200_hardware - puma_hardware - ${LIGHTING_EXECUTABLE} - ${LIGHTING_LIB} - LIBRARY DESTINATION lib - RUNTIME DESTINATION lib/${PROJECT_NAME} -) -install( - DIRECTORY include/ - DESTINATION include -) - -install(DIRECTORY config launch - DESTINATION share/${PROJECT_NAME} -) - -## EXPORTS -ament_export_include_directories( - include -) -ament_export_libraries( - a200_hardware - j100_hardware - w200_hardware - puma_hardware - ${LIGHTING_LIB} -) -ament_export_dependencies( - hardware_interface - pluginlib - rclcpp -) - -ament_package() diff --git a/clearpath_platform/config/imu_filter.yaml b/clearpath_platform/config/imu_filter.yaml deleted file mode 100644 index c2aed313..00000000 --- a/clearpath_platform/config/imu_filter.yaml +++ /dev/null @@ -1,17 +0,0 @@ -imu_filter_node: - ros__parameters: - use_sim_time: False - stateless: false - use_mag: false - publish_tf: false - reverse_tf: false - fixed_frame: "odom" - constant_dt: 0.0 - publish_debug_topics: false - world_frame: "enu" - gain: 0.1 - zeta: 0.0 - mag_bias_x: 0.0 - mag_bias_y: 0.0 - mag_bias_z: 0.0 - orientation_stddev: 0.0 diff --git a/clearpath_platform/include/clearpath_platform/a200/hardware.hpp b/clearpath_platform/include/clearpath_platform/a200/hardware.hpp deleted file mode 100644 index 8be63f3d..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/hardware.hpp +++ /dev/null @@ -1,91 +0,0 @@ -#ifndef CLEARPATH_PLATFORM__A200_HARDWARE_HPP_ -#define CLEARPATH_PLATFORM__A200_HARDWARE_HPP_ - -#include -#include -#include -#include - -#include "hardware_interface/handle.hpp" -#include "hardware_interface/hardware_info.hpp" -#include "hardware_interface/system_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "hardware_interface/visibility_control.h" -#include "rclcpp/macros.hpp" - -#include "rclcpp/rclcpp.hpp" - -#include "std_msgs/msg/bool.hpp" -#include "std_msgs/msg/float32.hpp" - -#include "clearpath_platform/a200/horizon_legacy/horizon_legacy_wrapper.h" -#include "clearpath_platform/a200/status.hpp" - -#include "clearpath_platform_msgs/msg/power.hpp" -#include "clearpath_platform_msgs/msg/status.hpp" -#include "clearpath_platform_msgs/msg/stop_status.hpp" - -using namespace std::chrono_literals; - -namespace clearpath_platform -{ - -class A200Hardware : public hardware_interface::SystemInterface -{ -public: - RCLCPP_SHARED_PTR_DEFINITIONS(A200Hardware) - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override; - - HARDWARE_INTERFACE_PUBLIC - std::vector export_state_interfaces() override; - - HARDWARE_INTERFACE_PUBLIC - std::vector export_command_interfaces() override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override; - -private: - void resetTravelOffset(); - double linearToAngular(const double &travel) const; - double angularToLinear(const double &angle) const; - void writeCommandsToHardware(); - void limitDifferentialSpeed(double &diff_speed_left, double &diff_speed_right); - void updateJointsFromHardware(); - void readStatusFromHardware(); - uint8_t isLeft(const std::string &str); - - // ROS Parameters - std::string serial_port_; - double polling_timeout_; - double wheel_diameter_, max_accel_, max_speed_; - - // Store the command for the robot - std::vector hw_commands_; - std::vector hw_states_position_, hw_states_position_offset_, hw_states_velocity_; - - uint8_t left_cmd_joint_index_, right_cmd_joint_index_; - - std::shared_ptr status_node_; - clearpath_platform_msgs::msg::Power power_msg_; - clearpath_platform_msgs::msg::Status status_msg_; - clearpath_platform_msgs::msg::StopStatus stop_status_msg_; - std_msgs::msg::Bool stop_msg_; - std_msgs::msg::Float32 driver_left_temp_msg_, driver_right_temp_msg_; - std_msgs::msg::Float32 motor_left_temp_msg_, motor_right_temp_msg_; -}; - -} // namespace clearpath_platform - -#endif // CLEARPATH_PLATFORM__A200_HARDWARE_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Exception.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Exception.h deleted file mode 100644 index 5b8a760b..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Exception.h +++ /dev/null @@ -1,68 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS™ -* -* File: Exception.h -* Desc: Provides the clearpath::Exception class, which is the parent class -* for all clearpath exceptions. -* Auth: Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef CPR_EXCEPTION_H -#define CPR_EXCEPTION_H - -#include - -namespace clearpath -{ - - class Exception - { - public: - const char *message; - - protected: - Exception(const char *msg = "none") : message(msg) - { - } - }; - -} // namespace clearpath - -#endif // CPR_EXCEPTION_H diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Logger.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Logger.h deleted file mode 100644 index 05a2463f..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Logger.h +++ /dev/null @@ -1,111 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS™ -* -* File: Logger.h -* Desc: Provides the Logger singleton which is used within the Clearpath API -* for log / trace message control -* Auth: Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef CPR_LOGGER_H -#define CPR_LOGGER_H - -#include - -namespace clearpath -{ - - class Logger - { - private: - bool enabled; - int level; - - std::ostream *stream; - - std::ofstream *nullStream; //i.e /dev/null - - public: - enum logLevels - { - ERROR_LEV, - EXCEPTION, - WARNING, - INFO, - DETAIL - }; - static const char *levelNames[]; // strings indexed by enumeration. - - private: - Logger(); - - ~Logger(); - - void close(); - - public: - static Logger &instance(); - - std::ostream &entry(enum logLevels level, const char *file = 0, int line = -1); - - void setEnabled(bool enabled); - - void setLevel(enum logLevels newLevel); - - void setStream(std::ostream *stream); - - void hookFatalSignals(); - - friend void loggerTermHandler(int signal); - }; - - void loggerTermHandler(int signal); - -} // namespace clearpath - -// convenience macros -#define CPR_LOG(level) (clearpath::Logger::instance().entry((level), __FILE__, __LINE__ )) -#define CPR_ERR() CPR_LOG(clearpath::Logger::ERROR) -#define CPR_EXCEPT() (clearpath::Logger::instance().entry(clearpath::Logger::EXCEPTION)) -#define CPR_WARN() CPR_LOG(clearpath::Logger::WARNING) -#define CPR_INFO() CPR_LOG(clearpath::Logger::INFO) -#define CPR_DTL() CPR_LOG(clearpath::Logger::DETAIL) - -#endif //CPR_LOGGER_H diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message.h deleted file mode 100644 index 37e1df48..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message.h +++ /dev/null @@ -1,320 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS� -* -* File: Message.h -* Desc: Definition for the Message class. This class represents a -* single message which is sent or received from a platform -* Auth: R. Gariepy, Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef CLEARPATH_MESSAGE_H -#define CLEARPATH_MESSAGE_H - -#include -#include -#include - -#include "clearpath_platform/a200/horizon_legacy/Exception.h" - - -namespace clearpath -{ - - class MessageException : public Exception - { - public: - enum errors - { - ERROR_BASE = 0, - INVALID_LENGTH - }; - - public: - enum errors type; - - MessageException(const char *msg, enum errors ex_type = ERROR_BASE); - }; - - class Message - { - public: - static const size_t MAX_MSG_LENGTH = 256; - - - protected: - static const size_t CRC_LENGTH = 2; - static const uint16_t CRC_INIT_VAL = 0xFFFF; - - static const size_t HEADER_LENGTH = 12; - - // Offsets of fields within data - enum dataOffsets - { - SOH_OFST = 0, - LENGTH_OFST, - LENGTH_COMP_OFST, - VERSION_OFST, - TIMESTAMP_OFST, - FLAGS_OFST = 8, - TYPE_OFST, - STX_OFST = 11, - PAYLOAD_OFST - }; - - uint8_t data[MAX_MSG_LENGTH]; - // Total length (incl. full header & checksum) - size_t total_len; - - // Whether this Message has ever been sent by the Transport() - // (Updated by Transport::send()) - bool is_sent; - - friend class Transport; // Allow Transport to read data and total_len directly - - public: - static const size_t MIN_MSG_LENGTH = HEADER_LENGTH + CRC_LENGTH; - static const uint8_t SOH = 0xAA; - static const uint8_t STX = 0x55; - - protected: - size_t crcOffset() - { - return total_len - CRC_LENGTH; - }; - - void setLength(uint8_t len); - - void setVersion(uint8_t version); - - void setTimestamp(uint32_t timestamp); - - void setFlags(uint8_t flags); - - void setType(uint16_t type); - - uint8_t *getPayloadPointer(size_t offset = 0); - - void setPayload(void *buf, size_t buf_size); - - void setPayloadLength(uint8_t len); - - void makeValid(); - - public: - Message(); - - Message(void *input, size_t msg_len); - - Message(const Message &other); - - Message(uint16_t type, uint8_t *payload, size_t payload_len, - uint32_t timestamp = 0, uint8_t flags = 0, uint8_t version = 0); - - virtual ~Message(); - - void send(); - - uint8_t getLength(); // as reported by packet length field. - uint8_t getLengthComp(); - - uint8_t getVersion(); - - uint32_t getTimestamp(); - - uint8_t getFlags(); - - uint16_t getType(); - - uint16_t getChecksum(); - - size_t getPayloadLength() - { - return total_len - HEADER_LENGTH - CRC_LENGTH; - } - - size_t getPayload(void *buf, size_t max_size); - - size_t getTotalLength() - { - return total_len; - } - - size_t toBytes(void *buf, size_t buf_size); - - bool isValid(char *whyNot = NULL, size_t strLen = 0); - - bool isCommand() - { - return getType() < 0x4000; - } - - bool isRequest() - { - return (getType() >= 0x4000) && (getType() < 0x8000); - } - - bool isData() - { - return (getType() >= 0x8000) && (getType() < 0xC000); - } - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - - void printRaw(std::ostream &stream = std::cout); - - - static Message *factory(void *input, size_t msg_len); - - static Message *popNext(); - - static Message *waitNext(double timeout = 0.0); - - }; // class Message - - enum MessageTypes - { - /* - * Set commands - */ - SET_PLATFORM_NAME = 0x0002, - SET_PLATFORM_TIME = 0x0005, - SET_SAFETY_SYSTEM = 0x0010, - SET_DIFF_WHEEL_SPEEDS = 0x0200, - SET_DIFF_CTRL_CONSTS = 0x0201, - SET_DIFF_WHEEL_SETPTS = 0x0202, - SET_ACKERMANN_SETPT = 0x0203, - SET_VELOCITY_SETPT = 0x0204, - SET_TURN_SETPT = 0x0205, - SET_MAX_SPEED = 0x0210, - SET_MAX_ACCEL = 0x0211, - SET_GEAR_SETPOINT = 0x0212, - SET_GPADC_OUTPUT = 0x0300, - SET_GPIO_DIRECTION = 0x0301, - SET_GPIO_OUTPUT = 0x0302, - SET_PTZ_POSITION = 0x0400, - - /* - * Command commands - */ - CMD_PROCESSOR_RESET = 0x2000, - CMD_RESTORE_SETTINGS = 0x2001, - CMD_STORE_SETTINGS = 0x2002, - - /* - * Request commands - */ - REQUEST_ECHO = 0x4000, - REQUEST_PLATFORM_INFO = 0x4001, - REQUEST_PLATFORM_NAME = 0x4002, - REQUEST_FIRMWARE_INFO = 0x4003, - REQUEST_SYSTEM_STATUS = 0x4004, - REQUEST_POWER_SYSTEM = 0x4005, - REQUEST_SAFETY_SYSTEM = 0x4010, - REQUEST_DIFF_WHEEL_SPEEDS = 0x4200, - REQUEST_DIFF_CTRL_CONSTS = 0x4201, - REQUEST_DIFF_WHEEL_SETPTS = 0x4202, - REQUEST_ACKERMANN_SETPTS = 0x4203, - REQUEST_VELOCITY_SETPT = 0x4204, - REQUEST_TURN_SETPT = 0x4205, - REQUEST_MAX_SPEED = 0x4210, - REQUEST_MAX_ACCEL = 0x4211, - REQUEST_GEAR_SETPT = 0x4212, - REQUEST_GPADC_OUTPUT = 0x4300, - REQUEST_GPIO_STATUS = 0x4301, - REQUEST_GPADC_INPUT = 0x4303, - REQUEST_PTZ_POSITION = 0x4400, - REQUEST_DISTANCE_DATA = 0x4500, - REQUEST_DISTANCE_TIMING = 0x4501, - REQUEST_ORIENT = 0x4600, - REQUEST_ROT_RATE = 0x4601, - REQUEST_ACCEL = 0x4602, - REQUEST_6AXIS = 0x4603, - REQUEST_6AXIS_ORIENT = 0x4604, - REQUEST_ENCODER = 0x4800, - REQUEST_ENCODER_RAW = 0x4801, - - /* - * Data commands - */ - DATA_ECHO = 0x8000, - DATA_PLATFORM_INFO = 0x8001, - DATA_PLATFORM_NAME = 0x8002, - DATA_FIRMWARE_INFO = 0x8003, - DATA_SYSTEM_STATUS = 0x8004, - DATA_POWER_SYSTEM = 0x8005, - DATA_PROC_STATUS = 0x8006, - DATA_SAFETY_SYSTEM = 0x8010, - DATA_DIFF_WHEEL_SPEEDS = 0x8200, - DATA_DIFF_CTRL_CONSTS = 0x8201, - DATA_DIFF_WHEEL_SETPTS = 0x8202, - DATA_ACKERMANN_SETPTS = 0x8203, - DATA_VELOCITY_SETPT = 0x8204, - DATA_TURN_SETPT = 0x8205, - DATA_MAX_SPEED = 0x8210, - DATA_MAX_ACCEL = 0x8211, - DATA_GEAR_SETPT = 0x8212, - DATA_GPADC_OUTPUT = 0x8300, - DATA_GPIO_STATUS = 0x8301, - DATA_GPADC_INPUT = 0x8303, - DATA_PTZ_POSITION = 0x8400, - DATA_DISTANCE_DATA = 0x8500, - DATA_DISTANCE_TIMING = 0x8501, - DATA_ORIENT = 0x8600, - DATA_ROT_RATE = 0x8601, - DATA_ACCEL = 0x8602, - DATA_6AXIS = 0x8603, - DATA_6AXIS_ORIENT = 0x8604, - DATA_MAGNETOMETER = 0x8606, - DATA_ENCODER = 0x8800, - DATA_ENCODER_RAW = 0x8801, - DATA_CURRENT_RAW = 0xA110, - DATA_VOLTAGE_RAW = 0xA111, - DATA_TEMPERATURE_RAW = 0xA112, - DATA_ORIENT_RAW = 0xA113, - DATA_GYRO_RAW = 0xA114, - DATA_ACCEL_RAW = 0xA115, - DATA_MAGNETOMETER_RAW = 0xA116 - }; // enum MessageTypes - -} // namespace clearpath - -std::ostream &operator<<(std::ostream &stream, clearpath::Message &msg); - -#endif // CLEARPATH_MESSAGE_H diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_cmd.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_cmd.h deleted file mode 100644 index f2ff3e63..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_cmd.h +++ /dev/null @@ -1,297 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS™ -* -* File: Message_cmd.h -* Desc: Provides Set Message subclasses. -* Auth: Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef CLEARPATH_MESSAGE_CMD_H -#define CLEARPATH_MESSAGE_CMD_H - -#include "clearpath_platform/a200/horizon_legacy/Message.h" - -namespace clearpath -{ - - class CmdMessage : public Message - { - private: - static long total_destroyed; - static long total_sent; - - public: - CmdMessage() : Message() - { - } - - CmdMessage(const CmdMessage &other) : Message(other) - { - } - - virtual ~CmdMessage(); - }; - - class CmdProcessorReset : public CmdMessage - { - public: - CmdProcessorReset(); - - CmdProcessorReset(const CmdProcessorReset &other); - }; - - class CmdRestoreSettings : public CmdMessage - { - public: - enum restoreFlags - { - USER_SETTINGS = 0x1, - FACTORY_SETTINGS = 0x2 - }; - public: - CmdRestoreSettings(enum restoreFlags flags); - - CmdRestoreSettings(const CmdRestoreSettings &other); - }; - - class CmdStoreSettings : public CmdMessage - { - public: - CmdStoreSettings(); - - CmdStoreSettings(const CmdStoreSettings &other); - }; - - class SetAckermannOutput : public CmdMessage - { - public: - enum payloadOffsets - { - STEERING = 0, - THROTTLE = 2, - BRAKE = 4, - PAYLOAD_LEN = 6 - }; - - public: - SetAckermannOutput(double steering, double throt, double brake); - - SetAckermannOutput(const SetAckermannOutput &other); - }; - - class SetDifferentialControl : public CmdMessage - { - public: - enum payloadOffsets - { - LEFT_P = 0, - LEFT_I = 2, - LEFT_D = 4, - LEFT_FEEDFWD = 6, - LEFT_STIC = 8, - LEFT_INT_LIM = 10, - RIGHT_P = 12, - RIGHT_I = 14, - RIGHT_D = 16, - RIGHT_FEEDFWD = 18, - RIGHT_STIC = 20, - RIGHT_INT_LIM = 22, - PAYLOAD_LEN = 24 - }; - - public: - SetDifferentialControl(double p, - double i, - double d, - double feedfwd, - double stic, - double int_lim); - - SetDifferentialControl(double left_p, - double left_i, - double left_d, - double left_feedfwd, - double left_stic, - double left_int_lim, - double right_p, - double right_i, - double right_d, - double right_feedfwd, - double right_stic, - double right_int_lim); - - SetDifferentialControl(const SetDifferentialControl &other); - }; - - class SetDifferentialOutput : public CmdMessage - { - public: - enum payloadOffsets - { - LEFT = 0, - RIGHT = 2, - PAYLOAD_LEN = 4 - }; - - public: - SetDifferentialOutput(double left, double right); - - SetDifferentialOutput(const SetDifferentialOutput &other); - }; - - class SetDifferentialSpeed : public CmdMessage - { - public: - enum payloadOffsets - { - LEFT_SPEED = 0, - RIGHT_SPEED = 2, - LEFT_ACCEL = 4, - RIGHT_ACCEL = 6, - PAYLOAD_LEN = 8 - }; - - public: - SetDifferentialSpeed(double left_spd, double right_speed, double left_accel, double right_accel); - - SetDifferentialSpeed(const SetDifferentialSpeed &other); - }; - - class SetGear : public CmdMessage - { - public: - SetGear(uint8_t gear); - - SetGear(const SetGear &other); - }; - - class SetMaxAccel : public CmdMessage - { - public: - enum payloadOffsets - { - MAX_FWD = 0, - MAX_REV = 2, - PAYLOAD_LEN = 4 - }; - - public: - SetMaxAccel(double max_fwd, double max_rev); - - SetMaxAccel(const SetMaxAccel &other); - }; - - class SetMaxSpeed : public CmdMessage - { - public: - enum payloadOffsets - { - MAX_FWD = 0, - MAX_REV = 2, - PAYLOAD_LEN = 4 - }; - - public: - SetMaxSpeed(double max_fwd, double max_rev); - - SetMaxSpeed(const SetMaxSpeed &other); - }; - - class SetPlatformName : public CmdMessage - { - public: - SetPlatformName(const char *name); - - SetPlatformName(const SetPlatformName &other); - }; - - class SetPlatformTime : public CmdMessage - { - public: - SetPlatformTime(uint32_t time); - - SetPlatformTime(const SetPlatformTime &other); - }; - - class SetSafetySystem : public CmdMessage - { - public: - SetSafetySystem(uint16_t flags); - - SetSafetySystem(const SetSafetySystem &other); - }; - - class SetTurn : public CmdMessage - { - public: - enum payloadOffsets - { - TRANSLATIONAL = 0, - TURN_RADIUS = 2, - TRANS_ACCEL = 4, - PAYLOAD_LEN = 6 - }; - - public: - SetTurn(double trans, double rad, double accel); - - SetTurn(const SetTurn &other); - }; - - class SetVelocity : public CmdMessage - { - public: - enum payloadOffsets - { - TRANSLATIONAL = 0, - ROTATIONAL = 2, - TRANS_ACCEL = 4, - PAYLOAD_LEN = 6 - }; - - public: - SetVelocity(double trans, double rot, double accel); - - SetVelocity(const SetVelocity &other); - }; - -} // namespace clearpath - -#endif // CLEARPATH_MESSAGE_CMD_H diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_data.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_data.h deleted file mode 100644 index cb5c8e69..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_data.h +++ /dev/null @@ -1,1089 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS™ -* -* File: HorizonMessage_data.h -* Desc: Provides Message subclasses corresponding to 'data' type messages -* Auth: Iain Peet, Mike Purvis -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - - -#ifndef CLEARPATH_MESSAGE_DATA_H -#define CLEARPATH_MESSAGE_DATA_H - -#include -#include -#include -#include "clearpath_platform/a200/horizon_legacy/Message.h" -#include "clearpath_platform/a200/horizon_legacy/Message_request.h" - -namespace clearpath -{ - - class DataAckermannOutput : public Message - { - public: - enum payloadOffsets - { - STEERING = 0, - THROTTLE = 2, - BRAKE = 4, - PAYLOAD_LEN = 6 - }; - public: - DataAckermannOutput(void *input, size_t msg_len); - - DataAckermannOutput(const DataAckermannOutput &other); - - static DataAckermannOutput *popNext(); - - static DataAckermannOutput *waitNext(double timeout = 0); - - static DataAckermannOutput *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq = 0); - - static enum MessageTypes getTypeID(); - - double getSteering(); - - double getThrottle(); - - double getBrake(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataDifferentialControl : public Message - { - public: - enum payloadOffsets - { - LEFT_P = 0, - LEFT_I = 2, - LEFT_D = 4, - LEFT_FEEDFWD = 6, - LEFT_STIC = 8, - LEFT_INT_LIM = 10, - RIGHT_P = 12, - RIGHT_I = 14, - RIGHT_D = 16, - RIGHT_FEEDFWD = 18, - RIGHT_STIC = 20, - RIGHT_INT_LIM = 22, - PAYLOAD_LEN = 24 - }; - - public: - DataDifferentialControl(void *input, size_t msg_len); - - DataDifferentialControl(const DataDifferentialControl &other); - - static DataDifferentialControl *popNext(); - - static DataDifferentialControl *waitNext(double timeout = 0); - - static DataDifferentialControl *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq = 0); - - static enum MessageTypes getTypeID(); - - double getLeftP(); - - double getLeftI(); - - double getLeftD(); - - double getLeftFeedForward(); - - double getLeftStiction(); - - double getLeftIntegralLimit(); - - double getRightP(); - - double getRightI(); - - double getRightD(); - - double getRightFeedForward(); - - double getRightStiction(); - - double getRightIntegralLimit(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataDifferentialOutput : public Message - { - public: - enum payloadOffsets - { - LEFT = 0, - RIGHT = 2, - PAYLOAD_LEN = 4 - }; - - public: - DataDifferentialOutput(void *input, size_t msg_len); - - DataDifferentialOutput(const DataDifferentialOutput &other); - - static DataDifferentialOutput *popNext(); - - static DataDifferentialOutput *waitNext(double timeout = 0); - - static DataDifferentialOutput *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - double getLeft(); - - double getRight(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataDifferentialSpeed : public Message - { - public: - enum payloadOffsets - { - LEFT_SPEED = 0, - RIGHT_SPEED = 2, - LEFT_ACCEL = 4, - RIGHT_ACCEL = 6, - PAYLOAD_LEN = 8 - }; - - public: - DataDifferentialSpeed(void *input, size_t msg_len); - - DataDifferentialSpeed(const DataDifferentialSpeed &other); - - static DataDifferentialSpeed *popNext(); - - static DataDifferentialSpeed *waitNext(double timeout = 0); - - static DataDifferentialSpeed *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - double getLeftSpeed(); - - double getLeftAccel(); - - double getRightSpeed(); - - double getRightAccel(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataEcho : public Message - { - public: - DataEcho(void *input, size_t msg_len); - - DataEcho(const DataEcho &other); - - static DataEcho *popNext(); - - static DataEcho *waitNext(double timeout = 0); - - static DataEcho *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataEncoders : public Message - { - private: - size_t travels_offset; - size_t speeds_offset; - - public: - DataEncoders(void *input, size_t msg_len); - - DataEncoders(const DataEncoders &other); - - static DataEncoders *popNext(); - - static DataEncoders *waitNext(double timeout = 0); - - static DataEncoders *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getCount(); - - double getTravel(uint8_t index); - - double getSpeed(uint8_t index); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataEncodersRaw : public Message - { - public: - DataEncodersRaw(void *input, size_t pkt_len); - - DataEncodersRaw(const DataEncodersRaw &other); - - static DataEncodersRaw *popNext(); - - static DataEncodersRaw *waitNext(double timeout = 0); - - static DataEncodersRaw *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getCount(); - - int32_t getTicks(uint8_t inx); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataFirmwareInfo : public Message - { - public: - enum payloadOffsets - { - MAJOR_FIRM_VER = 0, - MINOR_FIRM_VER, - MAJOR_PROTO_VER, - MINOR_PROTO_VER, - WRITE_TIME, - PAYLOAD_LEN = 8 - }; - - class WriteTime - { - public: - uint32_t rawTime; - public: - WriteTime(uint32_t time) : rawTime(time) - { - } - - uint8_t minute() - { - return (rawTime) & 0x3f; - } - - uint8_t hour() - { - return (rawTime >> 6) & 0x1f; - } - - uint8_t day() - { - return (rawTime >> 11) & 0x3f; - } - - uint8_t month() - { - return (rawTime >> 17) & 0x0f; - } - - uint8_t year() - { - return (rawTime >> 21) & 0x7f; - } - }; - - public: - DataFirmwareInfo(void *input, size_t msg_len); - - DataFirmwareInfo(const DataFirmwareInfo &other); - - static DataFirmwareInfo *popNext(); - - static DataFirmwareInfo *waitNext(double timeout = 0); - - static DataFirmwareInfo *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getMajorFirmwareVersion(); - - uint8_t getMinorFirmwareVersion(); - - uint8_t getMajorProtocolVersion(); - - uint8_t getMinorProtocolVersion(); - - WriteTime getWriteTime(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataGear : public Message - { - public: - DataGear(void *input, size_t msg_len); - - DataGear(const DataGear &other); - - static DataGear *popNext(); - - static DataGear *waitNext(double timeout = 0); - - static DataGear *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getGear(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataMaxAcceleration : public Message - { - public: - enum payloadOffsets - { - FORWARD_MAX = 0, - REVERSE_MAX = 2, - PAYLOAD_LEN = 4 - }; - - public: - DataMaxAcceleration(void *input, size_t msg_len); - - DataMaxAcceleration(const DataMaxAcceleration &other); - - static DataMaxAcceleration *popNext(); - - static DataMaxAcceleration *waitNext(double timeout = 0); - - static DataMaxAcceleration *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - double getForwardMax(); - - double getReverseMax(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataMaxSpeed : public Message - { - public: - enum payloadOffsets - { - FORWARD_MAX = 0, - REVERSE_MAX = 2, - PAYLOAD_LEN = 4 - }; - - public: - DataMaxSpeed(void *input, size_t msg_len); - - DataMaxSpeed(const DataMaxSpeed &other); - - static DataMaxSpeed *popNext(); - - static DataMaxSpeed *waitNext(double timeout = 0); - - static DataMaxSpeed *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - double getForwardMax(); - - double getReverseMax(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataPlatformAcceleration : public Message - { - public: - enum payloadOffsets - { - X = 0, - Y = 2, - Z = 4, - PAYLOAD_LEN = 6 - }; - public: - DataPlatformAcceleration(void *input, size_t msg_len); - - DataPlatformAcceleration(const DataPlatformAcceleration &other); - - static DataPlatformAcceleration *popNext(); - - static DataPlatformAcceleration *waitNext(double timeout = 0); - - static DataPlatformAcceleration *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq = 0); - - static enum MessageTypes getTypeID(); - - double getX(); - - double getY(); - - double getZ(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataPlatformInfo : public Message - { - private: - uint8_t strlenModel(); - - public: - DataPlatformInfo(void *input, size_t msg_len); - - DataPlatformInfo(const DataPlatformInfo &other); - - static DataPlatformInfo *popNext(); - - static DataPlatformInfo *waitNext(double timeout = 0); - - static DataPlatformInfo *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - std::string getModel(); - - uint8_t getRevision(); - - uint32_t getSerial(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataPlatformName : public Message - { - public: - DataPlatformName(void *input, size_t msg_len); - - DataPlatformName(const DataPlatformName &other); - - static DataPlatformName *popNext(); - - static DataPlatformName *waitNext(double timeout = 0); - - static DataPlatformName *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - std::string getName(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataPlatformMagnetometer : public Message - { - public: - enum payloadOffsets - { - X = 0, - Y = 2, - Z = 4, - PAYLOAD_LEN = 6 - }; - public: - DataPlatformMagnetometer(void *input, size_t msg_len); - - DataPlatformMagnetometer(const DataPlatformMagnetometer &other); - - static DataPlatformMagnetometer *popNext(); - - static DataPlatformMagnetometer *waitNext(double timeout = 0); - - static DataPlatformMagnetometer *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - double getX(); - - double getY(); - - double getZ(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataPlatformOrientation : public Message - { - public: - enum payloadOffsets - { - ROLL = 0, - PITCH = 2, - YAW = 4, - PAYLOAD_LEN = 6 - }; - public: - DataPlatformOrientation(void *input, size_t msg_len); - - DataPlatformOrientation(const DataPlatformOrientation &other); - - static DataPlatformOrientation *popNext(); - - static DataPlatformOrientation *waitNext(double timeout = 0); - - static DataPlatformOrientation *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - double getRoll(); - - double getYaw(); - - double getPitch(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataPlatformRotation : public Message - { - public: - enum payloadOffsets - { - ROLL_RATE = 0, - PITCH_RATE = 2, - YAW_RATE = 4, - PAYLOAD_LEN = 6 - }; - - public: - DataPlatformRotation(void *input, size_t msg_len); - - DataPlatformRotation(const DataPlatformRotation &other); - - static DataPlatformRotation *popNext(); - - static DataPlatformRotation *waitNext(double timeout = 0); - - static DataPlatformRotation *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - double getRollRate(); - - double getPitchRate(); - - double getYawRate(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataPowerSystem : public Message - { - public: - class BatteryDescription - { - public: - enum Types - { - EXTERNAL = 0x0, - LEAD_ACID = 0x1, - NIMH = 0x2, - GASOLINE = 0x8 - }; - uint8_t rawDesc; - public: - BatteryDescription(uint8_t desc) : rawDesc(desc) - { - } - - bool isPresent() - { - return rawDesc & 0x80; - } - - bool isInUse() - { - return rawDesc & 0x40; - } - - enum Types getType() - { - return (enum Types) (rawDesc & 0x0f); - } - }; - - public: - DataPowerSystem(void *input, size_t msg_len); - - DataPowerSystem(const DataPowerSystem &other); - - static DataPowerSystem *popNext(); - - static DataPowerSystem *waitNext(double timeout = 0); - - static DataPowerSystem *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getBatteryCount(); - - double getChargeEstimate(uint8_t battery); - - int16_t getCapacityEstimate(uint8_t battery); - - BatteryDescription getDescription(uint8_t battery); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataProcessorStatus : public Message - { - public: - DataProcessorStatus(void *input, size_t msg_len); - - DataProcessorStatus(const DataProcessorStatus &other); - - static DataProcessorStatus *popNext(); - - static DataProcessorStatus *waitNext(double timeout = 0); - - static DataProcessorStatus *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getProcessCount(); - - int16_t getErrorCount(int process); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataRangefinders : public Message - { - public: - DataRangefinders(void *input, size_t msg_len); - - DataRangefinders(const DataRangefinders &other); - - static DataRangefinders *popNext(); - - static DataRangefinders *waitNext(double timeout = 0); - - static DataRangefinders *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getRangefinderCount(); - - int16_t getDistance(int rangefinder); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataRangefinderTimings : public Message - { - public: - DataRangefinderTimings(void *input, size_t msg_len); - - DataRangefinderTimings(const DataRangefinderTimings &other); - - static DataRangefinderTimings *popNext(); - - static DataRangefinderTimings *waitNext(double timeout = 0); - - static DataRangefinderTimings *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getRangefinderCount(); - - int16_t getDistance(int rangefinder); - - uint32_t getAcquisitionTime(int rangefinder); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataRawAcceleration : public Message - { - public: - enum payloadOffsets - { - X = 0, - Y = 2, - Z = 4, - PAYLOAD_LEN = 6 - }; - public: - DataRawAcceleration(void *input, size_t msg_len); - - DataRawAcceleration(const DataRawAcceleration &other); - - static DataRawAcceleration *popNext(); - - static DataRawAcceleration *waitNext(double timeout = 0); - - static DataRawAcceleration *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint16_t getX(); - - uint16_t getY(); - - uint16_t getZ(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataRawCurrent : public Message - { - public: - DataRawCurrent(void *input, size_t msg_len); - - DataRawCurrent(const DataRawCurrent &other); - - static DataRawCurrent *popNext(); - - static DataRawCurrent *waitNext(double timeout = 0); - - static DataRawCurrent *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getCurrentCount(); - - uint16_t getCurrent(int current); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataRawGyro : public Message - { - public: - enum payloadOffsets - { - ROLL = 0, - PITCH = 2, - YAW = 4, - PAYLOAD_LEN = 6 - }; - public: - DataRawGyro(void *input, size_t msg_len); - - DataRawGyro(const DataRawGyro &other); - - static DataRawGyro *popNext(); - - static DataRawGyro *waitNext(double timeout = 0); - - static DataRawGyro *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint16_t getRoll(); - - uint16_t getPitch(); - - uint16_t getYaw(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataRawMagnetometer : public Message - { - public: - enum payloadOffsets - { - X = 0, - Y = 2, - Z = 4, - PAYLOAD_LEN = 6 - }; - public: - DataRawMagnetometer(void *input, size_t msg_len); - - DataRawMagnetometer(const DataRawMagnetometer &other); - - static DataRawMagnetometer *popNext(); - - static DataRawMagnetometer *waitNext(double timeout = 0); - - static DataRawMagnetometer *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint16_t getX(); - - uint16_t getY(); - - uint16_t getZ(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataRawOrientation : public Message - { - public: - enum payloadOffsets - { - ROLL = 0, - PITCH = 2, - YAW = 4, - PAYLOAD_LEN = 6 - }; - public: - DataRawOrientation(void *input, size_t msg_len); - - DataRawOrientation(const DataRawOrientation &other); - - static DataRawOrientation *popNext(); - - static DataRawOrientation *waitNext(double timeout = 0); - - static DataRawOrientation *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint16_t getRoll(); - - uint16_t getPitch(); - - uint16_t getYaw(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataRawTemperature : public Message - { - public: - DataRawTemperature(void *input, size_t msg_len); - - DataRawTemperature(const DataRawTemperature &other); - - static DataRawTemperature *popNext(); - - static DataRawTemperature *waitNext(double timeout = 0); - - static DataRawTemperature *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getTemperatureCount(); - - uint16_t getTemperature(int temperature); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataRawVoltage : public Message - { - public: - DataRawVoltage(void *input, size_t msg_len); - - DataRawVoltage(const DataRawVoltage &other); - - static DataRawVoltage *popNext(); - - static DataRawVoltage *waitNext(double timeout = 0); - - static DataRawVoltage *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint8_t getVoltageCount(); - - uint16_t getVoltage(int temperature); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataSafetySystemStatus : public Message - { - public: - DataSafetySystemStatus(void *input, size_t msg_len); - - DataSafetySystemStatus(const DataSafetySystemStatus &other); - - static DataSafetySystemStatus *popNext(); - - static DataSafetySystemStatus *waitNext(double timeout = 0); - - static DataSafetySystemStatus *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint16_t getFlags(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataSystemStatus : public Message - { - private: - uint8_t voltages_offset; - uint8_t currents_offset; - uint8_t temperatures_offset; - - public: - DataSystemStatus(void *input, size_t msg_len); - - DataSystemStatus(const DataSystemStatus &other); - - static DataSystemStatus *popNext(); - - static DataSystemStatus *waitNext(double timeout = 0); - - static DataSystemStatus *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - uint32_t getUptime(); - - uint8_t getVoltagesCount(); - - double getVoltage(uint8_t index); - - uint8_t getCurrentsCount(); - - double getCurrent(uint8_t index); - - uint8_t getTemperaturesCount(); - - double getTemperature(uint8_t index); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - - class DataVelocity : public Message - { - public: - enum payloadOffsets - { - TRANS_VEL = 0, - ROTATIONAL = 2, - TRANS_ACCEL = 4, - PAYLOAD_LEN = 6 - }; - public: - DataVelocity(void *input, size_t msg_len); - - DataVelocity(const DataVelocity &other); - - static DataVelocity *popNext(); - - static DataVelocity *waitNext(double timeout = 0); - - static DataVelocity *getUpdate(double timeout = 0); - - static void subscribe(uint16_t freq); - - static enum MessageTypes getTypeID(); - - double getTranslational(); - - double getRotational(); - - double getTransAccel(); - - virtual std::ostream &printMessage(std::ostream &stream = std::cout); - }; - -} // namespace clearpath - -#endif // CLEARPATH_MESSAGE_DATA_H diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_request.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_request.h deleted file mode 100644 index 9d848bc0..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Message_request.h +++ /dev/null @@ -1,65 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS™ -* -* File: Message_request.h -* Desc: Provides the Request class, which is used to request data messages -* at a particular frequency. -* Auth: Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef CLEARPATH_MESSAGE_REQUEST_H -#define CLEARPATH_MESSAGE_REQUEST_H - -#include "clearpath_platform/a200/horizon_legacy/Message.h" - -namespace clearpath -{ - - class Request : public Message - { - public: - Request(uint16_t type, uint16_t freq = 0); - - Request(const Request &other); - }; - -} // namespace clearpath - -#endif // CLEARPATH_MESSAGE_REQUEST_H diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Number.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Number.h deleted file mode 100644 index 0e0f2ae4..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Number.h +++ /dev/null @@ -1,84 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS™ -* -* File: Number.h -* Desc: Provides a family of functions similar in form to stdlib atoi and -* friends, for conversion between numeric primitives and small-endian -* byte arrays. -* Auth: Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef NUMBER_H_ -#define NUMBER_H_ - -#include -#include -#include - -namespace clearpath -{ - -/* Little-endian byte array to number conversion routines. */ - void utob(void *dest, size_t dest_len, uint64_t src); - - void utob(void *dest, size_t dest_len, uint32_t src); - - void utob(void *dest, size_t dest_len, uint16_t src); - - void itob(void *dest, size_t dest_len, int64_t src); - - void itob(void *dest, size_t dest_len, int32_t src); - - void itob(void *dest, size_t dest_len, int16_t src); - -/* void toBytes(void* dest, size_t dest_len, float src, float scale); */ - void ftob(void *dest, size_t dest_len, double src, double scale); - -/* Number to little-endian byte array conversion routines - * Need to provide all, since size of the int param matters. */ - uint64_t btou(void *src, size_t src_len); - - int64_t btoi(void *src, size_t src_len); - - double btof(void *src, size_t src_len, double scale); - -} // namespace clearpath - -#endif // NUMBER_H_ diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Transport.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Transport.h deleted file mode 100644 index 81cf8846..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/Transport.h +++ /dev/null @@ -1,179 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS� -* -* File: Transport.h -* Desc: Definition for Horizon transport class. Implements the details of -* the Horizon communication medium, providing the ability to send -* and receive messages. Received messages are queued. -* Auth: R. Gariepy -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef CLEARPATH_TRANSPORT_H -#define CLEARPATH_TRANSPORT_H - -#include -#include - -#include "clearpath_platform/a200/horizon_legacy/Message.h" -#include "clearpath_platform/a200/horizon_legacy/Exception.h" - -namespace clearpath -{ - - class TransportException : public Exception - { - public: - enum errors - { - ERROR_BASE, - NOT_CONFIGURED, - CONFIGURE_FAIL, - UNACKNOWLEDGED_SEND, - BAD_ACK_RESULT - }; - public: - enum errors type; - - TransportException(const char *msg, enum errors ex_type = ERROR_BASE); - }; - - class BadAckException : public TransportException - { - public: - enum ackFlags - { - BAD_CHECKSUM = 0x01, - BAD_TYPE = 0x02, - BAD_FORMAT = 0x04, - RANGE = 0x08, - NO_BANDWIDTH = 0x10, - OVER_FREQ = 0x20, - OVER_SUBSCRIBE = 0x40 - } ack_flag; - - BadAckException(unsigned int flag); - }; - -/* - * Transport class - */ - class Transport - { - public: - enum counterTypes - { - GARBLE_BYTES, // bytes with no SOH / bad length - INVALID_MSG, // bad format / CRC wrong - IGNORED_ACK, // ack we didn't care about - QUEUE_FULL, // dropped msg because of overfull queue - NUM_COUNTERS // end of list, not actual counter - }; - static const char *counter_names[NUM_COUNTERS]; // N.B: must be updated with counterTypes - - - private: - bool configured; - void *serial; - int retries; - - static const int RETRY_DELAY_MS = 200; - - std::list rx_queue; - static const size_t MAX_QUEUE_LEN = 10000; - - unsigned long counters[NUM_COUNTERS]; - - private: - Message *rxMessage(); - - Message *getAck(); - - void enqueueMessage(Message *msg); - - int openComm(const char *device); - - int closeComm(); - - void resetCounters(); - - protected: - Transport(); - - ~Transport(); - - public: - static Transport &instance(); - - void configure(const char *device, int retries); - - bool isConfigured() - { - return configured; - } - - int close(); - - void poll(); - - void send(Message *m); - - Message *popNext(); - - Message *popNext(enum MessageTypes type); - - Message *waitNext(double timeout = 0.0); - - Message *waitNext(enum MessageTypes type, double timeout = 0.0); - - void flush(std::list *queue = 0); - - void flush(enum MessageTypes type, std::list *queue = 0); - - unsigned long getCounter(enum counterTypes counter) - { - return counters[counter]; - } - - void printCounters(std::ostream &stream = std::cout); - }; - -} // namespace clearpath - -#endif // CLEARPATH_TRANSPORT_H diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/clearpath.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/clearpath.h deleted file mode 100644 index fe18349f..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/clearpath.h +++ /dev/null @@ -1,55 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS� -* -* File: clearpath.h -* Desc: Includes all CCP headers -* Auth: R. Gariepy, Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef CLEARPATH_H -#define CLEARPATH_H - -#include "clearpath_platform/a200/horizon_legacy/Message.h" -#include "clearpath_platform/a200/horizon_legacy/Message_cmd.h" -#include "clearpath_platform/a200/horizon_legacy/Message_request.h" -#include "clearpath_platform/a200/horizon_legacy/Message_data.h" -#include "clearpath_platform/a200/horizon_legacy/Transport.h" - -#endif // CLEARPATH_H diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/crc.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/crc.h deleted file mode 100644 index c641fc24..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/crc.h +++ /dev/null @@ -1,60 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS� -* -* File: crc.h -* Desc: Definitions of a 16 bit CRC. Uses a table-based implementation. -* When INIT_VAL=0xFFFF, this is identical to that used on the -* various uCs which implement Horizon -* Auth: R. Gariepy -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef __CRC16_H -#define __CRC16_H - -#include - -/***----------Table-driven crc function----------***/ -/*Inputs: -size of the character array, the CRC of which is being computed */ -/* - the initial value of the register to be used in the calculation */ -/* - a pointer to the first element of said character array */ -/*Outputs: the crc as an unsigned short int */ -uint16_t crc16(int size, int init_val, uint8_t *data); - -#endif diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/horizon_legacy_wrapper.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/horizon_legacy_wrapper.h deleted file mode 100644 index 1850d332..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/horizon_legacy_wrapper.h +++ /dev/null @@ -1,124 +0,0 @@ -/** -* -* \author Paul Bovbel -* \copyright Copyright (c) 2014-2015, Clearpath Robotics, Inc. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to code@clearpathrobotics.com -* -*/ - -#ifndef CLEARPATH_PLATFORM_HORIZON_LEGACY_WRAPPER_H -#define CLEARPATH_PLATFORM_HORIZON_LEGACY_WRAPPER_H - -#include -#include -#include - -#include "clearpath_platform/a200/horizon_legacy/clearpath.h" - -namespace -{ - const uint16_t UNSUBSCRIBE = 0xFFFF; -} - -namespace horizon_legacy -{ - - void connect(std::string port); - - void reconnect(); - - void configureLimits(double max_speed, double max_accel); - - void controlSpeed(double speed_left, double speed_right, double accel_left, double accel_right); - - template - struct Channel - { - typedef std::shared_ptr Ptr; - typedef std::shared_ptr ConstPtr; - static_assert( - (std::is_base_of::value), - "T must be a descendant of clearpath::Message" - ); - - static Ptr getLatest(double timeout) - { - T *latest = 0; - - // Iterate over all messages in queue and find the latest - while (T *next = T::popNext()) - { - if (latest) - { - delete latest; - latest = 0; - } - latest = next; - } - - // If no messages found in queue, then poll for timeout until one is received - if (!latest) - { - latest = T::waitNext(timeout); - } - - // If no messages received within timeout, make a request - if (!latest) - { - return requestData(timeout); - } - - return Ptr(latest); - } - - static Ptr requestData(double timeout) - { - T *update = 0; - while (!update) - { - update = T::getUpdate(timeout); - if (!update) - { - reconnect(); - } - } - return Ptr(update); - } - - static void subscribe(double frequency) - { - T::subscribe(frequency); - } - - static void unsubscribe() - { - T::subscribe(UNSUBSCRIBE); - } - - }; - -} // namespace clearpath_platform -#endif // CLEARPATH_PLATFORM_HORIZON_LEGACY_WRAPPER_H diff --git a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/serial.h b/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/serial.h deleted file mode 100644 index 6fd310ff..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/horizon_legacy/serial.h +++ /dev/null @@ -1,61 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS� -* -* File: HorizonProtocol.cpp -* Desc: Generic serial communication functions. Pass in void pointers, let the -* platform-specific implementation do the work. Usually, this should be -* included by (and linked against) windows_serial.cpp or linux_serial.cpp -* Auth: R. Gariepy -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#ifndef SERIAL_H_ -#define SERIAL_H_ - -int OpenSerial(void **handle, const char *port_name); - -int SetupSerial(void *handle); - -int WriteData(void *handle, const char *buffer, int length); - -int ReadData(void *handle, char *buffer, int length); - -int CloseSerial(void *handle); - -#endif /* SERIAL_H_ */ diff --git a/clearpath_platform/include/clearpath_platform/a200/status.hpp b/clearpath_platform/include/clearpath_platform/a200/status.hpp deleted file mode 100644 index dfefeec2..00000000 --- a/clearpath_platform/include/clearpath_platform/a200/status.hpp +++ /dev/null @@ -1,66 +0,0 @@ -/** -Software License Agreement (BSD) -\file status.hpp -\authors Tony Baltovski -\copyright Copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. -Redistribution and use in source and binary forms, with or without modification, are permitted provided that -the following conditions are met: - * Redistributions of source code must retain the above copyright notice, this list of conditions and the - following disclaimer. - * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - following disclaimer in the documentation and/or other materials provided with the distribution. - * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote - products derived from this software without specific prior written permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- -RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- -DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT -OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#ifndef CLEARPATH_PLATFORM__A200_STATUS_HPP -#define CLEARPATH_PLATFORM__A200_STATUS_HPP - -#include "rclcpp/rclcpp.hpp" - -#include "std_msgs/msg/bool.hpp" -#include "std_msgs/msg/float32.hpp" - -#include "clearpath_platform_msgs/msg/power.hpp" -#include "clearpath_platform_msgs/msg/status.hpp" -#include "clearpath_platform_msgs/msg/stop_status.hpp" - -namespace a200_status -{ - -class A200Status -: public rclcpp::Node -{ - public: - explicit A200Status(); - - void publish_power(const clearpath_platform_msgs::msg::Power & power_msg); - void publish_status(const clearpath_platform_msgs::msg::Status & status_msg); - void publish_stop_status(const clearpath_platform_msgs::msg::StopStatus & stop_status_msg); - void publish_stop_state(const std_msgs::msg::Bool & stop_msg); - void publish_temps(const std_msgs::msg::Float32 & driver_left_msg, - const std_msgs::msg::Float32 & driver_right_msg, - const std_msgs::msg::Float32 & motor_left_msg, - const std_msgs::msg::Float32 & motor_right_msg); - - private: - rclcpp::Publisher::SharedPtr pub_power_; - rclcpp::Publisher::SharedPtr pub_status_; - rclcpp::Publisher::SharedPtr pub_stop_status_; - rclcpp::Publisher::SharedPtr pub_stop_state_; - rclcpp::Publisher::SharedPtr pub_driver_left_temp_; - rclcpp::Publisher::SharedPtr pub_driver_right_temp_; - rclcpp::Publisher::SharedPtr pub_motor_left_temp_; - rclcpp::Publisher::SharedPtr pub_motor_right_temp_; -}; - -} - -#endif // CLEARPATH_PLATFORM__A200_STATUS_HPP \ No newline at end of file diff --git a/clearpath_platform/include/clearpath_platform/diff_drive/hardware.hpp b/clearpath_platform/include/clearpath_platform/diff_drive/hardware.hpp deleted file mode 100644 index 4ff2cd95..00000000 --- a/clearpath_platform/include/clearpath_platform/diff_drive/hardware.hpp +++ /dev/null @@ -1,103 +0,0 @@ -/** - * - * \file - * \brief Base DiffDrive hardware class - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef CLEARPATH_PLATFORM__DIFF_DRIVE_HARDWARE_HPP_ -#define CLEARPATH_PLATFORM__DIFF_DRIVE_HARDWARE_HPP_ - -#include -#include -#include -#include - -#include "hardware_interface/handle.hpp" -#include "hardware_interface/hardware_info.hpp" -#include "hardware_interface/system_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "hardware_interface/visibility_control.h" - -#include "clearpath_platform/diff_drive/hardware_interface.hpp" - - -namespace clearpath_platform -{ - -static constexpr uint8_t DIFF_DRIVE_TWO_JOINTS = 2; -static constexpr uint8_t DIFF_DRIVE_FOUR_JOINTS = 4; - -class DiffDriveHardware : public hardware_interface::SystemInterface -{ -public: - RCLCPP_SHARED_PTR_DEFINITIONS(DiffDriveHardware) - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override; - - HARDWARE_INTERFACE_PUBLIC - std::vector export_state_interfaces() override; - - HARDWARE_INTERFACE_PUBLIC - std::vector export_command_interfaces() override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override; -protected: - void writeCommandsToHardware(); - void updateJointsFromHardware(); - virtual hardware_interface::CallbackReturn getHardwareInfo(const hardware_interface::HardwareInfo & info); - virtual hardware_interface::CallbackReturn validateJoints(); - virtual hardware_interface::CallbackReturn initHardwareInterface(); - std::shared_ptr node_; - - // Store the command for the robot - std::vector hw_commands_; - std::vector hw_states_position_, hw_states_position_offset_, hw_states_velocity_; - - std::map wheel_joints_; - - uint8_t num_joints_; - std::string hw_name_; -}; - -} // namespace clearpath_platform - -#endif // CLEARPATH_PLATFORM__DIFF_DRIVE_HARDWARE_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/diff_drive/hardware_interface.hpp b/clearpath_platform/include/clearpath_platform/diff_drive/hardware_interface.hpp deleted file mode 100644 index e94c7581..00000000 --- a/clearpath_platform/include/clearpath_platform/diff_drive/hardware_interface.hpp +++ /dev/null @@ -1,69 +0,0 @@ -/** - * \file - * \brief Base DiffDrive hardware interface class - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef CLEARPATH_PLATFORM__DIFF_DRIVE_HARDWARE_INTERFACE_HPP_ -#define CLEARPATH_PLATFORM__DIFF_DRIVE_HARDWARE_INTERFACE_HPP_ - -#include - -#include "rclcpp/rclcpp.hpp" - -#include "clearpath_platform_msgs/msg/drive.hpp" -#include "clearpath_platform_msgs/msg/feedback.hpp" - -namespace clearpath_platform -{ - - - -class DiffDriveHardwareInterface -: public rclcpp::Node -{ - public: - explicit DiffDriveHardwareInterface(std::string node_name); - void drive_command(const float & left_wheel, const float & right_wheel, const int8_t & mode); - clearpath_platform_msgs::msg::Feedback get_feedback(); - - private: - void feedback_callback(const clearpath_platform_msgs::msg::Feedback::SharedPtr msg); - - rclcpp::Publisher::SharedPtr drive_pub_; - rclcpp::Subscription::SharedPtr feedback_sub_; - - clearpath_platform_msgs::msg::Feedback feedback_; - std::mutex feedback_mutex_; -}; - -} // namespace clearpath_platform - -#endif // CLEARPATH_PLATFORM__DIFF_DRIVE_HARDWARE_INTERFACE_HPP_ \ No newline at end of file diff --git a/clearpath_platform/include/clearpath_platform/j100/hardware.hpp b/clearpath_platform/include/clearpath_platform/j100/hardware.hpp deleted file mode 100644 index 2bddfb0d..00000000 --- a/clearpath_platform/include/clearpath_platform/j100/hardware.hpp +++ /dev/null @@ -1,54 +0,0 @@ -/** - * - * \file - * \brief Base J100 hardware class - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef CLEARPATH_PLATFORM_J100__HARDWARE_HPP_ -#define CLEARPATH_PLATFORM_J100__HARDWARE_HPP_ - - -#include "clearpath_platform/diff_drive/hardware.hpp" -#include "clearpath_platform/j100/hardware_interface.hpp" - - -namespace clearpath_platform -{ - -class J100Hardware : public DiffDriveHardware -{ - private: - hardware_interface::CallbackReturn initHardwareInterface() override; -}; - -} // namespace clearpath_platform - -#endif // CLEARPATH_PLATFORM_J100_HARDWARE_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/j100/hardware_interface.hpp b/clearpath_platform/include/clearpath_platform/j100/hardware_interface.hpp deleted file mode 100644 index 2392a060..00000000 --- a/clearpath_platform/include/clearpath_platform/j100/hardware_interface.hpp +++ /dev/null @@ -1,53 +0,0 @@ -/** - * - * \file - * \brief Base J100 hardware interface class - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef CLEARPATH_PLATFORM__J100_HARDWARE_INTERFACE_HPP_ -#define CLEARPATH_PLATFORM__J100_HARDWARE_INTERFACE_HPP_ - -#include "clearpath_platform/diff_drive/hardware_interface.hpp" - -namespace clearpath_platform -{ - -class J100HardwareInterface -: public DiffDriveHardwareInterface -{ - public: - explicit J100HardwareInterface(std::string node_name); - -}; - -} // namespace clearpath_platform - -#endif // CLEARPATH_PLATFORM_J100_HARDWARE_INTERFACE_HPP_ \ No newline at end of file diff --git a/clearpath_platform/include/clearpath_platform/lighting/color.hpp b/clearpath_platform/include/clearpath_platform/lighting/color.hpp deleted file mode 100644 index 11db3f71..00000000 --- a/clearpath_platform/include/clearpath_platform/lighting/color.hpp +++ /dev/null @@ -1,96 +0,0 @@ -/** - * - * \file - * \brief Color Class Header - * \author Roni Kreinin - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - * Adapted from https://gist.github.com/borgel/d9a8bc11aeb5e0005d8320026c46f6f7 - */ - -#ifndef CLEARPATH_PLATFORM__LIGHTING__COLOR_HPP_ -#define CLEARPATH_PLATFORM__LIGHTING__COLOR_HPP_ - -#include -#include -#include "clearpath_platform_msgs/msg/rgb.hpp" - -namespace clearpath_lighting -{ - -struct hsv_t { - double h; - double s; - double v; - - hsv_t(double h_, double s_, double v_) - { - h = h_; - s = s_; - v = v_; - } - - hsv_t() - { - h = 0.0; - s = 0.0; - v = 0.0; - } -}; - -static const hsv_t COLOR_RED = hsv_t(0.0, 100.0, 100.0); -static const hsv_t COLOR_RED_DIM = hsv_t(0.0, 100.0, 10.0); -static const hsv_t COLOR_MAGENTA = hsv_t(300.0, 100.0, 100.0); -static const hsv_t COLOR_BLUE = hsv_t(240.0, 100.0, 100.0); -static const hsv_t COLOR_BLUE_DIM = hsv_t(240.0, 100.0, 10.0); -static const hsv_t COLOR_CYAN = hsv_t(180.0, 100.0, 100.0); -static const hsv_t COLOR_GREEN = hsv_t(120.0, 100.0, 100.0); -static const hsv_t COLOR_GREEN_DIM = hsv_t(120.0, 100.0, 10.0); -static const hsv_t COLOR_YELLOW = hsv_t(60.0, 100.0, 100.0); -static const hsv_t COLOR_ORANGE = hsv_t(30.0, 100.0, 100.0); -static const hsv_t COLOR_WHITE = hsv_t(0.0, 0.0, 100.0); -static const hsv_t COLOR_WHITE_DIM = hsv_t(0.0, 0.0, 10.0); -static const hsv_t COLOR_BLACK = hsv_t(0.0, 0.0, 0.0); - - -class ColorHSV -{ - -public: - ColorHSV(hsv_t hsv); - static std::vector fade(ColorHSV start, ColorHSV end, uint32_t steps); - clearpath_platform_msgs::msg::RGB getRgbMsg(); - double h() { return hsv_.h; }; - double s() { return hsv_.s; }; - double v() { return hsv_.v; }; -private: - hsv_t hsv_; -}; - -} - -#endif // CLEARPATH_PLATFORM__LIGHTING__COLOR_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/lighting/lighting.hpp b/clearpath_platform/include/clearpath_platform/lighting/lighting.hpp deleted file mode 100644 index 32e36d88..00000000 --- a/clearpath_platform/include/clearpath_platform/lighting/lighting.hpp +++ /dev/null @@ -1,144 +0,0 @@ -/** - * - * \file - * \brief Lighting Class Header - * \author Roni Kreinin - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef CLEARPATH_PLATFORM__LIGHTING__LIGHTING_HPP_ -#define CLEARPATH_PLATFORM__LIGHTING__LIGHTING_HPP_ - -#include - -#include - -#include "clearpath_platform_msgs/msg/lights.hpp" -#include "clearpath_platform_msgs/msg/rgb.hpp" -#include "clearpath_platform_msgs/msg/status.hpp" -#include "clearpath_platform_msgs/msg/power.hpp" -#include "clearpath_platform_msgs/msg/stop_status.hpp" - -#include "geometry_msgs/msg/twist.hpp" -#include "sensor_msgs/msg/battery_state.hpp" -#include "std_msgs/msg/bool.hpp" - -#include "clearpath_platform/lighting/sequence.hpp" -#include "clearpath_platform/lighting/platform.hpp" - -namespace clearpath_lighting -{ - -static constexpr auto LIGHTING_TIMER_TIMEOUT_MS = 50; -static constexpr auto USER_COMMAND_TIMEOUT_MS = 1000; - -#define MS_TO_STEPS(ms) (ms / LIGHTING_TIMER_TIMEOUT_MS) - -class Lighting : public rclcpp::Node -{ - -public: - /** The set of states for which different lighting is provided */ - enum class State - { - BatteryFault = 0, - ShoreFault, - //PumaFault, - ShoreAndCharged, - ShoreAndCharging, - ShorePower, - Charged, - Charging, - Stopped, - NeedsReset, - LowBattery, - Driving, - Idle - }; - - std::map lighting_sequence_; - - Lighting(); - -private: - void spinOnce(); - - void initializePublishers(); - void initializeSubscribers(); - void initializeTimers(); - - void startUserTimeoutTimer(); - - void cmdLightsCallback(const clearpath_platform_msgs::msg::Lights::SharedPtr msg); - void statusCallback(const clearpath_platform_msgs::msg::Status::SharedPtr msg); - void powerCallback(const clearpath_platform_msgs::msg::Power::SharedPtr msg); - void stopStatusCallback(const clearpath_platform_msgs::msg::StopStatus::SharedPtr msg); - void batteryStateCallback(const sensor_msgs::msg::BatteryState::SharedPtr msg); - void stopEngagedCallback(const std_msgs::msg::Bool::SharedPtr msg); - void cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg); - - /** Updates the current lighting state based on all inputs */ - void setState(Lighting::State new_state); - void updateState(); - - // Publishers - rclcpp::Publisher::SharedPtr cmd_lights_pub_; - - // Subscribers - rclcpp::Subscription::SharedPtr cmd_lights_sub_; - rclcpp::Subscription::SharedPtr status_sub_; - rclcpp::Subscription::SharedPtr power_sub_; - rclcpp::Subscription::SharedPtr stop_status_sub_; - rclcpp::Subscription::SharedPtr battery_state_sub_; - rclcpp::Subscription::SharedPtr stop_engaged_sub_; - rclcpp::Subscription::SharedPtr cmd_vel_sub_; - - // Timers - rclcpp::TimerBase::SharedPtr lighting_timer_; - rclcpp::TimerBase::SharedPtr user_timeout_timer_; - - // Messages - clearpath_platform_msgs::msg::Lights lights_msg_; - clearpath_platform_msgs::msg::Status status_msg_; - clearpath_platform_msgs::msg::Power power_msg_; - clearpath_platform_msgs::msg::StopStatus stop_status_msg_; - sensor_msgs::msg::BatteryState battery_state_msg_; - std_msgs::msg::Bool stop_engaged_msg_; - geometry_msgs::msg::Twist cmd_vel_msg_; - - // Variables - Platform platform_; - State state_, old_state_; - int num_lights_; - bool user_commands_allowed_; - Sequence current_sequence_; -}; - -} // namespace clearpath_lighting - -#endif // CLEARPATH_PLATFORM__LIGHTING__LIGHTING_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/lighting/platform.hpp b/clearpath_platform/include/clearpath_platform/lighting/platform.hpp deleted file mode 100644 index 61622a25..00000000 --- a/clearpath_platform/include/clearpath_platform/lighting/platform.hpp +++ /dev/null @@ -1,76 +0,0 @@ -/** - * - * \file - * \brief Platform Header - * \author Roni Kreinin - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - * Adapted from https://gist.github.com/borgel/d9a8bc11aeb5e0005d8320026c46f6f7 - */ - -#ifndef CLEARPATH_PLATFORM__LIGHTING__PLATFORM_HPP_ -#define CLEARPATH_PLATFORM__LIGHTING__PLATFORM_HPP_ - -#include -#include - -namespace clearpath_lighting -{ - -enum Platform -{ - DD100, - DO100, - DD150, - DO150, - R100, - W200 -}; - -static std::map ClearpathPlatforms -{ - {"dd100", Platform::DD100}, - {"do100", Platform::DO100}, - {"dd150", Platform::DD150}, - {"do150", Platform::DO150}, - {"r100", Platform::R100}, - {"w200", Platform::W200}, -}; - -static std::map PlatformNumLights -{ - {Platform::DD100, 4}, - {Platform::DO100, 4}, - {Platform::DD150, 4}, - {Platform::DO150, 4}, - {Platform::R100, 8}, - {Platform::W200, 4}, -}; - -} - -#endif // CLEARPATH_PLATFORM__LIGHTING__PLATFORM_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/lighting/sequence.hpp b/clearpath_platform/include/clearpath_platform/lighting/sequence.hpp deleted file mode 100644 index d6e4b000..00000000 --- a/clearpath_platform/include/clearpath_platform/lighting/sequence.hpp +++ /dev/null @@ -1,102 +0,0 @@ -/** - * - * \file - * \brief Sequence Classes header - * \author Roni Kreinin - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - - -#ifndef CLEARPATH_PLATFORM__LIGHTING__SEQUENCE_HPP_ -#define CLEARPATH_PLATFORM__LIGHTING__SEQUENCE_HPP_ - -#include - -#include "clearpath_platform/lighting/color.hpp" -#include "clearpath_platform/lighting/platform.hpp" -#include "clearpath_platform_msgs/msg/lights.hpp" -#include "clearpath_platform_msgs/msg/rgb.hpp" - -namespace clearpath_lighting -{ - -// State of each RGB light at an instance -typedef std::vector LightingState; -// Vector of N color sequences. N = number of LEDs -typedef std::vector> LightingSequence; - -enum LightingPattern -{ - Solid, - Blinking, - Pulsing -}; - -class Sequence -{ - -public: - clearpath_platform_msgs::msg::Lights getLightsMsg(); - void reset(); - static LightingState fillLightingState(ColorHSV color, clearpath_lighting::Platform platform); - static LightingState fillFrontRearLightingState(ColorHSV front_color, ColorHSV rear_color, clearpath_lighting::Platform platform); - static LightingState fillLeftRightLightingState(ColorHSV left_color, ColorHSV right_color, clearpath_lighting::Platform platform); - static LightingState fillOppositeCornerLightingState(ColorHSV front_left_color, ColorHSV front_right_color, clearpath_lighting::Platform platform); - Sequence(); - -protected: - LightingSequence sequence_; - uint16_t current_state_, num_states_; -}; - -class SolidSequence : public Sequence -{ -public: - SolidSequence(const LightingState state); -}; - -class BlinkSequence : public Sequence -{ -public: - BlinkSequence(const LightingState first_state, - const LightingState second_state, - uint32_t steps, - double duty_cycle); -}; - -class PulseSequence : public Sequence -{ -public: - PulseSequence(const LightingState first_state, - const LightingState last_state, - uint32_t steps); -}; - -} // namespace clearpath_lighting - -#endif // CLEARPATH_PLATFORM__LIGHTING__SEQUENCE_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/puma/hardware.hpp b/clearpath_platform/include/clearpath_platform/puma/hardware.hpp deleted file mode 100644 index 9e46fd04..00000000 --- a/clearpath_platform/include/clearpath_platform/puma/hardware.hpp +++ /dev/null @@ -1,104 +0,0 @@ -/** - * - * \file - * \brief Puma motor hardware class - * \author Luis Camero - * \copyright Copyright (c) 2024, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ -#ifndef CLEARPATH_PLATFORM_PUMA__HARDWARE_HPP_ -#define CLEARPATH_PLATFORM_PUMA__HARDWARE_HPP_ - -#include -#include -#include -#include - -#include "hardware_interface/handle.hpp" -#include "hardware_interface/hardware_info.hpp" -#include "hardware_interface/system_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "hardware_interface/visibility_control.h" - -#include "clearpath_platform/puma/hardware_interface.hpp" - - -namespace clearpath_platform -{ - -static constexpr uint8_t DIFF_DRIVE_TWO_JOINTS = 2; -static constexpr uint8_t DIFF_DRIVE_FOUR_JOINTS = 4; -static constexpr double MINIMUM_VELOCITY = 0.01f; - - -class PumaHardware : public hardware_interface::SystemInterface -{ -public: - RCLCPP_SHARED_PTR_DEFINITIONS(PumaHardware) - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override; - - HARDWARE_INTERFACE_PUBLIC - std::vector export_state_interfaces() override; - - HARDWARE_INTERFACE_PUBLIC - std::vector export_command_interfaces() override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override; -protected: - void writeCommandsToHardware(); - void updateJointsFromHardware(); - virtual hardware_interface::CallbackReturn getHardwareInfo(const hardware_interface::HardwareInfo & info); - virtual hardware_interface::CallbackReturn validateJoints(); - virtual hardware_interface::CallbackReturn initHardwareInterface(); - std::shared_ptr node_; - - // Store the command for the robot - std::vector hw_commands_; - std::vector hw_states_position_, hw_states_position_offset_, hw_states_velocity_; - - std::map wheel_joints_; - - uint8_t num_joints_; - std::string hw_name_; -}; - -} // namespace clearpath_platform - -#endif // CLEARPATH_PLATFORM_PUMA_HARDWARE_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp b/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp deleted file mode 100644 index f3151a0a..00000000 --- a/clearpath_platform/include/clearpath_platform/puma/hardware_interface.hpp +++ /dev/null @@ -1,67 +0,0 @@ -/** - * - * \file - * \brief Puma Motor hardware interface class - * \author Luis Camero - * \copyright Copyright (c) 2024, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ -#ifndef CLEARPATH_PLATFORM__PUMA_DRIVE_HARDWARE_INTERFACE_HPP_ -#define CLEARPATH_PLATFORM__PUMA_DRIVE_HARDWARE_INTERFACE_HPP_ - -#include "rclcpp/rclcpp.hpp" -#include "sensor_msgs/msg/joint_state.hpp" - -#include "clearpath_motor_msgs/msg/puma_feedback.hpp" -#include "clearpath_motor_msgs/msg/puma_multi_feedback.hpp" - -namespace clearpath_platform -{ - -class PumaHardwareInterface -: public rclcpp::Node -{ - public: - explicit PumaHardwareInterface(std::string node_name); - - void drive_command(const sensor_msgs::msg::JointState msg); - - bool has_new_feedback(); - void feedback_callback(const clearpath_motor_msgs::msg::PumaMultiFeedback::SharedPtr msg); - clearpath_motor_msgs::msg::PumaMultiFeedback get_feedback(); - - private: - rclcpp::Publisher::SharedPtr pub_cmd_; - rclcpp::Subscription::SharedPtr sub_feedback_; - - clearpath_motor_msgs::msg::PumaMultiFeedback feedback_; - std::atomic_bool has_feedback_; -}; - -} // namespace clearpath_platform - -#endif // CLEARPATH_PLATFORM__PUMA_DRIVE_HARDWARE_INTERFACE_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/w200/hardware.hpp b/clearpath_platform/include/clearpath_platform/w200/hardware.hpp deleted file mode 100644 index 585c84de..00000000 --- a/clearpath_platform/include/clearpath_platform/w200/hardware.hpp +++ /dev/null @@ -1,103 +0,0 @@ -/** - * - * \file - * \brief Base W200 hardware class - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef CLEARPATH_PLATFORM_W200__HARDWARE_HPP_ -#define CLEARPATH_PLATFORM_W200__HARDWARE_HPP_ - -#include -#include -#include -#include - -#include "hardware_interface/handle.hpp" -#include "hardware_interface/hardware_info.hpp" -#include "hardware_interface/system_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "hardware_interface/visibility_control.h" - -#include "clearpath_platform/w200/hardware_interface.hpp" - - -namespace clearpath_platform -{ - -static constexpr uint8_t DIFF_DRIVE_TWO_JOINTS = 2; -static constexpr uint8_t DIFF_DRIVE_FOUR_JOINTS = 4; - -class W200Hardware : public hardware_interface::SystemInterface -{ -public: - RCLCPP_SHARED_PTR_DEFINITIONS(W200Hardware) - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override; - - HARDWARE_INTERFACE_PUBLIC - std::vector export_state_interfaces() override; - - HARDWARE_INTERFACE_PUBLIC - std::vector export_command_interfaces() override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override; - - HARDWARE_INTERFACE_PUBLIC - hardware_interface::return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override; -protected: - void writeCommandsToHardware(); - void updateJointsFromHardware(const rclcpp::Duration & period); - virtual hardware_interface::CallbackReturn getHardwareInfo(const hardware_interface::HardwareInfo & info); - virtual hardware_interface::CallbackReturn validateJoints(); - virtual hardware_interface::CallbackReturn initHardwareInterface(); - std::shared_ptr node_; - - // Store the command for the robot - std::vector hw_commands_; - std::vector hw_states_position_, hw_states_position_offset_, hw_states_velocity_; - - std::map wheel_joints_; - - uint8_t num_joints_; - std::string hw_name_; -}; - -} // namespace clearpath_platform - -#endif // CLEARPATH_PLATFORM_W200_HARDWARE_HPP_ diff --git a/clearpath_platform/include/clearpath_platform/w200/hardware_interface.hpp b/clearpath_platform/include/clearpath_platform/w200/hardware_interface.hpp deleted file mode 100644 index 7f543638..00000000 --- a/clearpath_platform/include/clearpath_platform/w200/hardware_interface.hpp +++ /dev/null @@ -1,69 +0,0 @@ -/** - * - * \file - * \brief Base W200 hardware interface class - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#ifndef CLEARPATH_PLATFORM__W200_HARDWARE_INTERFACE_HPP_ -#define CLEARPATH_PLATFORM__W200_HARDWARE_INTERFACE_HPP_ - -#include "rclcpp/rclcpp.hpp" - -#include - -namespace clearpath_platform -{ - -class W200HardwareInterface -: public rclcpp::Node -{ - public: - explicit W200HardwareInterface(std::string node_name); - void feedback_left_callback(const std_msgs::msg::Float64::SharedPtr msg); - void feedback_right_callback(const std_msgs::msg::Float64::SharedPtr msg); - void drive_command(const float & left_wheel, const float & right_wheel); - bool has_new_feedback(); - std_msgs::msg::Float64 get_left_feedback(); - std_msgs::msg::Float64 get_right_feedback(); - - private: - rclcpp::Publisher::SharedPtr pub_left_cmd; - rclcpp::Publisher::SharedPtr pub_right_cmd; - rclcpp::Subscription::SharedPtr sub_left_feedback_; - rclcpp::Subscription::SharedPtr sub_right_feedback_; - - std::atomic feedback_left_, feedback_right_; - std::atomic_bool has_left_feedback_, has_right_feedback_; -}; - -} // namespace clearpath_platform - -#endif // CLEARPATH_PLATFORM_W200_HARDWARE_INTERFACE_HPP_ diff --git a/clearpath_platform/launch/platform.launch.py b/clearpath_platform/launch/platform.launch.py deleted file mode 100644 index d45986c9..00000000 --- a/clearpath_platform/launch/platform.launch.py +++ /dev/null @@ -1,155 +0,0 @@ -# Software License Agreement (BSD) -# -# @author Tony Baltovski -# @author Roni Kreinin -# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# * Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# * Neither the name of Clearpath Robotics nor the names of its contributors -# may be used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -from launch import LaunchDescription -from launch.actions import ( - DeclareLaunchArgument, - GroupAction, - IncludeLaunchDescription, -) -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import ( - LaunchConfiguration, - PathJoinSubstitution -) -from launch_ros.actions import PushRosNamespace -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - - # Packages - pkg_clearpath_control = FindPackageShare('clearpath_control') - pkg_clearpath_platform_description = FindPackageShare('clearpath_platform_description') - - # Launch Arguments - arg_setup_path = DeclareLaunchArgument( - 'setup_path', - default_value='/etc/clearpath/' - ) - - arg_use_sim_time = DeclareLaunchArgument( - 'use_sim_time', - choices=['true', 'false'], - default_value='false', - description='Use simulation time' - ) - - arg_namespace = DeclareLaunchArgument( - 'namespace', - default_value='', - description='Robot namespace' - ) - - # Launch Configurations - setup_path = LaunchConfiguration('setup_path') - use_sim_time = LaunchConfiguration('use_sim_time') - namespace = LaunchConfiguration('namespace') - - # Launch files - launch_file_platform_description = PathJoinSubstitution([ - pkg_clearpath_platform_description, - 'launch', - 'description.launch.py']) - - launch_file_control = PathJoinSubstitution([ - pkg_clearpath_control, - 'launch', - 'control.launch.py']) - - launch_file_localization = PathJoinSubstitution([ - pkg_clearpath_control, - 'launch', - 'localization.launch.py']) - - launch_file_teleop_base = PathJoinSubstitution([ - pkg_clearpath_control, - 'launch', - 'teleop_base.launch.py']) - - launch_file_teleop_joy = PathJoinSubstitution([ - pkg_clearpath_control, - 'launch', - 'teleop_joy.launch.py']) - - group_platform_action = GroupAction( - actions=[ - PushRosNamespace(namespace), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource(launch_file_platform_description), - launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time), - ('namespace', namespace), - ] - ), - - # Launch clearpath_control/control.launch.py which is just robot_localization. - IncludeLaunchDescription( - PythonLaunchDescriptionSource(launch_file_control), - launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time), - ] - ), - - # Launch localization (ekf node) - IncludeLaunchDescription( - PythonLaunchDescriptionSource(launch_file_localization), - launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time)] - ), - - # Launch clearpath_control/teleop_base.launch.py which is various ways to tele-op - # the robot but does not include the joystick. Also, has a twist mux. - IncludeLaunchDescription( - PythonLaunchDescriptionSource(launch_file_teleop_base), - launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time)] - ), - - # Launch clearpath_control/teleop_joy.launch.py which is tele-operation using a - # physical joystick. - IncludeLaunchDescription( - PythonLaunchDescriptionSource(launch_file_teleop_joy), - launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time)] - ), - ] - ) - - ld = LaunchDescription() - ld.add_action(arg_setup_path) - ld.add_action(arg_use_sim_time) - ld.add_action(arg_namespace) - ld.add_action(group_platform_action) - return ld diff --git a/clearpath_platform/package.xml b/clearpath_platform/package.xml deleted file mode 100644 index 02f7cfb8..00000000 --- a/clearpath_platform/package.xml +++ /dev/null @@ -1,44 +0,0 @@ - - - - clearpath_platform - 0.3.4 - Clearpath Platform Drivers. - - Mike Purvis - Paul Bovbel - Roni Kreinin - Tony Baltovski - - Luis Camero - Roni Kreinin - Tony Baltovski - - BSD - - ament_cmake - - controller_interface - controller_manager - controller_manager_msgs - clearpath_motor_msgs - clearpath_platform_msgs - hardware_interface - geometry_msgs - nav_msgs - pluginlib - rclcpp - sensor_msgs - std_msgs - std_srvs - tf2 - tf2_ros - - clearpath_control - clearpath_platform_description - xacro - - - ament_cmake - - diff --git a/clearpath_platform/src/a200/hardware.cpp b/clearpath_platform/src/a200/hardware.cpp deleted file mode 100644 index 60ddbe4e..00000000 --- a/clearpath_platform/src/a200/hardware.cpp +++ /dev/null @@ -1,473 +0,0 @@ -/** -* -* \author Paul Bovbel -* \copyright Copyright (c) 2014-2015, Clearpath Robotics, Inc. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to code@clearpathrobotics.com -* -*/ - -#include "clearpath_platform/a200/hardware.hpp" - -#include -#include -#include -#include -#include - -#include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "rclcpp/rclcpp.hpp" - -namespace -{ - const uint8_t LEFT = 0, RIGHT = 1; -} - -namespace -{ - const int UNDERVOLT_ERROR = 18; - const int UNDERVOLT_WARN = 19; - const int OVERVOLT_ERROR = 30; - const int OVERVOLT_WARN = 29; - const int DRIVER_OVERTEMP_ERROR = 50; - const int DRIVER_OVERTEMP_WARN = 30; - const int MOTOR_OVERTEMP_ERROR = 80; - const int MOTOR_OVERTEMP_WARN = 70; - const double LOWPOWER_ERROR = 0.2; - const double LOWPOWER_WARN = 0.3; - const int CONTROLFREQ_WARN = 90; - const unsigned int SAFETY_TIMEOUT = 0x1; - const unsigned int SAFETY_LOCKOUT = 0x2; - const unsigned int SAFETY_ESTOP = 0x8; - const unsigned int SAFETY_CCI = 0x10; - const unsigned int SAFETY_PSU = 0x20; - const unsigned int SAFETY_CURRENT = 0x40; - const unsigned int SAFETY_WARN = (SAFETY_TIMEOUT | SAFETY_CCI | SAFETY_PSU); - const unsigned int SAFETY_ERROR = (SAFETY_LOCKOUT | SAFETY_ESTOP | SAFETY_CURRENT); -} // namespace - -namespace clearpath_platform -{ - static const std::string HW_NAME = "A200Hardware"; - static const std::string LEFT_CMD_JOINT_NAME = "front_left_wheel_joint"; - static const std::string RIGHT_CMD_JOINT_NAME = "front_right_wheel_joint"; - - /** - * Get current encoder travel offsets from MCU and bias future encoder readings against them - */ - void A200Hardware::resetTravelOffset() - { - horizon_legacy::Channel::Ptr enc = - horizon_legacy::Channel::requestData(polling_timeout_); - if (enc) - { - for (auto i = 0u; i < hw_states_position_offset_.size(); i++) - { - hw_states_position_offset_[i] = linearToAngular(enc->getTravel(isLeft(info_.joints[i].name))); - } - } - else - { - RCLCPP_FATAL( - rclcpp::get_logger(HW_NAME), "Could not get encoder data to calibrate travel offset"); - } - } - - /** - * Husky reports travel in metres, need radians for ros_control RobotHW - */ - double A200Hardware::linearToAngular(const double &travel) const - { - return (travel / wheel_diameter_ * 2.0f); - } - - /** - * RobotHW provides velocity command in rad/s, Husky needs m/s, - */ - double A200Hardware::angularToLinear(const double &angle) const - { - return (angle * wheel_diameter_ / 2.0f); - } - - void A200Hardware::writeCommandsToHardware() - { - double diff_speed_left = angularToLinear(hw_commands_[left_cmd_joint_index_]); - double diff_speed_right = angularToLinear(hw_commands_[right_cmd_joint_index_]); - - limitDifferentialSpeed(diff_speed_left, diff_speed_right); - - horizon_legacy::controlSpeed(diff_speed_left, diff_speed_right, max_accel_, max_accel_); - } - - void A200Hardware::limitDifferentialSpeed(double &diff_speed_left, double &diff_speed_right) - { - double large_speed = std::max(std::abs(diff_speed_left), std::abs(diff_speed_right)); - - if (large_speed > max_speed_) - { - diff_speed_left *= max_speed_ / large_speed; - diff_speed_right *= max_speed_ / large_speed; - } - } - - - /** - * Pull latest speed and travel measurements from MCU, and store in joint structure for ros_control - */ - void A200Hardware::updateJointsFromHardware() - { - - horizon_legacy::Channel::Ptr enc = - horizon_legacy::Channel::requestData(polling_timeout_); - if (enc) - { - RCLCPP_DEBUG( - rclcpp::get_logger(HW_NAME), - "Received linear distance information (L: %f, R: %f)", - enc->getTravel(LEFT), enc->getTravel(RIGHT)); - - for (auto i = 0u; i < hw_states_position_.size(); i++) - { - double delta = linearToAngular(enc->getTravel(isLeft(info_.joints[i].name))) - - hw_states_position_[i] - hw_states_position_offset_[i]; - - // detect suspiciously large readings, possibly from encoder rollover - if (std::abs(delta) < 1.0f) - { - hw_states_position_[i] += delta; - } - else - { - // suspicious! drop this measurement and update the offset for subsequent readings - hw_states_position_offset_[i] += delta; - RCLCPP_WARN( - rclcpp::get_logger(HW_NAME),"Dropping overflow measurement from encoder"); - } - } - } - else - { - RCLCPP_ERROR( - rclcpp::get_logger(HW_NAME), "Could not get encoder data"); - } - - horizon_legacy::Channel::Ptr speed = - horizon_legacy::Channel::requestData(polling_timeout_); - if (speed) - { - RCLCPP_DEBUG( - rclcpp::get_logger(HW_NAME), - "Received linear speed information (L: %f, R: %f)", - speed->getLeftSpeed(), speed->getRightSpeed()); - - for (auto i = 0u; i < hw_states_velocity_.size(); i++) - { - if (isLeft(info_.joints[i].name) == LEFT) - { - hw_states_velocity_[i] = linearToAngular(speed->getLeftSpeed()); - } - else - { // assume RIGHT - hw_states_velocity_[i] = linearToAngular(speed->getRightSpeed()); - } - } - } - else - { - RCLCPP_ERROR( - rclcpp::get_logger(HW_NAME), "Could not get speed data"); - } - } - - /** - * Pull latest status date from MCU. - */ - void A200Hardware::readStatusFromHardware() - { - - auto safety_status = - horizon_legacy::Channel::requestData(polling_timeout_); - if (safety_status) - { - uint16_t flags = safety_status->getFlags(); - - // status_msg_.timeout = (flags & SAFETY_TIMEOUT) > 0; - // status_msg_.lockout = (flags & SAFETY_LOCKOUT) > 0; - // status_msg_.ros_pause = (flags & SAFETY_CCI) > 0; - // status_msg_.no_battery = (flags & SAFETY_PSU) > 0; - // status_msg_.current_limit = (flags & SAFETY_CURRENT) > 0; - stop_msg_.data = (flags & SAFETY_ESTOP) > 0; - power_msg_.battery_connected = static_cast(!((flags & SAFETY_PSU) > 0)); - } - else - { - RCLCPP_ERROR( - rclcpp::get_logger(HW_NAME), "Could not get safety_status"); - } - - - auto system_status = - horizon_legacy::Channel::requestData(polling_timeout_); - if (system_status) - { - // status_msg_.mcu_uptime = system_status->getUptime(); - - power_msg_.shore_power_connected = clearpath_platform_msgs::msg::Power::NOT_APPLICABLE; - power_msg_.power_12v_user_nominal = clearpath_platform_msgs::msg::Power::NOT_APPLICABLE; - power_msg_.charging_complete = clearpath_platform_msgs::msg::Power::NOT_APPLICABLE; - - power_msg_.measured_voltages[clearpath_platform_msgs::msg::Power::A200_BATTERY_VOLTAGE] = system_status->getVoltage(0); - power_msg_.measured_voltages[clearpath_platform_msgs::msg::Power::A200_LEFT_DRIVER_VOLTAGE] = system_status->getVoltage(1); - power_msg_.measured_voltages[clearpath_platform_msgs::msg::Power::A200_RIGHT_DRIVER_VOLTAGE] = system_status->getVoltage(2); - - power_msg_.measured_currents[clearpath_platform_msgs::msg::Power::A200_MCU_AND_USER_PORT_CURRENT] = system_status->getCurrent(0); - power_msg_.measured_currents[clearpath_platform_msgs::msg::Power::A200_LEFT_DRIVER_CURRENT] = system_status->getCurrent(1); - power_msg_.measured_currents[clearpath_platform_msgs::msg::Power::A200_RIGHT_DRIVER_CURRENT] = system_status->getCurrent(2); - - driver_left_temp_msg_.data = system_status->getTemperature(0); - driver_right_temp_msg_.data = system_status->getTemperature(1); - motor_left_temp_msg_.data = system_status->getTemperature(2); - motor_right_temp_msg_.data = system_status->getTemperature(3); - } - else - { - RCLCPP_ERROR( - rclcpp::get_logger(HW_NAME), "Could not get system_status"); - } - - status_node_->publish_status(status_msg_); - status_node_->publish_power(power_msg_); - status_node_->publish_stop_state(stop_msg_); - status_node_->publish_temps(driver_left_temp_msg_, driver_right_temp_msg_, motor_left_temp_msg_, motor_right_temp_msg_); - } - - - - /** - * Determines if the joint is left or right based on the joint name - */ - uint8_t A200Hardware::isLeft(const std::string &str) - { - if (str.find("left") != std::string::npos) - { - return LEFT; - } - return RIGHT; - } - - -hardware_interface::CallbackReturn A200Hardware::on_init(const hardware_interface::HardwareInfo & info) -{ - if (hardware_interface::SystemInterface::on_init(info) != hardware_interface::CallbackReturn::SUCCESS) - { - return hardware_interface::CallbackReturn::ERROR; - } - - RCLCPP_INFO(rclcpp::get_logger(HW_NAME), "Name: %s", info_.name.c_str()); - - RCLCPP_INFO(rclcpp::get_logger(HW_NAME), "Number of Joints %zu", info_.joints.size()); - - hw_states_position_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_states_position_offset_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_states_velocity_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); - hw_commands_.resize(info_.joints.size(), std::numeric_limits::quiet_NaN()); - - wheel_diameter_ = std::stod(info_.hardware_parameters["wheel_diameter"]); - max_accel_ = std::stod(info_.hardware_parameters["max_accel"]); - max_speed_ = std::stod(info_.hardware_parameters["max_speed"]); - polling_timeout_ = std::stod(info_.hardware_parameters["polling_timeout"]); - - serial_port_ = info_.hardware_parameters["serial_port"]; - - status_node_ = std::make_shared(); - // Resize the message to fix the platform model A200 - power_msg_.measured_voltages.resize(clearpath_platform_msgs::msg::Power::A200_VOLTAGES_SIZE); - power_msg_.measured_currents.resize(clearpath_platform_msgs::msg::Power::A200_CURRENTS_SIZE); - - RCLCPP_INFO(rclcpp::get_logger(HW_NAME), "Port: %s", serial_port_.c_str()); - horizon_legacy::connect(serial_port_); - horizon_legacy::configureLimits(max_speed_, max_accel_); - resetTravelOffset(); - - for (const hardware_interface::ComponentInfo & joint : info_.joints) - { - // A200Hardware has exactly two states and one command interface on each joint - if (joint.command_interfaces.size() != 1) - { - RCLCPP_FATAL( - rclcpp::get_logger(HW_NAME), - "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(), - joint.command_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.command_interfaces[0].name != hardware_interface::HW_IF_VELOCITY) - { - RCLCPP_FATAL( - rclcpp::get_logger(HW_NAME), - "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(), - joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces.size() != 2) - { - RCLCPP_FATAL( - rclcpp::get_logger(HW_NAME), - "Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(), - joint.state_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) - { - RCLCPP_FATAL( - rclcpp::get_logger(HW_NAME), - "Joint '%s' have '%s' as first state interface. '%s' expected.", - joint.name.c_str(), joint.state_interfaces[0].name.c_str(), - hardware_interface::HW_IF_POSITION); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[1].name != hardware_interface::HW_IF_VELOCITY) - { - RCLCPP_FATAL( - rclcpp::get_logger(HW_NAME), - "Joint '%s' have '%s' as second state interface. '%s' expected.", joint.name.c_str(), - joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - } - - return hardware_interface::CallbackReturn::SUCCESS; -} - -std::vector A200Hardware::export_state_interfaces() -{ - std::vector state_interfaces; - for (auto i = 0u; i < info_.joints.size(); i++) - { - state_interfaces.emplace_back(hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_position_[i])); - state_interfaces.emplace_back(hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_states_velocity_[i])); - } - - return state_interfaces; -} - -std::vector A200Hardware::export_command_interfaces() -{ - std::vector command_interfaces; - - for (auto i = 0u; i < info_.joints.size(); i++) - { - command_interfaces.emplace_back(hardware_interface::CommandInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_[i])); - - // Determine which joints will be used for commands since Husky only has two motors - if (info_.joints[i].name == LEFT_CMD_JOINT_NAME) - { - left_cmd_joint_index_ = i; - } - - if (info_.joints[i].name == RIGHT_CMD_JOINT_NAME) - { - right_cmd_joint_index_ = i; - } - } - - return command_interfaces; -} - -hardware_interface::CallbackReturn A200Hardware::on_activate(const rclcpp_lifecycle::State & /*previous_state*/) -{ - RCLCPP_INFO(rclcpp::get_logger(HW_NAME), "Starting ...please wait..."); - - // set some default values - for (auto i = 0u; i < hw_states_position_.size(); i++) - { - if (std::isnan(hw_states_position_[i])) - { - hw_states_position_[i] = 0; - hw_states_position_offset_[i] = 0; - hw_states_velocity_[i] = 0; - hw_commands_[i] = 0; - } - } - - RCLCPP_INFO(rclcpp::get_logger(HW_NAME), "System Successfully started!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn A200Hardware::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/) -{ - RCLCPP_INFO(rclcpp::get_logger(HW_NAME), "Stopping ...please wait..."); - - RCLCPP_INFO(rclcpp::get_logger(HW_NAME), "System successfully stopped!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::return_type A200Hardware::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) -{ - RCLCPP_DEBUG(rclcpp::get_logger(HW_NAME), "Reading from hardware"); - - updateJointsFromHardware(); - - RCLCPP_DEBUG(rclcpp::get_logger(HW_NAME), "Joints successfully read!"); - - // This will run at 10Hz but status data is only needed at 1Hz. - static int i = 0; - if (i <= 10) - { - i++; - } - else - { - readStatusFromHardware(); - i = 0; - } - - return hardware_interface::return_type::OK; -} - -hardware_interface::return_type A200Hardware::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) -{ - RCLCPP_DEBUG(rclcpp::get_logger(HW_NAME), "Writing to hardware"); - - writeCommandsToHardware(); - - RCLCPP_DEBUG(rclcpp::get_logger(HW_NAME), "Joints successfully written!"); - - return hardware_interface::return_type::OK; -} - -} // namespace clearpath_platform - -#include "pluginlib/class_list_macros.hpp" -PLUGINLIB_EXPORT_CLASS( - clearpath_platform::A200Hardware, hardware_interface::SystemInterface) diff --git a/clearpath_platform/src/a200/hardware.xml b/clearpath_platform/src/a200/hardware.xml deleted file mode 100644 index a7aec131..00000000 --- a/clearpath_platform/src/a200/hardware.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - The ros2_control A200Hardware using a system hardware interface-type. - - - diff --git a/clearpath_platform/src/a200/horizon_legacy/Logger.cpp b/clearpath_platform/src/a200/horizon_legacy/Logger.cpp deleted file mode 100644 index fbcdb5ee..00000000 --- a/clearpath_platform/src/a200/horizon_legacy/Logger.cpp +++ /dev/null @@ -1,153 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS™ -* -* File: Logger.cpp -* Desc: Provides the Logger singleton which is used within the Clearpath API -* for log / trace message control -* Auth: Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#include -#include -#include -#include - -using namespace std; - -#include "clearpath_platform/a200/horizon_legacy/Logger.h" - -namespace clearpath -{ - - const char *Logger::levelNames[] = {"ERROR", "EXCEPTION", "WARNING", "INFO", "DETAIL"}; - - void loggerTermHandler(int signum) - { - Logger::instance().close(); - - if ((signum == SIGABRT) || (signum == SIGSEGV)) - { - /* We need to catch these so we can flush out any last messages. - * having done this, probably the most consistent thing to do - * is re-raise the signal. (We certainly don't want to just - * ignore these) */ - signal(signum, SIG_DFL); - kill(getpid(), signum); - } - } - - Logger &Logger::instance() - { - static Logger instance; - return instance; - } - - Logger::Logger() : - enabled(true), - level(WARNING), - stream(&cerr) - { - nullStream = new ofstream("/dev/null"); - } - - Logger::~Logger() - { - close(); - } - - void Logger::close() - { - // The actual output stream is owned by somebody else, we only need to flush it - stream->flush(); - - nullStream->close(); - delete nullStream; - nullStream = 0; - } - - std::ostream &Logger::entry(enum logLevels msg_level, const char *file, int line) - { - if (!enabled) { return *nullStream; } - if (msg_level > this->level) { return *nullStream; } - - /* Construct the log entry tag */ - // Always the level of the message - *stream << levelNames[msg_level]; - // If file/line information is provided, need to print it with brackets: - if (file || (line >= 0)) - { - *stream << " ("; - if (file) { *stream << file; } - // Only want a comma if we have both items - if (file && (line >= 0)) { *stream << ","; } - if (line >= 0) { *stream << line; } - *stream << ")"; - } - *stream << ": "; - return *stream; - } - - void Logger::setEnabled(bool en) - { - enabled = en; - } - - void Logger::setLevel(enum logLevels newLevel) - { - level = newLevel; - } - - void Logger::setStream(ostream *newStream) - { - stream->flush(); - stream = newStream; - } - - void Logger::hookFatalSignals() - { - signal(SIGINT, loggerTermHandler); - signal(SIGTERM, loggerTermHandler); - /* If there's an abort or segfault in Logger.close(), well... - * we're pretty much totally screwed anyway. */ - signal(SIGABRT, loggerTermHandler); - signal(SIGSEGV, loggerTermHandler); - } - -} // namespace clearpath diff --git a/clearpath_platform/src/a200/horizon_legacy/Message.cpp b/clearpath_platform/src/a200/horizon_legacy/Message.cpp deleted file mode 100644 index 98a4b645..00000000 --- a/clearpath_platform/src/a200/horizon_legacy/Message.cpp +++ /dev/null @@ -1,501 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS� -* -* File: Message.cpp -* Desc: Definitions of the Message class. This class represents a -* single message which is sent or received from a platform -* Auth: R. Gariepy -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#include -#include -#include -#include "clearpath_platform/a200/horizon_legacy/crc.h" -#include "clearpath_platform/a200/horizon_legacy/Message.h" -#include "clearpath_platform/a200/horizon_legacy/Message_data.h" -#include "clearpath_platform/a200/horizon_legacy/Number.h" -#include "clearpath_platform/a200/horizon_legacy/Transport.h" - -// Conditions on the below to handle compiling for nonstandard hardware -#ifdef LOGGING_AVAIL -#include "clearpath_platform/a200/horizon_legacy/Logger.h" -#endif - -using namespace std; - -namespace clearpath -{ - - MessageException::MessageException(const char *msg, enum errors ex_type) - : Exception(msg), type(ex_type) - { -#ifdef LOGGING_AVAIL - CPR_EXCEPT() << "MessageException "< MAX_MSG_LENGTH) - { - /* If payload is too long, the only recourse we have in constructor - * (other than an abort()) is to truncate silently. */ - total_len = MAX_MSG_LENGTH; - payload_len = MAX_MSG_LENGTH - HEADER_LENGTH - CRC_LENGTH; - } - memset(data, 0, MAX_MSG_LENGTH); - memcpy(data + PAYLOAD_OFST, payload, payload_len); - - /* Fill header */ - data[SOH_OFST] = SOH; - setLength(total_len - 3); - setType(type); - setTimestamp(timestamp); - setFlags(flags); - setVersion(version); - data[STX_OFST] = STX; - - /* Generate checksum */ - uint16_t checksum = crc16(crcOffset(), CRC_INIT_VAL, data); - utob(data + crcOffset(), 2, checksum); - } - - Message::~Message() - { - // nothing to do, actually. - } - - void Message::send() - { - // We will retry up to 3 times if we receive CRC errors - for (int i = 0; i < 2; ++i) - { - try - { - Transport::instance().send(this); - return; - } - catch (BadAckException *ex) - { - // Any bad ack other than bad checksum needs to - // be thrown on - if (ex->ack_flag != BadAckException::BAD_CHECKSUM) - { - throw ex; - } - } - } - - /* Make the final attempt outside the try, so any exception - * just goes straight through */ -#ifdef LOGGING_AVAIL - CPR_WARN() << "Bad checksum twice in a row." << endl; -#endif - Transport::instance().send(this); - } - -/** -* Copies message payload into a provided buffer. -* @param buf The buffer to fill -* @param buf_size Maximum length of buf -* @return number of bytes copied. -*/ - size_t Message::getPayload(void *buf, size_t buf_size) - { - // If we don't have enough space in the buffer, don't even try - if (getPayloadLength() > buf_size) { return 0; } - - memcpy(buf, data + PAYLOAD_OFST, getPayloadLength()); - return getPayloadLength(); - } - -/** -* Get a pointer to the payload withing this Message's internal storage. -* @param offset The offset from the beginning of the payload. -* @return a pointer to this Message's internal storage. -*/ - uint8_t *Message::getPayloadPointer(size_t offset) - { - return data + PAYLOAD_OFST + offset; - } - - uint8_t Message::getLength() - { - return data[LENGTH_OFST]; - } - - uint8_t Message::getLengthComp() - { - return data[LENGTH_COMP_OFST]; - } - - uint8_t Message::getVersion() - { - return data[VERSION_OFST]; - } - - uint32_t Message::getTimestamp() - { - return btou(data + TIMESTAMP_OFST, 4); - } - - uint8_t Message::getFlags() - { - return data[FLAGS_OFST]; - } - - uint16_t Message::getType() - { - return btou(data + TYPE_OFST, 2); - } - - uint16_t Message::getChecksum() - { - return btou(data + crcOffset(), 2); - } - - void Message::setLength(uint8_t len) - { - size_t new_total_len = len + 3; - if (new_total_len > MAX_MSG_LENGTH) { return; } - total_len = new_total_len; - data[LENGTH_OFST] = len; - data[LENGTH_COMP_OFST] = ~len; - } - - void Message::setVersion(uint8_t version) - { - data[VERSION_OFST] = version; - } - - void Message::setTimestamp(uint32_t timestamp) - { - utob(data + TIMESTAMP_OFST, 4, timestamp); - } - - void Message::setFlags(uint8_t flags) - { - data[FLAGS_OFST] = flags; - } - - void Message::setType(uint16_t type) - { - utob(data + TYPE_OFST, 2, type); - } - -/** -* Changes the payload length of the packet. -* Does not update packet len/~len fields or the checksum. Call -* makeValid() to update these fields. -* @param len The new payload length -*/ - void Message::setPayloadLength(uint8_t len) - { - - if (((size_t) (len) + HEADER_LENGTH + CRC_LENGTH) > MAX_MSG_LENGTH) { return; } - total_len = len + HEADER_LENGTH + CRC_LENGTH; - } - -/** -* Set the payload of this message. Modifies the length of the -* message as necessary, as per setPayloadLength. -* @see Message::setPayloadLength() -* @param buf Buffer containing the new payload. -* @param buf_size Length of buf. -*/ - void Message::setPayload(void *buf, size_t buf_size) - { - if ((buf_size + HEADER_LENGTH + CRC_LENGTH) > MAX_MSG_LENGTH) { return; } - setPayloadLength(buf_size); - if (buf_size > getPayloadLength()) { return; } - memcpy(data + PAYLOAD_OFST, buf, buf_size); - } - -/** -* Copy the complete raw content of this message to a buffer. -* @param buf The buffer to copy to -* @param buf_size The maximum length of buf -* @return buf on success, NULL on failure -*/ - size_t Message::toBytes(void *buf, size_t buf_size) - { - // If we don't have enough space in the buffer, don't even try - if (total_len > buf_size) - { - return 0; - } - memcpy(buf, data, total_len); - return total_len; - } - -/** -* Checks the consistency of this message. -* @param whyNot Optionally, a reason for validation failure will be -* written here. -* @param strLen Length of the optional whyNot string -* @return true if the message is valid, false otherwise. -*/ - bool Message::isValid(char *whyNot, size_t strLen) - { - // Check SOH - if (data[SOH_OFST] != SOH) - { - if (whyNot) { strncpy(whyNot, "SOH is not present.", strLen); } - return false; - } - // Check STX - if (data[STX_OFST] != STX) - { - if (whyNot) { strncpy(whyNot, "STX is not present.", strLen); } - return false; - } - // Check length matches complement - if (getLength() != ((~getLengthComp()) & 0xff)) - { - if (whyNot) { strncpy(whyNot, "Length does not match complement.", strLen); } - return false; - } - // Check length is correct - if (getLength() != (total_len - 3)) - { - if (whyNot) { strncpy(whyNot, "Length is wrong.", strLen); } - return false; - } - // Check the CRC - if (crc16(crcOffset(), CRC_INIT_VAL, this->data) != getChecksum()) - { - if (whyNot) { strncpy(whyNot, "CRC is wrong.", strLen); } - return false; - } - return true; - } - -/** -* Sets SOH, STX, length, and checksum so that this message becomes valid. -*/ - void Message::makeValid() - { - data[SOH_OFST] = SOH; - data[STX_OFST] = STX; - data[LENGTH_OFST] = total_len - 3; - data[LENGTH_COMP_OFST] = ~data[LENGTH_OFST]; - uint16_t checksum = crc16(crcOffset(), CRC_INIT_VAL, data); - utob(data + crcOffset(), 2, checksum); - } - - std::ostream &Message::printMessage(std::ostream &stream) - { - stream << "Message" << endl; - stream << "=======" << endl; - stream << "Length : " << (int) (getLength()) << endl; - stream << "~Length : " << (int) (getLengthComp()) << endl; - stream << "Version : " << (int) (getVersion()) << endl; - stream << "Flags : " << hex << (int) (getFlags()) << endl; - stream << "Timestamp: " << dec << getTimestamp() << endl; - stream << "Type : " << hex << (int) (getType()) << endl; - stream << "Checksum : " << hex << (int) (getChecksum()) << endl; - stream << dec; - stream << "Raw : "; - printRaw(stream); - return stream; - } - - void Message::printRaw(std::ostream &stream) - { - stream << hex << uppercase; - for (unsigned int i = 0; i < total_len; i++) - { - stream << static_cast(data[i]) << " "; - } - stream << dec; - stream << endl; - } - -/** -* Instantiates the Message subclass corresponding to the -* type field in raw message data. -* @param input The raw message data to instantiate from -* @param msg_len The length of input. -* @return An instance of the correct Message subclass -*/ - Message *Message::factory(void *input, size_t msg_len) - { - uint16_t type = btou((char *) input + TYPE_OFST, 2); - - switch (type) - { - case DATA_ACCEL: - return new DataPlatformAcceleration(input, msg_len); - - case DATA_ACCEL_RAW: - return new DataRawAcceleration(input, msg_len); - - case DATA_ACKERMANN_SETPTS: - return new DataAckermannOutput(input, msg_len); - - case DATA_CURRENT_RAW: - return new DataRawCurrent(input, msg_len); - - case DATA_PLATFORM_NAME: - return new DataPlatformName(input, msg_len); - - case DATA_DIFF_CTRL_CONSTS: - return new DataDifferentialControl(input, msg_len); - - case DATA_DIFF_WHEEL_SPEEDS: - return new DataDifferentialSpeed(input, msg_len); - - case DATA_DIFF_WHEEL_SETPTS: - return new DataDifferentialOutput(input, msg_len); - - case DATA_DISTANCE_DATA: - return new DataRangefinders(input, msg_len); - - case DATA_DISTANCE_TIMING: - return new DataRangefinderTimings(input, msg_len); - - case DATA_ECHO: - return new DataEcho(input, msg_len); - - case DATA_ENCODER: - return new DataEncoders(input, msg_len); - - case DATA_ENCODER_RAW: - return new DataEncodersRaw(input, msg_len); - - case DATA_FIRMWARE_INFO: - return new DataFirmwareInfo(input, msg_len); - - case DATA_GYRO_RAW: - return new DataRawGyro(input, msg_len); - - case DATA_MAGNETOMETER: - return new DataPlatformMagnetometer(input, msg_len); - - case DATA_MAGNETOMETER_RAW: - return new DataRawMagnetometer(input, msg_len); - - case DATA_MAX_ACCEL: - return new DataMaxAcceleration(input, msg_len); - - case DATA_MAX_SPEED: - return new DataMaxSpeed(input, msg_len); - - case DATA_ORIENT: - return new DataPlatformOrientation(input, msg_len); - - case DATA_ORIENT_RAW: - return new DataRawOrientation(input, msg_len); - - case DATA_PLATFORM_INFO: - return new DataPlatformInfo(input, msg_len); - - case DATA_POWER_SYSTEM: - return new DataPowerSystem(input, msg_len); - - case DATA_PROC_STATUS: - return new DataProcessorStatus(input, msg_len); - - case DATA_ROT_RATE: - return new DataPlatformRotation(input, msg_len); - - case DATA_SAFETY_SYSTEM: - return new DataSafetySystemStatus(input, msg_len); - - case DATA_SYSTEM_STATUS: - return new DataSystemStatus(input, msg_len); - - case DATA_TEMPERATURE_RAW: - return new DataRawTemperature(input, msg_len); - - case DATA_VELOCITY_SETPT: - return new DataVelocity(input, msg_len); - - case DATA_VOLTAGE_RAW: - return new DataRawVoltage(input, msg_len); - - default: - return new Message(input, msg_len); - } // switch getType() - } // factory() - - Message *Message::popNext() - { - return Transport::instance().popNext(); - } - - Message *Message::waitNext(double timeout) - { - return Transport::instance().waitNext(timeout); - } - -} // namespace clearpath - -std::ostream &operator<<(std::ostream &stream, clearpath::Message &msg) -{ - return msg.printMessage(stream); -} diff --git a/clearpath_platform/src/a200/horizon_legacy/Message_cmd.cpp b/clearpath_platform/src/a200/horizon_legacy/Message_cmd.cpp deleted file mode 100644 index 2a94aae7..00000000 --- a/clearpath_platform/src/a200/horizon_legacy/Message_cmd.cpp +++ /dev/null @@ -1,376 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS™ -* -* File: Message_cmd.cpp -* Desc: Implements Set Message subclasses. -* Auth: Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#include "clearpath_platform/a200/horizon_legacy/Message_cmd.h" - -#include -#include -#include - -using namespace std; - -#include "clearpath_platform/a200/horizon_legacy/Number.h" -// Conditions on the below to handle compiling for nonstandard hardware -#ifdef LOGGING_AVAIL -#include "clearpath_platform/a200/horizon_legacy/Logger.h" -#endif - -namespace clearpath -{ - - long CmdMessage::total_destroyed = 0; - long CmdMessage::total_sent = 0; - - CmdMessage::~CmdMessage() - { - ++total_destroyed; - if (!is_sent) - { -#ifdef LOGGING_AVAIL - CPR_WARN() << "Command message destroyed without being sent. Type: " - << "0x" << hex << getType() << dec - << ". Total unsent: " << (total_destroyed-total_sent) << endl; -#endif - } - else - { - total_sent++; - } - } - - - CmdProcessorReset::CmdProcessorReset() : CmdMessage() - { - setPayloadLength(2); - utob(getPayloadPointer(), 2, (uint16_t) 0x3A18); - setType(CMD_PROCESSOR_RESET); - makeValid(); - } - - CmdProcessorReset::CmdProcessorReset(const CmdProcessorReset &other) : CmdMessage(other) - { - } - - - CmdRestoreSettings::CmdRestoreSettings(enum restoreFlags flags) : CmdMessage() - { - setPayloadLength(3); - - utob(getPayloadPointer(), 2, (uint16_t) (0x3a18)); - *getPayloadPointer(2) = (uint8_t) (flags); - setType(CMD_RESTORE_SETTINGS); - - makeValid(); - } - - CmdRestoreSettings::CmdRestoreSettings(const CmdRestoreSettings &other) : CmdMessage(other) - { - } - - - CmdStoreSettings::CmdStoreSettings() : CmdMessage() - { - setPayloadLength(2); - - utob(getPayloadPointer(), 2, (uint16_t) (0x3a18)); - setType(CMD_STORE_SETTINGS); - - makeValid(); - } - - CmdStoreSettings::CmdStoreSettings(const CmdStoreSettings &other) : CmdMessage(other) - { - } - - - SetAckermannOutput::SetAckermannOutput(double steer, double throt, double brake) : CmdMessage() - { - setPayloadLength(PAYLOAD_LEN); - - ftob(getPayloadPointer(STEERING), 2, steer, 100); - ftob(getPayloadPointer(THROTTLE), 2, throt, 100); - ftob(getPayloadPointer(BRAKE), 2, brake, 100); - - setType(SET_ACKERMANN_SETPT); - makeValid(); - } - - SetAckermannOutput::SetAckermannOutput(const SetAckermannOutput &other) : CmdMessage(other) - { - } - - - SetDifferentialControl::SetDifferentialControl( - double p, - double i, - double d, - double feedfwd, - double stic, - double int_lim) - : CmdMessage() - { - setPayloadLength(PAYLOAD_LEN); - - ftob(getPayloadPointer(LEFT_P), 2, p, 100); - ftob(getPayloadPointer(LEFT_I), 2, i, 100); - ftob(getPayloadPointer(LEFT_D), 2, d, 100); - ftob(getPayloadPointer(LEFT_FEEDFWD), 2, feedfwd, 100); - ftob(getPayloadPointer(LEFT_STIC), 2, stic, 100); - ftob(getPayloadPointer(LEFT_INT_LIM), 2, int_lim, 100); - - ftob(getPayloadPointer(RIGHT_P), 2, p, 100); - ftob(getPayloadPointer(RIGHT_I), 2, i, 100); - ftob(getPayloadPointer(RIGHT_D), 2, d, 100); - ftob(getPayloadPointer(RIGHT_FEEDFWD), 2, feedfwd, 100); - ftob(getPayloadPointer(RIGHT_STIC), 2, stic, 100); - ftob(getPayloadPointer(RIGHT_INT_LIM), 2, int_lim, 100); - - setType(SET_DIFF_CTRL_CONSTS); - makeValid(); - } - - SetDifferentialControl::SetDifferentialControl( - double left_p, - double left_i, - double left_d, - double left_feedfwd, - double left_stic, - double left_int_lim, - double right_p, - double right_i, - double right_d, - double right_feedfwd, - double right_stic, - double right_int_lim) - : CmdMessage() - { - setPayloadLength(PAYLOAD_LEN); - - ftob(getPayloadPointer(LEFT_P), 2, left_p, 100); - ftob(getPayloadPointer(LEFT_I), 2, left_i, 100); - ftob(getPayloadPointer(LEFT_D), 2, left_d, 100); - ftob(getPayloadPointer(LEFT_FEEDFWD), 2, left_feedfwd, 100); - ftob(getPayloadPointer(LEFT_STIC), 2, left_stic, 100); - ftob(getPayloadPointer(LEFT_INT_LIM), 2, left_int_lim, 100); - - ftob(getPayloadPointer(RIGHT_P), 2, right_p, 100); - ftob(getPayloadPointer(RIGHT_I), 2, right_i, 100); - ftob(getPayloadPointer(RIGHT_D), 2, right_d, 100); - ftob(getPayloadPointer(RIGHT_FEEDFWD), 2, right_feedfwd, 100); - ftob(getPayloadPointer(RIGHT_STIC), 2, right_stic, 100); - ftob(getPayloadPointer(RIGHT_INT_LIM), 2, right_int_lim, 100); - - setType(SET_DIFF_CTRL_CONSTS); - makeValid(); - } - - SetDifferentialControl::SetDifferentialControl(const SetDifferentialControl &other) - : CmdMessage(other) - { - } - - - SetDifferentialOutput::SetDifferentialOutput(double left, double right) : CmdMessage() - { - setPayloadLength(PAYLOAD_LEN); - ftob(getPayloadPointer(LEFT), 2, left, 100); - ftob(getPayloadPointer(RIGHT), 2, right, 100); - - setType(SET_DIFF_WHEEL_SETPTS); - makeValid(); - } - - SetDifferentialOutput::SetDifferentialOutput(const SetDifferentialOutput &other) - : CmdMessage(other) - { - } - - - SetDifferentialSpeed::SetDifferentialSpeed(double left_speed, double right_speed, - double left_accel, double right_accel) - : CmdMessage() - { - setPayloadLength(PAYLOAD_LEN); - - ftob(getPayloadPointer(LEFT_SPEED), 2, left_speed, 100); - ftob(getPayloadPointer(LEFT_ACCEL), 2, left_accel, 100); - ftob(getPayloadPointer(RIGHT_SPEED), 2, right_speed, 100); - ftob(getPayloadPointer(RIGHT_ACCEL), 2, right_accel, 100); - - setType(SET_DIFF_WHEEL_SPEEDS); - makeValid(); - } - - SetDifferentialSpeed::SetDifferentialSpeed(const SetDifferentialSpeed &other) : CmdMessage(other) - { - } - - - SetGear::SetGear(uint8_t gear) : CmdMessage() - { - setPayloadLength(1); - getPayloadPointer()[0] = gear; - setType(SET_GEAR_SETPOINT); - makeValid(); - } - - SetGear::SetGear(const SetGear &other) : CmdMessage(other) - { - } - - - SetMaxAccel::SetMaxAccel(double max_fwd, double max_rev) : CmdMessage() - { - setPayloadLength(PAYLOAD_LEN); - - ftob(getPayloadPointer(MAX_FWD), 2, max_fwd, 100); - ftob(getPayloadPointer(MAX_REV), 2, max_rev, 100); - - setType(SET_MAX_ACCEL); - makeValid(); - } - - SetMaxAccel::SetMaxAccel(const SetMaxAccel &other) : CmdMessage(other) - { - } - - - SetMaxSpeed::SetMaxSpeed(double max_fwd, double max_rev) : CmdMessage() - { - setPayloadLength(PAYLOAD_LEN); - - ftob(getPayloadPointer(MAX_FWD), 2, max_fwd, 100); - ftob(getPayloadPointer(MAX_REV), 2, max_rev, 100); - - setType(SET_MAX_SPEED); - makeValid(); - } - - SetMaxSpeed::SetMaxSpeed(const SetMaxSpeed &other) : CmdMessage(other) - { - } - - - SetPlatformName::SetPlatformName(const char *name) : CmdMessage() - { - size_t cpy_len = strlen(name); - size_t max_len = MAX_MSG_LENGTH - HEADER_LENGTH - CRC_LENGTH - 1 /* for size field */; - if (cpy_len > max_len) { cpy_len = max_len; } - - setPayloadLength(cpy_len + 1); - getPayloadPointer()[0] = cpy_len; - memcpy(getPayloadPointer(1), name, cpy_len); - - setType(SET_PLATFORM_NAME); - - makeValid(); - } - - SetPlatformName::SetPlatformName(const SetPlatformName &other) : CmdMessage(other) - { - } - - - SetPlatformTime::SetPlatformTime(uint32_t time) : CmdMessage() - { - setPayloadLength(4); - utob(getPayloadPointer(), 4, time); - setType(SET_PLATFORM_TIME); - makeValid(); - } - - SetPlatformTime::SetPlatformTime(const SetPlatformTime &other) : CmdMessage(other) - { - } - - - SetSafetySystem::SetSafetySystem(uint16_t flags) : CmdMessage() - { - setPayloadLength(2); - utob(getPayloadPointer(), 2, flags); - setType(SET_SAFETY_SYSTEM); - makeValid(); - } - - SetSafetySystem::SetSafetySystem(const SetSafetySystem &other) : CmdMessage(other) - { - } - - - SetTurn::SetTurn(double trans, double rad, double accel) : CmdMessage() - { - setPayloadLength(PAYLOAD_LEN); - - ftob(getPayloadPointer(TRANSLATIONAL), 2, trans, 100); - ftob(getPayloadPointer(TURN_RADIUS), 2, rad, 100); - ftob(getPayloadPointer(TRANS_ACCEL), 2, accel, 100); - - setType(SET_TURN_SETPT); - makeValid(); - } - - SetTurn::SetTurn(const SetTurn &other) : CmdMessage(other) - { - } - - - SetVelocity::SetVelocity(double trans, double rot, double accel) : CmdMessage() - { - setPayloadLength(PAYLOAD_LEN); - - ftob(getPayloadPointer(TRANSLATIONAL), 2, trans, 100); - ftob(getPayloadPointer(ROTATIONAL), 2, rot, 100); - ftob(getPayloadPointer(TRANS_ACCEL), 2, accel, 100); - - setType(SET_VELOCITY_SETPT); - makeValid(); - } - - SetVelocity::SetVelocity(const SetVelocity &other) : CmdMessage(other) - { - } - - -} // namespace clearpath diff --git a/clearpath_platform/src/a200/horizon_legacy/Message_data.cpp b/clearpath_platform/src/a200/horizon_legacy/Message_data.cpp deleted file mode 100644 index c93c040a..00000000 --- a/clearpath_platform/src/a200/horizon_legacy/Message_data.cpp +++ /dev/null @@ -1,1194 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS™ -* -* File: Message_request.cpp -* Desc: Implements the Request Message class. -* Auth: Iain Peet -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#include "clearpath_platform/a200/horizon_legacy/Message_data.h" -#include "clearpath_platform/a200/horizon_legacy/Number.h" -#include "clearpath_platform/a200/horizon_legacy/Transport.h" - -#include -#include -#include -#include - -using namespace std; - -namespace clearpath -{ - -/** -* Macro which generates definitions of the Message constructors -* ExpectedLength is an expression valid within the constructor which gives the -* expected payload length of the message. If the length reported in the message -* header does not match, and exception will be thrown. If ExpectedLength is -1, -* the length check will be skipped. -* NB: Some Messages need to do some extra work in the constructor and don't use -* this macro! -*/ -#define MESSAGE_CONSTRUCTORS(MessageClass, ExpectedLength) \ -MessageClass::MessageClass(void* input, size_t msg_len) : Message(input, msg_len) \ -{ \ - if( ((ExpectedLength) >= 0) && ((ssize_t)getPayloadLength() != (ExpectedLength)) ) { \ - stringstream ss; \ - ss << "Bad payload length: actual="< - -using namespace std; - -namespace clearpath -{ - - void utob(void *dest, size_t dest_len, uint64_t src) - { - size_t i; - /* Copy bytes from int to array */ - for (i = 0; (i < dest_len) && (i < sizeof(uint64_t)); ++i) - { - ((uint8_t *) dest)[i] = (src >> (i * 8)) & 0xff; - } - /* If array is larger than int, 0-fill the remainder */ - for (; i < dest_len; ++i) - { - ((uint8_t *) dest)[i] = 0; - } - } - - void itob(void *dest, size_t dest_len, int64_t src) - { - size_t i; - /* Copy bytes from int to array */ - for (i = 0; (i < dest_len) && (i < sizeof(int64_t)); ++i) - { - ((uint8_t *) dest)[i] = (src >> (i * 8)) & 0xff; - } - /* If array is larger than int, sign-fill the remainder */ - for (; i < dest_len; ++i) - { - if (((uint8_t *) dest)[dest_len - 1] & 0x80) - { // MSB is set, int is negative - ((uint8_t *) dest)[i] = 0xff; - } - else - { // int is positive - ((uint8_t *) dest)[i] = 0; - } - } - } - - void ftob(void *dest, size_t dest_len, double src, double scale) - { - int64_t int_src = (src * scale); - itob(dest, dest_len, int_src); - } - -/* Need to provide all these overloaded functions because integer promotion - * of smaller int types is ambiguous between the uint64/int64 */ - void utob(void *dest, size_t dest_len, uint32_t src) - { - utob(dest, dest_len, (uint64_t) src); - } - - void utob(void *dest, size_t dest_len, uint16_t src) - { - utob(dest, dest_len, (uint64_t) src); - } - - void itob(void *dest, size_t dest_len, int32_t src) - { - itob(dest, dest_len, (int64_t) src); - } - - void itob(void *dest, size_t dest_len, int16_t src) - { - itob(dest, dest_len, (int64_t) src); - } - - uint64_t btou(void *src, size_t src_len) - { - uint64_t retval = 0; - - if (!src_len) { return 0; } - size_t i = src_len - 1; - do - { - retval = retval << 8; - retval |= ((uint8_t *) src)[i]; - } while (i--); - - return retval; - } - - int64_t btoi(void *src, size_t src_len) - { - int64_t retval = 0; - size_t i = sizeof(int64_t); - - if (!src_len) { return 0; } - - /* If array is shorter than int, need to propagate sign bit */ - for (; i >= src_len; --i) - { - retval = retval << 8; - if (((uint8_t *) src)[src_len - 1] & 0x80) - { // MSB is set, int is negative - retval |= 0xff; - } - } - do - { - retval = retval << 8; - retval |= ((uint8_t *) src)[i]; - } while (i--); - - return retval; - } - - double btof(void *src, size_t src_len, double scale) - { - double retval = btoi(src, src_len); - return retval /= scale; - } - -} // namespace clearpath diff --git a/clearpath_platform/src/a200/horizon_legacy/Transport.cpp b/clearpath_platform/src/a200/horizon_legacy/Transport.cpp deleted file mode 100644 index 76e18728..00000000 --- a/clearpath_platform/src/a200/horizon_legacy/Transport.cpp +++ /dev/null @@ -1,695 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS� -* -* File: Transport.cpp -* Desc: Horizon interface class. Class provides the ability to issue -* commands, monitor acknowledgements, and subscribe to data -* Auth: R. Gariepy -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "clearpath_platform/a200/horizon_legacy/Transport.h" -#include "clearpath_platform/a200/horizon_legacy/Number.h" -#include "clearpath_platform/a200/horizon_legacy/Message.h" -#include "clearpath_platform/a200/horizon_legacy/Message_request.h" -#include "clearpath_platform/a200/horizon_legacy/Message_cmd.h" -#include "clearpath_platform/a200/horizon_legacy/serial.h" -#include "clearpath_platform/a200/horizon_legacy/Logger.h" - -using namespace std; - -namespace clearpath -{ - - const char *Transport::counter_names[] = { - "Garbled bytes", - "Invalid messages", - "Ignored acknowledgment", - "Message queue overflow" - }; - - TransportException::TransportException(const char *msg, enum errors ex_type) - : Exception(msg), type(ex_type) - { - if (msg) - { - CPR_EXCEPT() << "TransportException " << (int) type << ": " << message << endl << std::flush; - } - } - - BadAckException::BadAckException(unsigned int flag) : - TransportException(NULL, TransportException::BAD_ACK_RESULT), - ack_flag((enum ackFlags) flag) - { - switch (ack_flag) - { - case BAD_CHECKSUM: - message = "Bad checksum"; - break; - case BAD_TYPE: - message = "Bad message type"; - break; - case BAD_FORMAT: - message = "Bad message format"; - break; - case RANGE: - message = "Range error"; - break; - case OVER_FREQ: - message = "Requested frequency too high"; - break; - case OVER_SUBSCRIBE: - message = "Too many subscriptions"; - break; - default: - message = "Unknown error code."; - break; - }; - stringstream ss; - - CPR_EXCEPT() << "BadAckException (0x" << hex << flag << dec << "): " << message << endl << flush; - } - -#define CHECK_THROW_CONFIGURED() \ - do { \ - if( ! configured ) { \ - throw new TransportException("Transport not configured", TransportException::NOT_CONFIGURED); \ - } \ - } while( 0 ) - -/** -* Transport singleton instance accessor. -* @return The Transport singleton instance. -*/ - Transport &Transport::instance() - { - static Transport instance; - return instance; - } - -/** -* Constructs an unconfigured transport instance. -*/ - Transport::Transport() : - configured(false), - serial(0), - retries(0) - { - for (int i = 0; i < NUM_COUNTERS; ++i) - { - counters[i] = 0; - } - } - - Transport::~Transport() - { - close(); - } - -/** -* Configure this Transport for communication. -* If this Transport is already configured, it will be closed and reconfigured. -* The RX buffer and Message queue will be flushed. -* Counters will be reset. -* @param device The device to communicate over. (Currently, must be serial) -* @param retries Number of times to resend an unacknowledged message. -* @throws TransportException if configuration fails -* @post Transport becomes configured. -*/ - void Transport::configure(const char *device, int retries) - { - if (configured) - { - // Close serial - close(); - } - - // Forget old counters - resetCounters(); - - this->retries = retries; - - if (!openComm(device)) - { - configured = true; - } - else - { - throw new TransportException("Failed to open serial port", TransportException::CONFIGURE_FAIL); - } - } - -/** -* Close this Transport. -* @return Zero on success, nonzero otherwise -* @post Tranport will be unconfigured, regardless of success/failure. -*/ - int Transport::close() - { - int retval = 0; - if (configured) - { - flush(); - retval = closeComm(); - } - configured = false; - return retval; - } - -/** -* Opens a serial port with the default configuration -* (115200 bps, 8-N-1), using the device specified in the constructor -*/ - int Transport::openComm(const char *device) - { - int tmp = OpenSerial(&(this->serial), device); - if (tmp < 0) - { - return -1; - } - tmp = SetupSerial(this->serial); - if (tmp < 0) - { - return -2; - } - return 0; - } - -/** -* Closes the associated serial port -*/ - int Transport::closeComm() - { - CloseSerial(this->serial); - //serial = 0; - return 0; - } - -/** -* Non-blocking message receive function. -* !!! Absolutely not reentrant !!! -* !!! Keeps internal static state !!! -* @return A pointer to a dynamically allocated message, if one has been received -* this call. Null if no complete message has been received. Bad data -* are silently eaten. -*/ - Message *Transport::rxMessage() - { - /* Each time this function is called, any available characters are added - * to the receive buffer. A new Message is created and returned when - * a complete message has been received (the message may be aggregated - * from data received over multiple calls) */ - static char rx_buf[Message::MAX_MSG_LENGTH]; - static size_t rx_inx = 0; - static size_t msg_len = 0; - - if (!rx_inx) { memset(rx_buf, 0xba, Message::MAX_MSG_LENGTH); } - - /* Read in and handle characters, one at a time. - * (This is a simple state machine, using 'rx_inx' as state) */ - while (ReadData(serial, rx_buf + rx_inx, 1) == 1) - { - switch (rx_inx) - { - - /* Waiting for SOH */ - case 0: - if ((uint8_t) (rx_buf[0]) == (uint8_t) (Message::SOH)) - { - rx_inx++; - } - else { counters[GARBLE_BYTES]++; } - break; - - /* Waiting for length */ - case 1: - rx_inx++; - break; - - /* Waiting for ~length */ - case 2: - rx_inx++; - msg_len = rx_buf[1] + 3; - - /* Check for valid length */ - if (static_cast(rx_buf[1] ^ rx_buf[2]) != 0xFF || - (msg_len < Message::MIN_MSG_LENGTH)) - { - counters[GARBLE_BYTES] += rx_inx; - rx_inx = 0; - } - - break; - - //case 9: - //case 10: - // cout << hex << " " << (unsigned int)(rx_buf[rx_inx]); - // if(rx_inx==10) cout << endl; - - /* Waiting for the rest of the message */ - default: - rx_inx++; - if (rx_inx < msg_len) { break; } - /* Finished rxing, reset this state machine and return msg */ - rx_inx = 0; - Message *msg = Message::factory(rx_buf, msg_len); - return msg; - - } // switch( rx_inx ) - } // while( get character ) - - // Breaking out of loop indicates end of available serial input - return NULL; - } - -/** -* Read data until an ack message is found. -* Any data messages received by this function will be queued. -* @return The next ack message, if one is read. -* Null if no ack message has been read yet. -*/ - Message *Transport::getAck() - { - Message *msg = NULL; - - while ((msg = rxMessage())) - { - /* Queue any data messages that turn up */ - if (msg->isData()) - { - enqueueMessage(msg); - continue; - } - - /* Drop invalid messages */ - if (!msg->isValid()) - { - ++counters[INVALID_MSG]; - delete msg; - continue; - } - - return msg; - } - - return NULL; - } - -/** -* Add a Message to the Message queue. -* Checks Message validity, and drops invalid messages. -* Trims queue down to size if it gets too big. -* @param msg The message to enqueue. -*/ - void Transport::enqueueMessage(Message *msg) - { - /* Reject invalid messages */ - if (!msg->isValid()) - { - ++counters[INVALID_MSG]; - delete msg; - return; - } - - // Enqueue - rx_queue.push_back(msg); - - /* Drop the oldest messages if the queue has overflowed */ - while (rx_queue.size() > MAX_QUEUE_LEN) - { - ++counters[QUEUE_FULL]; - delete rx_queue.front(); - rx_queue.pop_front(); - } - } - - -/** -* Public function which makes sure buffered messages are still being read into -* the internal buffer. A compromise between forcing a thread-based implementation -* and blocking on results. This could be placed into a separate thread, but will -* need to be wrapped for thread safety -*/ - void Transport::poll() - { - CHECK_THROW_CONFIGURED(); - - Message *msg = NULL; - - while ((msg = rxMessage())) - { - /* We're not waiting for acks, so drop them */ - if (!msg->isData()) - { - ++counters[IGNORED_ACK]; - delete msg; - continue; - } - - // Message is good, queue it. - enqueueMessage(msg); - } - } - -/** -* Send a message. -* Waits for the firmware to acknowlge and resends the packet -* a few timew if not acknowledged. -* @param m The message to send -* @throw Transport::Exception if never acknowledged. -*/ - void Transport::send(Message *m) - { - CHECK_THROW_CONFIGURED(); - - char skip_send = 0; - Message *ack = NULL; - int transmit_times = 0; - short result_code; - - poll(); - - while (1) - { - // We have exceeded our retry numbers - if (transmit_times > this->retries) - { - break; - } - // Write output - if (!skip_send) { WriteData(serial, (char *) (m->data), m->total_len); } - - // Wait up to 100 ms for ack - for (int i = 0; i < RETRY_DELAY_MS; ++i) - { - usleep(1000); - if ((ack = getAck())) { break; } - } - - // No message - resend - if (ack == NULL) - { - skip_send = 0; - //cout << "No message received yet" << endl; - transmit_times++; - continue; - } - - // Check result code - // If the result code is bad, the message was still transmitted - // successfully - result_code = btou(ack->getPayloadPointer(), 2); - if (result_code > 0) - { - throw new BadAckException(result_code); - } - else - { - // Everything's good - return - break; - } - // Other failure - transmit_times++; - } - if (ack == NULL) - { - throw new TransportException("Unacknowledged send", TransportException::UNACKNOWLEDGED_SEND); - } - delete ack; - - m->is_sent = true; - } - -/** -* Removes the oldest Message from the Message queue and returns it. -* All data waiting in the input buffer will be read and queued. -* @return The oldest message in the queue. This Message is removed -* from the queue. It is dynamically allocated; the caller -* is responsible for freeing it. -* Null if no Messages are currently queued. -*/ - Message *Transport::popNext() - { - CHECK_THROW_CONFIGURED(); - - poll(); // empty the current serial RX queue. - - if (rx_queue.empty()) { return NULL; } - - Message *next = rx_queue.front(); - rx_queue.pop_front(); - return next; - } - -/** -* Finds the oldest message of a specific type in the Message queue, removes -* it, and returns it. Older messages of the wrong type will be left in -* the queue. -* All data waiting in the input buffer will be read and queued. -* @return The oldest message of the correct type in the queue. This Message -* is removed from the queue. It is dynamically allocated; the caller -* is responsible for freeing it. -* Null if no Messages are currently queued. -*/ - Message *Transport::popNext(enum MessageTypes type) - { - CHECK_THROW_CONFIGURED(); - - poll(); // empty the current RX queue - - Message *next; - list::iterator iter; - for (iter = rx_queue.begin(); iter != rx_queue.end(); ++iter) - { - if ((*iter)->getType() == type) - { - next = *iter; - rx_queue.erase(iter); - return next; - } - } - return NULL; - } - -/** -* Fetch a message, blocking if there are no messages currently available. -* @param timeout Maximum time to block, in seconds. -* Actual resolution is system dependent -* A timeout of 0.0 indicates no timeout. -* @return A message. Null if the timeout elapses. */ - Message *Transport::waitNext(double timeout) - { - CHECK_THROW_CONFIGURED(); - - double elapsed = 0.0; - while (true) - { - /* Return a message if it's turned up */ - poll(); - if (!rx_queue.empty()) { return popNext(); } - - /* Check timeout */ - if ((timeout != 0.0) && (elapsed > timeout)) - { - // If we have a timeout set, and it has elapsed, exit. - return NULL; - } - - // Wait a ms before retry - usleep(1000); - elapsed += 0.001; - } - } - -/** -* Fetch a particular type of message, blocking if one isn't available. -* @param type The type of message to fetch -* @param timeout Maximum time to block, in seconds. -* Actual resolution is system dependent -* A timeout of 0.0 indicates no timeout. -* @return A message of the requested type. Nul if the timeout elapses. -*/ - Message *Transport::waitNext(enum MessageTypes type, double timeout) - { - CHECK_THROW_CONFIGURED(); - - double elapsed = 0.0; - Message *msg; - - while (true) - { - /* Check if the message has turned up - * Since we're blocking, not doing anything useful anyway, it doesn't - * really matter that we're iterating the entire message queue every spin. */ - poll(); - msg = popNext(type); - if (msg) { return msg; } - - /* Check timeout */ - if ((timeout != 0.0) && (elapsed > timeout)) - { - // If a timeout is set and has elapsed, fail out. - return NULL; - } - - // Wait a ms before retry - usleep(1000); - elapsed += 0.001; - } - } - -/** -* Empties the serial buffer and the entire message queue. -* Optionally, the queue may be emptied into a provided list. -* @param queue If not null, the entire message queue will be -* added to this list, oldest first. -* If null, messages will be deleted. -*/ - void Transport::flush(list *queue) - { - CHECK_THROW_CONFIGURED(); - - poll(); // flush serial buffer - - /* Either delete or move all elements in the queue, depending - * on whether a destination list is provided */ - list::iterator iter; - for (iter = rx_queue.begin(); iter != rx_queue.end(); ++iter) - { - if (queue) - { - queue->push_back(*iter); - } - else - { - delete *iter; - } - } - - rx_queue.clear(); - } - -/** -* Empties the serial buffer and removes all messages of a given type -* from the message queue. Optionally, removed messages may be added -* to a provided list. -* @param type The type of message to flush out. -* @param queue If not null, all messages of the correct type will be -* added to this list, oldest first. -* If null, messages of the correct type will be deleted. -*/ - void Transport::flush(enum MessageTypes type, list *queue) - { - CHECK_THROW_CONFIGURED(); - - poll(); - - list::iterator iter = rx_queue.begin(); - while (iter != rx_queue.end()) - { - if ((*iter)->getType() == type) - { - /* Element is of flush type. If there's a destination - * list, move it. Otherwise, destroy it */ - if (queue) - { - queue->push_back(*iter); - } - else - { - delete *iter; - } - // This advances to the next element in the queue: - iter = rx_queue.erase(iter); - } - else - { - // Not interested in this element. Next! - iter++; - } - } - } - -/** -* Prints a nice list of counter values -*/ - void Transport::printCounters(ostream &stream) - { - stream << "Transport Counters" << endl; - stream << "==================" << endl; - - size_t longest_name = 0; - size_t cur_len = 0; - for (int i = 0; i < NUM_COUNTERS; ++i) - { - cur_len = strlen(counter_names[i]); - if (cur_len > longest_name) { longest_name = cur_len; } - } - - for (int i = 0; i < NUM_COUNTERS; ++i) - { - cout.width(longest_name); - cout << left << counter_names[i] << ": " << counters[i] << endl; - } - - cout.width(longest_name); - cout << left << "Queue length" << ": " << rx_queue.size() << endl; - } - -/** -* Wipes out counters -*/ - void Transport::resetCounters() - { - for (int i = 0; i < NUM_COUNTERS; ++i) - { - counters[i] = 0; - } - } - -} // namespace clearpath diff --git a/clearpath_platform/src/a200/horizon_legacy/crc.cpp b/clearpath_platform/src/a200/horizon_legacy/crc.cpp deleted file mode 100644 index 7ed3b0e3..00000000 --- a/clearpath_platform/src/a200/horizon_legacy/crc.cpp +++ /dev/null @@ -1,88 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS� -* -* File: crc.cpp -* Desc: 16 bit CRC function and lookup table. Uses a table-based implementation. -* When INIT_VAL=0xFFFF, this is identical to that used on the -* various uCs which implement Horizon -* Auth: R. Gariepy -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#include - -//CRC lookup table for polynomial 0x1021 -const uint16_t table[256] = - {0, 4129, 8258, 12387, 16516, 20645, 24774, 28903, 33032, 37161, 41290, 45419, 49548, - 53677, 57806, 61935, 4657, 528, 12915, 8786, 21173, 17044, 29431, 25302, 37689, 33560, - 45947, 41818, 54205, 50076, 62463, 58334, 9314, 13379, 1056, 5121, 25830, 29895, 17572, - 21637, 42346, 46411, 34088, 38153, 58862, 62927, 50604, 54669, 13907, 9842, 5649, 1584, - 30423, 26358, 22165, 18100, 46939, 42874, 38681, 34616, 63455, 59390, 55197, 51132, - 18628, 22757, 26758, 30887, 2112, 6241, 10242, 14371, 51660, 55789, 59790, 63919, - 35144, 39273, 43274, 47403, 23285, 19156, 31415, 27286, 6769, 2640, 14899, 10770, - 56317, 52188, 64447, 60318, 39801, 35672, 47931, 43802, 27814, 31879, 19684, 23749, - 11298, 15363, 3168, 7233, 60846, 64911, 52716, 56781, 44330, 48395, 36200, 40265, - 32407, 28342, 24277, 20212, 15891, 11826, 7761, 3696, 65439, 61374, 57309, 53244, - 48923, 44858, 40793, 36728, 37256, 33193, 45514, 41451, 53516, 49453, 61774, 57711, - 4224, 161, 12482, 8419, 20484, 16421, 28742, 24679, 33721, 37784, 41979, 46042, 49981, - 54044, 58239, 62302, 689, 4752, 8947, 13010, 16949, 21012, 25207, 29270, 46570, 42443, - 38312, 34185, 62830, 58703, 54572, 50445, 13538, 9411, 5280, 1153, 29798, 25671, 21540, - 17413, 42971, 47098, 34713, 38840, 59231, 63358, 50973, 55100, 9939, 14066, 1681, 5808, - 26199, 30326, 17941, 22068, 55628, 51565, 63758, 59695, 39368, 35305, 47498, 43435, 22596, - 18533, 30726, 26663, 6336, 2273, 14466, 10403, 52093, 56156, 60223, 64286, 35833, 39896, - 43963, 48026, 19061, 23124, 27191, 31254, 2801, 6864, 10931, 14994, 64814, 60687, 56684, - 52557, 48554, 44427, 40424, 36297, 31782, 27655, 23652, 19525, 15522, 11395, 7392, 3265, - 61215, 65342, 53085, 57212, 44955, 49082, 36825, 40952, 28183, 32310, 20053, 24180, 11923, - 16050, 3793, 7920}; - - -/***----------Table-driven crc function----------***/ -/*Inputs: -size of the character array, the CRC of which is being computed */ -/* - the initial value of the register to be used in the calculation */ -/* - a pointer to the first element of said character array */ -/*Outputs: the crc as an unsigned short int */ -uint16_t crc16(int size, int init_val, uint8_t *data) -{ - unsigned short int crc = static_cast(init_val); - while (size--) - { - crc = (crc << 8) ^ table[((crc >> 8) ^ *data++) & 0xFF]; - } - return crc; -} diff --git a/clearpath_platform/src/a200/horizon_legacy/horizon_legacy_wrapper.cpp b/clearpath_platform/src/a200/horizon_legacy/horizon_legacy_wrapper.cpp deleted file mode 100644 index 96a5096e..00000000 --- a/clearpath_platform/src/a200/horizon_legacy/horizon_legacy_wrapper.cpp +++ /dev/null @@ -1,98 +0,0 @@ -/** -* -* \author Paul Bovbel -* \copyright Copyright (c) 2014-2015, Clearpath Robotics, Inc. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to code@clearpathrobotics.com -* -*/ - -#include "clearpath_platform/a200/horizon_legacy/clearpath.h" - - -namespace -{ - std::string port_; -} - -namespace horizon_legacy -{ - - void reconnect() - { - if (port_.empty()) - { - throw std::logic_error("Can't reconnect when port is not configured"); - } - std::cout << "Connecting to Husky on port " << port_ << "..."; - clearpath::Transport::instance().configure(port_.c_str(), 3); - std::cout << "Connected"; - } - - void connect(std::string port) - { - port_ = port; - reconnect(); - } - - void configureLimits(double max_speed, double max_accel) - { - - bool success = false; - while (!success) - { - try - { - clearpath::SetMaxAccel(max_accel, max_accel).send(); - clearpath::SetMaxSpeed(max_speed, max_speed).send(); - success = true; - } - catch (clearpath::Exception *ex) - { - std::cout << "Error configuring velocity and accel limits: " << ex->message; - reconnect(); - } - } - } - - void controlSpeed(double speed_left, double speed_right, double accel_left, double accel_right) - { - bool success = false; - while (!success) - { - try - { - clearpath::SetDifferentialSpeed(speed_left, speed_right, accel_left, accel_right).send(); - success = true; - } - catch (clearpath::Exception *ex) - { - std::cout << "Error sending speed and accel command: " << ex->message; - reconnect(); - } - } - } - -} diff --git a/clearpath_platform/src/a200/horizon_legacy/linux_serial.cpp b/clearpath_platform/src/a200/horizon_legacy/linux_serial.cpp deleted file mode 100644 index a997e686..00000000 --- a/clearpath_platform/src/a200/horizon_legacy/linux_serial.cpp +++ /dev/null @@ -1,174 +0,0 @@ -/** -* _____ -* / _ \ -* / _/ \ \ -* / / \_/ \ -* / \_/ _ \ ___ _ ___ ___ ____ ____ ___ _____ _ _ -* \ / \_/ \ / / _\| | | __| / _ \ | ++ \ | ++ \ / _ \ |_ _|| | | | -* \ \_/ \_/ / | | | | | ++ | |_| || ++ / | ++_/| |_| | | | | +-+ | -* \ \_/ / | |_ | |_ | ++ | _ || |\ \ | | | _ | | | | +-+ | -* \_____/ \___/|___||___||_| |_||_| \_\|_| |_| |_| |_| |_| |_| -* ROBOTICS� -* -* File: linux_serial.cpp -* Desc: Linux-compatible serial commands for linking with generic functions -* defined in serial.h -* Auth: M. Hansen, R. Gariepy -* -* Copyright (c) 2010, Clearpath Robotics, Inc. -* All Rights Reserved -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions are met: -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in the -* documentation and/or other materials provided with the distribution. -* * Neither the name of Clearpath Robotics, Inc. nor the -* names of its contributors may be used to endorse or promote products -* derived from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -* DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY -* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -* -* Please send comments, questions, or patches to skynet@clearpathrobotics.com -* -*/ - -#if !defined(LINUX_SERIAL_H) && !defined(win_x86) -#define LINUX_SERIAL_H - -#include "clearpath_platform/a200/horizon_legacy/serial.h" /* Std. function protos */ -#include /* Standard input/output definitions */ -#include /* String function definitions */ -#include /* UNIX standard function definitions */ -#include /* File control definitions */ -#include /* Error number definitions */ -#include /* POSIX terminal control definitions */ -#include /* Malloc */ -#include - -int OpenSerial(void **handle, const char *port_name) -{ - - int fd; /* File descriptor for the port */ - - fd = open(port_name, O_RDWR | O_NOCTTY | O_NDELAY); - if (fd == -1) - { - fprintf(stderr, "Unable to open %s\n\r", port_name); - return -3; - } - - // Verify it is a serial port - if (!isatty(fd)) - { - close(fd); - fprintf(stderr, "%s is not a serial port\n", port_name); - return -3; - } - - *handle = (int *) malloc(sizeof(int)); - **(int **) handle = fd; - return fd; -} - -int SetupSerial(void *handle) -{ - struct termios options; - - // Get the current options for the port... - tcgetattr(*(int *) handle, &options); - - // 8 bits, 1 stop, no parity - options.c_cflag = 0; - options.c_cflag |= CS8; // 8-bit input - - // Enable the receiver and set local mode... - options.c_cflag |= (CLOCAL | CREAD); - - // Set the baud rates to 115200... - cfsetispeed(&options, B115200); - cfsetospeed(&options, B115200); - - // No input processing - options.c_iflag = 0; - - // No output processing - options.c_oflag = 0; - - // No line processing - options.c_lflag = 0; - - // read timeout - options.c_cc[VMIN] = 0; // non-blocking - options.c_cc[VTIME] = 1; // always return after 0.1 seconds - - // Set the new options for the port... - tcsetattr(*(int *) handle, TCSAFLUSH, &options); - - return 0; -} - -int WriteData(void *handle, const char *buffer, int length) -{ - int n = write(*(int *) handle, buffer, length); - if (n < 0) - { - fprintf(stderr, "Error in serial write\r\n"); - return -1; - } - - // serial port output monitor -//#define TX_DEBUG -#ifdef TX_DEBUG - printf("TX:"); - int i; - for (i=0; i -\copyright Copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. -Redistribution and use in source and binary forms, with or without modification, are permitted provided that -the following conditions are met: - * Redistributions of source code must retain the above copyright notice, this list of conditions and the - following disclaimer. - * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the - following disclaimer in the documentation and/or other materials provided with the distribution. - * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote - products derived from this software without specific prior written permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- -RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- -DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT -OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - - -#include "clearpath_platform/a200/status.hpp" - -/** - * @brief Construct a new A200Status object - * - */ -a200_status::A200Status::A200Status() -: Node("a200_status_node") -{ - pub_power_= create_publisher( - "platform/mcu/status/power", - rclcpp::SensorDataQoS()); - - pub_status_= create_publisher( - "platform/mcu/status", - rclcpp::SensorDataQoS()); - -// pub_stop_status_= create_publisher( -// "platform/mcu/status/stop", -// rclcpp::SensorDataQoS()); - - pub_stop_state_= create_publisher( - "platform/emergency_stop", - rclcpp::SensorDataQoS()); - - pub_driver_left_temp_ = create_publisher( - "platform/driver/left/temperature", - rclcpp::SensorDataQoS()); - - pub_driver_right_temp_ = create_publisher( - "platform/driver/right/temperature", - rclcpp::SensorDataQoS()); - - pub_motor_left_temp_ = create_publisher( - "platform/motors/left/temperature", - rclcpp::SensorDataQoS()); - - pub_motor_right_temp_ = create_publisher( - "platform/motors/right/temperature", - rclcpp::SensorDataQoS()); -} - - -/** - * @brief Publish Power Message - * - * @param power_msg Message to publish - */ -void a200_status::A200Status::publish_power(const clearpath_platform_msgs::msg::Power & power_msg) -{ - pub_power_->publish(power_msg); -} - -/** - * @brief Publish Status Message - * - * @param status_msg Message to publish - */ -void a200_status::A200Status::publish_status(const clearpath_platform_msgs::msg::Status & status_msg) -{ - pub_status_->publish(status_msg); -} - -/** - * @brief Publish StopStatus Message - * - * @param stop_status_msg Message to publish - */ -void a200_status::A200Status::publish_stop_status(const clearpath_platform_msgs::msg::StopStatus & stop_status_msg) -{ - pub_stop_status_->publish(stop_status_msg); -} - -/** - * @brief Publish Stop Message - * - * @param stop_msg Message to publish - */ -void a200_status::A200Status::publish_stop_state(const std_msgs::msg::Bool & stop_msg) -{ - pub_stop_state_->publish(stop_msg); -} - -/** - * @brief Publish Temperature Messages - * - * @param driver_left_msg Driver left message to publish - * @param driver_right_msg Driver right message to publish - * @param motor_left_msg Motor left message to publish - * @param motor_right_msg Motor right message to publish - */ -void a200_status::A200Status::publish_temps(const std_msgs::msg::Float32 & driver_left_msg, - const std_msgs::msg::Float32 & driver_right_msg, - const std_msgs::msg::Float32 & motor_left_msg, - const std_msgs::msg::Float32 & motor_right_msg) -{ - pub_driver_left_temp_->publish(driver_left_msg); - pub_driver_right_temp_->publish(driver_right_msg); - pub_motor_left_temp_->publish(motor_left_msg); - pub_motor_right_temp_->publish(motor_right_msg); -} \ No newline at end of file diff --git a/clearpath_platform/src/diff_drive/hardware.cpp b/clearpath_platform/src/diff_drive/hardware.cpp deleted file mode 100644 index a6418958..00000000 --- a/clearpath_platform/src/diff_drive/hardware.cpp +++ /dev/null @@ -1,320 +0,0 @@ -/** - * - * \file - * \brief Class representing diff drive hardware - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include "clearpath_platform/diff_drive/hardware.hpp" -#include "clearpath_platform_msgs/msg/feedback.hpp" -#include "hardware_interface/types/hardware_interface_type_values.hpp" - -namespace clearpath_platform -{ - -static const std::string LEFT_CMD_JOINT_NAME = "front_left_wheel_joint"; -static const std::string RIGHT_CMD_JOINT_NAME = "front_right_wheel_joint"; -static const std::string LEFT_ALT_JOINT_NAME = "rear_left_wheel_joint"; -static const std::string RIGHT_ALT_JOINT_NAME = "rear_right_wheel_joint"; - -/** - * @brief Write commanded velocities to the MCU - * - */ -void DiffDriveHardware::writeCommandsToHardware() -{ - double diff_speed_left = hw_commands_[wheel_joints_[LEFT_CMD_JOINT_NAME]]; - double diff_speed_right = hw_commands_[wheel_joints_[RIGHT_CMD_JOINT_NAME]]; - - if (std::abs(diff_speed_left) < 0.01 && std::abs(diff_speed_right) < 0.01) { - diff_speed_left = diff_speed_right = 0.0; - } - - node_->drive_command( - static_cast(diff_speed_left), - static_cast(diff_speed_right), - clearpath_platform_msgs::msg::Drive::MODE_VELOCITY); -} - -/** - * @brief Pull latest speed and travel measurements from MCU, - * and store in joint structure for ros_control - * - */ -void DiffDriveHardware::updateJointsFromHardware() -{ - rclcpp::spin_some(node_); - clearpath_platform_msgs::msg::Feedback msg = node_->get_feedback(); - RCLCPP_DEBUG( - rclcpp::get_logger(hw_name_), - "Received linear distance information (L: %f, R: %f)", - msg.drivers[0].measured_travel, msg.drivers[1].measured_travel); - - auto side = clearpath_platform_msgs::msg::Drive::LEFT; - for (auto i = 0u; i < hw_states_position_.size(); i++) { - if (num_joints_ == DIFF_DRIVE_TWO_JOINTS) - { - if (i == wheel_joints_[RIGHT_CMD_JOINT_NAME]){ - side = clearpath_platform_msgs::msg::Drive::RIGHT; - } - else { - side = clearpath_platform_msgs::msg::Drive::LEFT; - } - } - else if (num_joints_ == DIFF_DRIVE_FOUR_JOINTS) - { - if (i == wheel_joints_[RIGHT_CMD_JOINT_NAME] || i == wheel_joints_[RIGHT_ALT_JOINT_NAME]){ - side = clearpath_platform_msgs::msg::Drive::RIGHT; - } - else { - side = clearpath_platform_msgs::msg::Drive::LEFT; - } - } - - double delta = msg.drivers[side].measured_travel - - hw_states_position_[i] - hw_states_position_offset_[i]; - - // detect suspiciously large readings, possibly from encoder rollover - if (std::abs(delta) < 1.0f) { - hw_states_position_[i] += delta; - } else { - // suspicious! drop this measurement and update the offset for subsequent readings - hw_states_position_offset_[i] += delta; - RCLCPP_WARN( - rclcpp::get_logger(hw_name_), "Dropping overflow measurement from encoder"); - } - - // Velocities - hw_states_velocity_[i] = msg.drivers[side].measured_velocity; - } -} - -hardware_interface::CallbackReturn DiffDriveHardware::getHardwareInfo(const hardware_interface::HardwareInfo & info) -{ - // Get info from URDF - if (hardware_interface::SystemInterface::on_init(info) != hardware_interface::CallbackReturn::SUCCESS) - { - return hardware_interface::CallbackReturn::ERROR; - } - - hw_name_ = info_.name; - num_joints_ = info_.joints.size(); - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Name: %s", hw_name_.c_str()); - - // Check for valid number of joints - if (num_joints_ != DIFF_DRIVE_FOUR_JOINTS && num_joints_ != DIFF_DRIVE_TWO_JOINTS) - { - RCLCPP_ERROR(rclcpp::get_logger(hw_name_), "Invalid number of joints %u", num_joints_); - return hardware_interface::CallbackReturn::ERROR; - } - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Number of Joints %u", num_joints_); - - hw_states_position_.resize(num_joints_); - hw_states_position_offset_.resize(num_joints_); - hw_states_velocity_.resize(num_joints_); - hw_commands_.resize(num_joints_); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn DiffDriveHardware::validateJoints() -{ - for (const hardware_interface::ComponentInfo & joint : info_.joints) - { - // DiffDriveHardware has exactly two states and one command interface on each joint - if (joint.command_interfaces.size() != 1) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(), - joint.command_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.command_interfaces[0].name != hardware_interface::HW_IF_VELOCITY) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(), - joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces.size() != 2) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(), - joint.state_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' have '%s' as first state interface. '%s' expected.", - joint.name.c_str(), joint.state_interfaces[0].name.c_str(), - hardware_interface::HW_IF_POSITION); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[1].name != hardware_interface::HW_IF_VELOCITY) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' have '%s' as second state interface. '%s' expected.", joint.name.c_str(), - joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - } - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn DiffDriveHardware::initHardwareInterface() -{ - node_ = std::make_shared("diff_drive_hardware_interface"); - - if (node_ == nullptr) - { - return hardware_interface::CallbackReturn::ERROR; - } - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn DiffDriveHardware::on_init(const hardware_interface::HardwareInfo & info) -{ - hardware_interface::CallbackReturn ret; - // Get Hardware name and joints - ret = getHardwareInfo(info); - - if (ret != hardware_interface::CallbackReturn::SUCCESS) - { - return ret; - } - - // Validate joints - ret = validateJoints(); - - if (ret != hardware_interface::CallbackReturn::SUCCESS) - { - return ret; - } - - // Initialize hardware interface - return initHardwareInterface(); -} - -std::vector DiffDriveHardware::export_state_interfaces() -{ - std::vector state_interfaces; - for (auto i = 0u; i < num_joints_; i++) { - state_interfaces.emplace_back( - hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_position_[i])); - state_interfaces.emplace_back( - hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_states_velocity_[i])); - } - - return state_interfaces; -} - -std::vector DiffDriveHardware::export_command_interfaces() -{ - std::vector command_interfaces; - - for (auto i = 0u; i < num_joints_; i++) { - command_interfaces.emplace_back( - hardware_interface::CommandInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_[i])); - - // Map wheel joint name to index - wheel_joints_[info_.joints[i].name] = i; - } - - return command_interfaces; -} - -hardware_interface::CallbackReturn DiffDriveHardware::on_activate(const rclcpp_lifecycle::State & /*previous_state*/) -{ - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Starting ...please wait..."); - - // set some default values - for (auto i = 0u; i < hw_states_position_.size(); i++) { - if (std::isnan(hw_states_position_[i])) { - hw_states_position_[i] = 0; - hw_states_position_offset_[i] = 0; - hw_states_velocity_[i] = 0; - hw_commands_[i] = 0; - } - } - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "System Successfully started!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn DiffDriveHardware::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/) -{ - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Stopping ...please wait..."); - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "System successfully stopped!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::return_type DiffDriveHardware::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) -{ - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Reading from hardware"); - - updateJointsFromHardware(); - - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Joints successfully read!"); - - return hardware_interface::return_type::OK; -} - -hardware_interface::return_type DiffDriveHardware::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) -{ - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Writing to hardware"); - - writeCommandsToHardware(); - - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Joints successfully written!"); - - return hardware_interface::return_type::OK; -} - -} // namespace clearpath_platform diff --git a/clearpath_platform/src/diff_drive/hardware_interface.cpp b/clearpath_platform/src/diff_drive/hardware_interface.cpp deleted file mode 100644 index 2102b074..00000000 --- a/clearpath_platform/src/diff_drive/hardware_interface.cpp +++ /dev/null @@ -1,98 +0,0 @@ -/** - * - * \file - * \brief Class representing diff drive hardware interface - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include "clearpath_platform/diff_drive/hardware_interface.hpp" - -using clearpath_platform::DiffDriveHardwareInterface; - -/** - * @brief Construct a new DiffDriveHardwareInterface object - * - */ -DiffDriveHardwareInterface::DiffDriveHardwareInterface(std::string node_name="diff_drive_hardware_interface") -: Node(node_name) -{ - feedback_sub_ = create_subscription( - "platform/motors/feedback", - rclcpp::SensorDataQoS(), - std::bind(&DiffDriveHardwareInterface::feedback_callback, this, std::placeholders::_1)); - - drive_pub_ = create_publisher( - "platform/motors/cmd_drive", - rclcpp::SensorDataQoS()); -} - -/** - * @brief Feedback subscription callback - * - * @param msg - */ -void DiffDriveHardwareInterface::feedback_callback(const clearpath_platform_msgs::msg::Feedback::SharedPtr msg) -{ - std::lock_guard guard(feedback_mutex_); - feedback_ = *msg; -} - -/** - * @brief Publish Drive message - * - * @param left_wheel Left wheel command - * @param right_wheel Right wheel command - * @param mode Command mode - */ -void DiffDriveHardwareInterface::drive_command(const float & left_wheel, const float & right_wheel, const int8_t & mode) -{ - clearpath_platform_msgs::msg::Drive drive_msg; - drive_msg.mode = mode; - drive_msg.drivers[clearpath_platform_msgs::msg::Drive::LEFT] = left_wheel; - drive_msg.drivers[clearpath_platform_msgs::msg::Drive::RIGHT] = right_wheel; - drive_pub_->publish(drive_msg); -} - -/** - * @brief Get latest feedback message - * - * @return clearpath_platform_msgs::msg::Feedback message - */ -clearpath_platform_msgs::msg::Feedback DiffDriveHardwareInterface::get_feedback() -{ - clearpath_platform_msgs::msg::Feedback msg; - - { - std::lock_guard guard(feedback_mutex_); - msg = feedback_; - } - - return msg; -} diff --git a/clearpath_platform/src/j100/hardware.cpp b/clearpath_platform/src/j100/hardware.cpp deleted file mode 100644 index 7cce8178..00000000 --- a/clearpath_platform/src/j100/hardware.cpp +++ /dev/null @@ -1,58 +0,0 @@ -/** - * - * \file - * \brief Class representing J100 hardware - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include "clearpath_platform/j100/hardware.hpp" -#include "clearpath_platform_msgs/msg/feedback.hpp" -#include "hardware_interface/types/hardware_interface_type_values.hpp" - -namespace clearpath_platform -{ - -hardware_interface::CallbackReturn J100Hardware::initHardwareInterface() -{ - node_ = std::make_shared("j100_hardware_interface"); - - if (node_ == nullptr) - { - return hardware_interface::CallbackReturn::ERROR; - } - - return hardware_interface::CallbackReturn::SUCCESS; -} - -} // namespace clearpath_platform - -#include "pluginlib/class_list_macros.hpp" -PLUGINLIB_EXPORT_CLASS( - clearpath_platform::J100Hardware, hardware_interface::SystemInterface) diff --git a/clearpath_platform/src/j100/hardware.xml b/clearpath_platform/src/j100/hardware.xml deleted file mode 100644 index ade41f06..00000000 --- a/clearpath_platform/src/j100/hardware.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - The ros2_control J100Hardware using a system hardware interface-type. - - - diff --git a/clearpath_platform/src/j100/hardware_interface.cpp b/clearpath_platform/src/j100/hardware_interface.cpp deleted file mode 100644 index b07ae9ae..00000000 --- a/clearpath_platform/src/j100/hardware_interface.cpp +++ /dev/null @@ -1,45 +0,0 @@ -/** - * - * \file - * \brief Class representing J100 hardware interface - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include "clearpath_platform/j100/hardware_interface.hpp" - -using clearpath_platform::J100HardwareInterface; - -/** - * @brief Construct a new J100HardwareInterface object - * - */ -J100HardwareInterface::J100HardwareInterface(std::string node_name) -: DiffDriveHardwareInterface(node_name) -{} diff --git a/clearpath_platform/src/lighting/color.cpp b/clearpath_platform/src/lighting/color.cpp deleted file mode 100644 index d01678d2..00000000 --- a/clearpath_platform/src/lighting/color.cpp +++ /dev/null @@ -1,143 +0,0 @@ -/** - * - * \file - * \brief Color Class - * \author Roni Kreinin - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - * Adapted from https://gist.github.com/borgel/d9a8bc11aeb5e0005d8320026c46f6f7 - */ - -#include -#include "clearpath_platform/lighting/color.hpp" - -using clearpath_lighting::ColorHSV; - -/** - * @brief ColorHSV constructor - * @param hsv: Struct representing HSV color - */ -ColorHSV::ColorHSV(hsv_t hsv) : hsv_(hsv) -{} - -/** - * @brief Create vector of ColorHSV to fade between two HSV colors - * @param start: Starting color - * @param end: Ending color - * @param steps: Number of steps to fade from start to end - * @retval Vector of colors representing the fade - */ -std::vector ColorHSV::fade(ColorHSV start, ColorHSV end, uint32_t steps) -{ - std::vector fade_vector; - - double h_step, s_step, v_step; - - // Linearly step from start to end - h_step = (end.h() - start.h()) / steps; - s_step = (end.s() - start.s()) / steps; - v_step = (end.v() - start.v()) / steps; - - fade_vector.push_back(start); - - for (uint32_t i = 0; i < steps - 2; i++) - { - hsv_t hsv = hsv_t( - fade_vector.back().h() + h_step, - fade_vector.back().s() + s_step, - fade_vector.back().v() + v_step); - fade_vector.push_back(ColorHSV(hsv)); - } - - fade_vector.push_back(end); - - return fade_vector; -} - -/** - * @brief Convert HSV color to RGB - * @retval RGB message - */ -clearpath_platform_msgs::msg::RGB ColorHSV::getRgbMsg() -{ - clearpath_platform_msgs::msg::RGB rgb; - int i; - double f,p,q,t; - double h, s, v; - - h = std::max(0.0, std::min(360.0, hsv_.h)); - s = std::max(0.0, std::min(100.0, hsv_.s)); - v = std::max(0.0, std::min(100.0, hsv_.v)); - - s /= 100.0; - v /= 100.0; - - if(s == 0) { - // Achromatic (grey) - rgb.red = rgb.green = rgb.blue = std::round(v*255.0); - return rgb; - } - - h /= 60.0; // sector 0 to 5 - i = std::floor(h); - f = h - i; // factorial part of h - p = v * (1 - s); - q = v * (1 - s * f); - t = v * (1 - s * (1 - f)); - switch(i) { - case 0: - rgb.red = std::round(255.0*v); - rgb.green = std::round(255.0*t); - rgb.blue = std::round(255.0*p); - break; - case 1: - rgb.red = std::round(255.0*q); - rgb.green = std::round(255.0*v); - rgb.blue = std::round(255.0*p); - break; - case 2: - rgb.red = std::round(255.0*p); - rgb.green = std::round(255.0*v); - rgb.blue = std::round(255.0*t); - break; - case 3: - rgb.red = std::round(255.0*p); - rgb.green = std::round(255.0*q); - rgb.blue = std::round(255.0*v); - break; - case 4: - rgb.red = std::round(255.0*t); - rgb.green = std::round(255.0*p); - rgb.blue = std::round(255.0*v); - break; - default: // case 5: - rgb.red = std::round(255.0*v); - rgb.green = std::round(255.0*p); - rgb.blue = std::round(255.0*q); - } - return rgb; -} diff --git a/clearpath_platform/src/lighting/lighting.cpp b/clearpath_platform/src/lighting/lighting.cpp deleted file mode 100644 index 940a9572..00000000 --- a/clearpath_platform/src/lighting/lighting.cpp +++ /dev/null @@ -1,432 +0,0 @@ -/** - * - * \file - * \brief Lighting Class - * \author Roni Kreinin - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include "clearpath_platform/lighting/lighting.hpp" -#include "clearpath_platform/lighting/color.hpp" - -using clearpath_lighting::Lighting; -using Lights = clearpath_platform_msgs::msg::Lights; -using RGB = clearpath_platform_msgs::msg::RGB; - -/** - * @brief Construct a new Lighting node - */ -Lighting::Lighting() -: Node("clearpath_lighting"), - state_(State::Idle), - old_state_(State::Idle), - user_commands_allowed_(false) -{ - // Get platform model from platform parameter - this->declare_parameter("platform", "dd100"); - std::string platform = this->get_parameter("platform").as_string(); - - try - { - platform_ = ClearpathPlatforms.at(platform); - } - catch(const std::out_of_range& e) - { - throw std::out_of_range("Invalid Platform " + platform); - } - - RCLCPP_INFO(this->get_logger(), "Lighting Platform %s", platform.c_str()); - - lights_msg_ = Lights(); - - // Set lighting sequences for each state - lighting_sequence_ = std::map{ - {State::BatteryFault, BlinkSequence( - Sequence::fillLightingState(COLOR_YELLOW, platform_), - Sequence::fillLightingState(COLOR_RED, platform_), - MS_TO_STEPS(2000), 0.5)}, - - {State::ShoreFault, BlinkSequence( - Sequence::fillLightingState(COLOR_BLUE, platform_), - Sequence::fillLightingState(COLOR_RED, platform_), - MS_TO_STEPS(2000), 0.5)}, - - {State::ShoreAndCharging, PulseSequence( - Sequence::fillLightingState(COLOR_BLUE, platform_), - Sequence::fillLightingState(COLOR_YELLOW, platform_), - MS_TO_STEPS(12000))}, - - {State::ShoreAndCharged, PulseSequence( - Sequence::fillLightingState(COLOR_BLUE, platform_), - Sequence::fillLightingState(COLOR_GREEN, platform_), - MS_TO_STEPS(12000))}, - - {State::ShorePower, SolidSequence( - Sequence::fillLightingState(COLOR_BLUE, platform_))}, - - {State::Charging, PulseSequence( - Sequence::fillLightingState(COLOR_GREEN, platform_), - Sequence::fillLightingState(COLOR_YELLOW, platform_), - MS_TO_STEPS(6000))}, - - {State::Charged, SolidSequence( - Sequence::fillLightingState(COLOR_GREEN, platform_))}, - - {State::Stopped, BlinkSequence( - Sequence::fillLightingState(COLOR_RED, platform_), - Sequence::fillLightingState(COLOR_BLACK, platform_), - MS_TO_STEPS(1000), 0.5)}, - - {State::NeedsReset, BlinkSequence( - Sequence::fillLightingState(COLOR_ORANGE, platform_), - Sequence::fillLightingState(COLOR_RED, platform_), - MS_TO_STEPS(2000), 0.5)}, - - {State::LowBattery, PulseSequence( - Sequence::fillLightingState(COLOR_ORANGE, platform_), - Sequence::fillLightingState(COLOR_BLACK, platform_), - MS_TO_STEPS(4000))}, - - {State::Driving, SolidSequence( - Sequence::fillFrontRearLightingState(COLOR_WHITE, COLOR_RED, platform_))}, - - {State::Idle, SolidSequence( - Sequence::fillFrontRearLightingState(COLOR_WHITE_DIM, COLOR_RED_DIM, platform_))}, - }; - - current_sequence_ = lighting_sequence_.at(state_); - - // Initialize ROS2 components - initializePublishers(); - initializeTimers(); - initializeSubscribers(); -} - -/** - * @brief Lighting node main loop - */ -void Lighting::spinOnce() -{ - // Update lighting state using latest status messages - updateState(); - - // Determine if user commands should be allowed - switch (state_) - { - case State::Idle: - case State::Driving: - case State::ShorePower: - case State::ShoreAndCharging: - case State::ShoreAndCharged: - case State::Charging: - case State::Charged: - user_commands_allowed_ = true; - break; - case State::LowBattery: - case State::NeedsReset: - case State::BatteryFault: - case State::ShoreFault: - //case State::PumaFault: - case State::Stopped: - user_commands_allowed_ = false; - break; - } - - // Change lighting sequence if state has changed - if (old_state_ != state_) - { - current_sequence_ = lighting_sequence_.at(state_); - current_sequence_.reset(); - old_state_ = state_; - } - - // Get current lighting state from sequence - lights_msg_ = current_sequence_.getLightsMsg(); - - // If user is not commanding lights, update lights - if (user_timeout_timer_->is_canceled()) - { - cmd_lights_pub_->publish(lights_msg_); - } -} - -/** - * @brief Initialize publishers - */ -void Lighting::initializePublishers() -{ - cmd_lights_pub_ = this->create_publisher( - "platform/mcu/_cmd_lights", - rclcpp::SensorDataQoS()); -} - -/** - * @brief Initialize subscribers - */ -void Lighting::initializeSubscribers() -{ - // User command lights - cmd_lights_sub_ = this->create_subscription( - "platform/cmd_lights", - rclcpp::SystemDefaultsQoS(), - std::bind(&Lighting::cmdLightsCallback, this, std::placeholders::_1)); - - // MCU status - status_sub_ = this->create_subscription( - "platform/mcu/status", - rclcpp::SensorDataQoS(), - std::bind(&Lighting::statusCallback, this, std::placeholders::_1)); - - // MCU power status - power_sub_ = this->create_subscription( - "platform/mcu/status/power", - rclcpp::SensorDataQoS(), - std::bind(&Lighting::powerCallback, this, std::placeholders::_1)); - - // MCU stop status - stop_status_sub_ = this->create_subscription( - "platform/mcu/status/stop", - rclcpp::SensorDataQoS(), - std::bind(&Lighting::stopStatusCallback, this, std::placeholders::_1)); - - // Battery state - battery_state_sub_ = this->create_subscription( - "platform/bms/state", - rclcpp::SensorDataQoS(), - std::bind(&Lighting::batteryStateCallback, this, std::placeholders::_1)); - - // Stop engaged - stop_engaged_sub_ = this->create_subscription( - "platform/emergency_stop", - rclcpp::SensorDataQoS(), - std::bind(&Lighting::stopEngagedCallback, this, std::placeholders::_1)); - - // Command vel - cmd_vel_sub_ = this->create_subscription( - "platform/cmd_vel_unstamped", - rclcpp::SensorDataQoS(), - std::bind(&Lighting::cmdVelCallback, this, std::placeholders::_1)); -} - -/** - * @brief Initialize timers - */ -void Lighting::initializeTimers() -{ - // Start user timeout so that user_timeout_timer_ is not null - startUserTimeoutTimer(); - - // Main loop timer - lighting_timer_ = this->create_wall_timer( - std::chrono::milliseconds(LIGHTING_TIMER_TIMEOUT_MS), - [this]() -> void - { - this->spinOnce(); - } - ); -} - -/** - * @brief Start user command timeout timer - */ -void Lighting::startUserTimeoutTimer() -{ - // Reset timer if active - if (user_timeout_timer_ && !user_timeout_timer_->is_canceled()) - { - user_timeout_timer_->reset(); - } - else // Create new timer - { - user_timeout_timer_ = this->create_wall_timer( - std::chrono::milliseconds(USER_COMMAND_TIMEOUT_MS), - [this]() -> void - { - RCLCPP_INFO(this->get_logger(), "User command timeout"); - user_timeout_timer_->cancel(); - } - ); - } -} - -/** - * @brief User light command callback - */ -void Lighting::cmdLightsCallback(const clearpath_platform_msgs::msg::Lights::SharedPtr msg) -{ - // Do nothing if user commands are not allowed - if (!user_commands_allowed_) - { - return; - } - - // Reset user timeout timer - startUserTimeoutTimer(); - - // Publish if allowed - cmd_lights_pub_->publish(*msg); -} - -/** - * @brief MCU status callback - */ -void Lighting::statusCallback(const clearpath_platform_msgs::msg::Status::SharedPtr msg) -{ - status_msg_ = *msg; -} - -/** - * @brief MCU power status callback - */ -void Lighting::powerCallback(const clearpath_platform_msgs::msg::Power::SharedPtr msg) -{ - power_msg_ = *msg; -} - -/** - * @brief MCU stop status callback - */ -void Lighting::stopStatusCallback(const clearpath_platform_msgs::msg::StopStatus::SharedPtr msg) -{ - stop_status_msg_ = *msg; -} - -/** - * @brief BMS state callback - */ -void Lighting::batteryStateCallback(const sensor_msgs::msg::BatteryState::SharedPtr msg) -{ - battery_state_msg_ = *msg; -} - -/** - * @brief Emergency stop callback - */ -void Lighting::stopEngagedCallback(const std_msgs::msg::Bool::SharedPtr msg) -{ - stop_engaged_msg_ = *msg; -} - -/** - * @brief Command velocity callback - */ -void Lighting::cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg) -{ - cmd_vel_msg_ = *msg; -} - -/** - * @brief Update state if new state is higher priority - */ -void Lighting::setState(Lighting::State new_state) -{ - if (new_state < state_) - { - state_ = new_state; - } -} - -/** - * @brief Update lighting state based on all status messages - */ -void Lighting::updateState() -{ - state_ = State::Idle; - // Shore power connected - if (power_msg_.shore_power_connected == 1) - { - // Shore power overvoltage detected on MCU - if (battery_state_msg_.power_supply_health == sensor_msgs::msg::BatteryState::POWER_SUPPLY_HEALTH_OVERVOLTAGE) - { - setState(State::ShoreFault); - } - else - { - setState(State::ShorePower); - } - } - else // No shore power - { - // Battery health is not good - if (battery_state_msg_.power_supply_health != sensor_msgs::msg::BatteryState::POWER_SUPPLY_HEALTH_GOOD) - { - setState(State::BatteryFault); - } - else if (battery_state_msg_.percentage < 0.2) // Battery low - { - setState(State::LowBattery); - } - } - - // Charger connected - if (battery_state_msg_.power_supply_status == sensor_msgs::msg::BatteryState::POWER_SUPPLY_STATUS_CHARGING) // || wibotic_charging_msg_.data) - { - // Fully charged - if (battery_state_msg_.percentage == 1.0) - { - // Shore power connected - if (power_msg_.shore_power_connected == 1) - { - setState(State::ShoreAndCharged); - } - else - { - setState(State::Charged); - } - } - else - { - // Shore power connected - if (power_msg_.shore_power_connected == 1) - { - setState(State::ShoreAndCharging); - } - else - { - setState(State::Charging); - } - } - } - - if (stop_status_msg_.needs_reset) - { - setState(State::NeedsReset); - } - - if (stop_engaged_msg_.data) // E-Stop - { - setState(State::Stopped); - } - - if (cmd_vel_msg_.linear.x != 0.0 || - cmd_vel_msg_.linear.y != 0.0 || - cmd_vel_msg_.angular.z != 0.0) // Robot is driving - { - setState(State::Driving); - } -} diff --git a/clearpath_platform/src/lighting/main.cpp b/clearpath_platform/src/lighting/main.cpp deleted file mode 100644 index d01dc6f4..00000000 --- a/clearpath_platform/src/lighting/main.cpp +++ /dev/null @@ -1,56 +0,0 @@ -/** - * - * \file - * \brief Lighting Main - * \author Roni Kreinin - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include -#include -#include - -#include - -#include "clearpath_platform/lighting/lighting.hpp" - -int main(int argc, char * argv[]) -{ - rclcpp::init(argc, argv); - - rclcpp::executors::SingleThreadedExecutor executor; - - auto lighting = std::make_shared(); - - executor.add_node(lighting); - executor.spin(); - - rclcpp::shutdown(); - - return 0; -} diff --git a/clearpath_platform/src/lighting/sequence.cpp b/clearpath_platform/src/lighting/sequence.cpp deleted file mode 100644 index 32442aff..00000000 --- a/clearpath_platform/src/lighting/sequence.cpp +++ /dev/null @@ -1,301 +0,0 @@ -/** - * - * \file - * \brief Sequence Classes - * \author Roni Kreinin - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include - -#include "clearpath_platform/lighting/sequence.hpp" -#include "clearpath_platform/lighting/color.hpp" - -using clearpath_lighting::BlinkSequence; -using clearpath_lighting::PulseSequence; -using clearpath_lighting::Sequence; -using clearpath_lighting::SolidSequence; -using clearpath_lighting::LightingState; -using clearpath_lighting::Platform; - -/** - * @brief Get Lights message at current state in the sequence - * Increment current state for the next call - */ -clearpath_platform_msgs::msg::Lights Sequence::getLightsMsg() -{ - // Reset to initial state if we are at the end of the sequence - if (current_state_ >= num_states_) - { - current_state_ = 0; - } - - // Fill Lights message - clearpath_platform_msgs::msg::Lights lights_msg; - lights_msg.lights.resize(sequence_.size()); - - for (uint32_t i = 0; i < sequence_.size(); i++) - { - lights_msg.lights.at(i) = sequence_.at(i).at(current_state_).getRgbMsg(); - } - - current_state_++; - - return lights_msg; -} - -/** - * @brief Default Sequence constructor - */ -Sequence::Sequence() : current_state_(0) -{} - -/** - * @brief Reset the sequence - */ -void Sequence::reset() -{ - current_state_ = 0; -} - -/** - * @brief Fill all lights with a color - */ -LightingState Sequence::fillLightingState(ColorHSV color, Platform platform) -{ - return LightingState(PlatformNumLights.at(platform), color); -} - -/** - * @brief Fill front and rear lights with separate colors - */ -LightingState Sequence::fillFrontRearLightingState(ColorHSV front_color, ColorHSV rear_color, Platform platform) -{ - LightingState lighting_state(PlatformNumLights.at(platform), COLOR_BLACK); - switch (platform) - { - case Platform::DD100: - case Platform::DO100: - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_FRONT_LEFT) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_FRONT_RIGHT) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_REAR_LEFT) = rear_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_REAR_RIGHT) = rear_color; - break; - - case Platform::DD150: - case Platform::DO150: - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_FRONT_LEFT) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_FRONT_RIGHT) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_REAR_LEFT) = rear_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_REAR_RIGHT) = rear_color; - break; - - case Platform::W200: - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_FRONT_LEFT) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_FRONT_RIGHT) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_REAR_LEFT) = rear_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_REAR_RIGHT) = rear_color; - break; - - case Platform::R100: - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_PORT_UPPER) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_PORT_LOWER) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_STARBOARD_UPPER) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_STARBOARD_LOWER) = front_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_PORT_UPPER) = rear_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_PORT_LOWER) = rear_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_STARBOARD_UPPER) = rear_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_STARBOARD_LOWER) = rear_color; - break; - } - return lighting_state; -} - -/** - * @brief Fill left and right lights with separate colors - */ -LightingState Sequence::fillLeftRightLightingState(ColorHSV left_color, ColorHSV right_color, Platform platform) -{ - LightingState lighting_state(PlatformNumLights.at(platform), COLOR_BLACK); - switch (platform) - { - case Platform::DD100: - case Platform::DO100: - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_FRONT_LEFT) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_REAR_LEFT) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_FRONT_RIGHT) = right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_REAR_RIGHT) = right_color; - break; - - case Platform::DD150: - case Platform::DO150: - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_FRONT_LEFT) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_REAR_LEFT) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_FRONT_RIGHT) = right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_REAR_RIGHT) = right_color; - break; - - case Platform::W200: - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_FRONT_LEFT) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_REAR_LEFT) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_FRONT_RIGHT) = right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_REAR_RIGHT) = right_color; - break; - - case Platform::R100: - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_PORT_UPPER) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_PORT_LOWER) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_PORT_UPPER) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_PORT_LOWER) = left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_STARBOARD_UPPER) = right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_STARBOARD_LOWER) = right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_STARBOARD_UPPER) = right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_STARBOARD_LOWER) = right_color; - break; - } - return lighting_state; -} - -/** - * @brief Fill opposite corner lights with separate colors - */ -LightingState Sequence::fillOppositeCornerLightingState(ColorHSV front_left_color, ColorHSV front_right_color, Platform platform) -{ - LightingState lighting_state(PlatformNumLights.at(platform), COLOR_BLACK); - switch (platform) - { - case Platform::DD100: - case Platform::DO100: - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_FRONT_LEFT) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_REAR_RIGHT) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_FRONT_RIGHT) = front_right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D100_LIGHTS_REAR_LEFT) = front_right_color; - break; - - case Platform::DD150: - case Platform::DO150: - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_FRONT_LEFT) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_REAR_RIGHT) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_FRONT_RIGHT) = front_right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::D150_LIGHTS_REAR_LEFT) = front_right_color; - break; - - case Platform::W200: - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_FRONT_LEFT) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_REAR_RIGHT) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_FRONT_RIGHT) = front_right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::W200_LIGHTS_REAR_LEFT) = front_right_color; - break; - - case Platform::R100: - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_PORT_UPPER) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_PORT_LOWER) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_STARBOARD_UPPER) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_STARBOARD_LOWER) = front_left_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_STARBOARD_UPPER) = front_right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_FRONT_STARBOARD_LOWER) = front_right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_PORT_UPPER) = front_right_color; - lighting_state.at(clearpath_platform_msgs::msg::Lights::R100_LIGHTS_REAR_PORT_LOWER) = front_right_color; - break; - } - return lighting_state; -} - -/** - * @brief Solid sequence constructor - * @param state: Lighting state for solid sequence - */ -SolidSequence::SolidSequence(const LightingState state) -{ - sequence_.resize(state.size()); - for (uint8_t rgb = 0; rgb < state.size(); rgb++) - { - sequence_.at(rgb).push_back(state.at(rgb)); - } - num_states_ = 1; -} - -/** - * @brief Blink sequence constructor - * @param first_state: Lighting state for "on" time - * @param second_state: Lighting state for "off" time - * @param steps: Number of steps in the sequence - * @param duty_cycle: Percentage of sequence that is in the "on" state. [0.0 ... 1.0] - */ -BlinkSequence::BlinkSequence(const LightingState first_state, - const LightingState second_state, - uint32_t steps, - double duty_cycle) -{ - sequence_.resize(first_state.size()); - if (steps <= 1) - { - for (uint8_t i = 0; i < first_state.size(); i++) - { - sequence_.at(i).push_back(first_state.at(i)); - } - } - else - { - for (uint8_t i = 0; i < first_state.size(); i++) - { - for (auto j = 0; j < steps * duty_cycle; j++) - { - sequence_.at(i).push_back(first_state.at(i)); - } - for (auto j = 0; j < steps - steps * duty_cycle; j++) - { - sequence_.at(i).push_back(second_state.at(i)); - } - } - } - num_states_ = steps; -} - -/** - * @brief Pulse sequence constructor - * @param first_state: Starting lighting state - * @param last_state: Ending lighting state - * @param steps: Number of steps in the sequence - */ -PulseSequence::PulseSequence(const LightingState first_state, - const LightingState last_state, - uint32_t steps) -{ - sequence_.resize(first_state.size()); - num_states_ = steps; - - // Fade from first to last state, then back to first - for (uint32_t i = 0; i < first_state.size(); i++) - { - sequence_.at(i) = ColorHSV::fade(first_state.at(i), last_state.at(i), steps / 2); - std::vector reverse = sequence_.at(i); - std::reverse(reverse.begin(), reverse.end()); - sequence_.at(i).insert(std::end(sequence_.at(i)), std::begin(reverse), std::end(reverse)); - } -} diff --git a/clearpath_platform/src/puma/hardware.cpp b/clearpath_platform/src/puma/hardware.cpp deleted file mode 100644 index 3c485e8b..00000000 --- a/clearpath_platform/src/puma/hardware.cpp +++ /dev/null @@ -1,318 +0,0 @@ -/** -Software License Agreement (BSD) - -\file hardware.cpp -\authors Luis Camero -\copyright Copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: -* Redistributions of source code must retain the above copyright notice, - this list of conditions and the following disclaimer. -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. -* Neither the name of Clearpath Robotics nor the names of its contributors - may be used to endorse or promote products derived from this software - without specific prior written permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -*/ -#include "clearpath_platform/puma/hardware.hpp" - -namespace clearpath_platform -{ - -/** - * @brief Initialize hardware interface object -*/ -hardware_interface::CallbackReturn PumaHardware::initHardwareInterface() -{ - node_ = std::make_shared("puma_hardware_interface"); - - if (node_ == nullptr) - { - return hardware_interface::CallbackReturn::ERROR; - } - - return hardware_interface::CallbackReturn::SUCCESS; -} - -/** - * @brief Write commands to the hardware -*/ -void PumaHardware::writeCommandsToHardware() -{ - sensor_msgs::msg::JointState joint_state; - - for (const auto &it : wheel_joints_) - { - joint_state.name.push_back(it.first); - double speed = hw_commands_[it.second]; - if (std::abs(speed) < MINIMUM_VELOCITY) - { - speed = 0.0; - } - joint_state.velocity.push_back(speed); - } - node_->drive_command(joint_state); - return; -} - -/** - * @brief Pull latest speed and travel measurements from MCU, - * and store in joint structure for ROS controls -*/ -void PumaHardware::updateJointsFromHardware() -{ - rclcpp::spin_some(node_); - - if (node_->has_new_feedback()) - { - - auto msg = node_->get_feedback(); - - for (auto& puma : msg.drivers_feedback) - { - hw_states_velocity_[wheel_joints_[puma.device_name]] = puma.speed; - hw_states_position_[wheel_joints_[puma.device_name]] = puma.travel; // * 0.049; - } - } -} - -/** - * @brief Get hardware information from robot description -*/ -hardware_interface::CallbackReturn PumaHardware::getHardwareInfo(const hardware_interface::HardwareInfo & info) -{ - // Get info from URDF - if (hardware_interface::SystemInterface::on_init(info) != hardware_interface::CallbackReturn::SUCCESS) - { - return hardware_interface::CallbackReturn::ERROR; - } - - hw_name_ = info_.name; - num_joints_ = info_.joints.size(); - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Name: %s", hw_name_.c_str()); - - // Check for valid number of joints - if (num_joints_ != DIFF_DRIVE_FOUR_JOINTS && num_joints_ != DIFF_DRIVE_TWO_JOINTS) - { - RCLCPP_ERROR(rclcpp::get_logger(hw_name_), "Invalid number of joints %u", num_joints_); - return hardware_interface::CallbackReturn::ERROR; - } - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Number of Joints %u", num_joints_); - - hw_states_position_.resize(num_joints_); - hw_states_position_offset_.resize(num_joints_); - hw_states_velocity_.resize(num_joints_); - hw_commands_.resize(num_joints_); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -/** - * @brief Check command interfaces are valid -*/ -hardware_interface::CallbackReturn PumaHardware::validateJoints() -{ - for (const hardware_interface::ComponentInfo & joint : info_.joints) - { - // PumaHardware has exactly two states and one command interface on each joint - if (joint.command_interfaces.size() != 1) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(), - joint.command_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.command_interfaces[0].name != hardware_interface::HW_IF_VELOCITY) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(), - joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces.size() != 2) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(), - joint.state_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' have '%s' as first state interface. '%s' expected.", - joint.name.c_str(), joint.state_interfaces[0].name.c_str(), - hardware_interface::HW_IF_POSITION); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[1].name != hardware_interface::HW_IF_VELOCITY) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' have '%s' as second state interface. '%s' expected.", joint.name.c_str(), - joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - } - - return hardware_interface::CallbackReturn::SUCCESS; -} - -/** - * @brief Initialization -*/ -hardware_interface::CallbackReturn PumaHardware::on_init(const hardware_interface::HardwareInfo & info) -{ - hardware_interface::CallbackReturn ret; - // Get Hardware name and joints - ret = getHardwareInfo(info); - - if (ret != hardware_interface::CallbackReturn::SUCCESS) - { - return ret; - } - - // Validate joints - ret = validateJoints(); - - if (ret != hardware_interface::CallbackReturn::SUCCESS) - { - return ret; - } - - // Initialize hardware interface - return initHardwareInterface(); -} - -/** - * @brief Map state interfaces -*/ -std::vector PumaHardware::export_state_interfaces() -{ - std::vector state_interfaces; - for (auto i = 0u; i < num_joints_; i++) - { - state_interfaces.emplace_back( - hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_position_[i])); - state_interfaces.emplace_back( - hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_states_velocity_[i])); - } - - return state_interfaces; -} - -/** - * @brief Map command interfaces -*/ -std::vector PumaHardware::export_command_interfaces() -{ - std::vector command_interfaces; - - for (auto i = 0u; i < num_joints_; i++) - { - command_interfaces.emplace_back( - hardware_interface::CommandInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_[i])); - - // Map wheel joint name to index - wheel_joints_[info_.joints[i].name] = i; - } - - return command_interfaces; -} - -/** - * @brief Activate -*/ -hardware_interface::CallbackReturn PumaHardware::on_activate(const rclcpp_lifecycle::State & /*previous_state*/) -{ - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Starting ...please wait..."); - - // set some default values - for (auto i = 0u; i < hw_states_position_.size(); i++) - { - if (std::isnan(hw_states_position_[i])) - { - hw_states_position_[i] = 0; - hw_states_position_offset_[i] = 0; - hw_states_velocity_[i] = 0; - hw_commands_[i] = 0; - } - } - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "System Successfully started!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -/** - * @brief Deactivate -*/ -hardware_interface::CallbackReturn PumaHardware::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/) -{ - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Stopping ...please wait..."); - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "System successfully stopped!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -/** - * @brief Read joint feedback from hardware interface -*/ -hardware_interface::return_type PumaHardware::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & period) -{ - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Reading from hardware"); - - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Duration %f", period.seconds()); - - updateJointsFromHardware(); - - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Joints successfully read!"); - - return hardware_interface::return_type::OK; -} - -/** - * @brief Write joint command to hardware interface -*/ -hardware_interface::return_type PumaHardware::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) -{ - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Writing to hardware"); - - writeCommandsToHardware(); - - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Joints successfully written!"); - - return hardware_interface::return_type::OK; -} - -} // namespace clearpath_platform - -#include "pluginlib/class_list_macros.hpp" -PLUGINLIB_EXPORT_CLASS( - clearpath_platform::PumaHardware, hardware_interface::SystemInterface) diff --git a/clearpath_platform/src/puma/hardware.xml b/clearpath_platform/src/puma/hardware.xml deleted file mode 100644 index dd221dac..00000000 --- a/clearpath_platform/src/puma/hardware.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - The ros2_control PumaHardware using a system hardware interface-type. - - - diff --git a/clearpath_platform/src/puma/hardware_interface.cpp b/clearpath_platform/src/puma/hardware_interface.cpp deleted file mode 100644 index 3071cab6..00000000 --- a/clearpath_platform/src/puma/hardware_interface.cpp +++ /dev/null @@ -1,92 +0,0 @@ -/** -Software License Agreement (BSD) - -\file hardware_interface.cpp -\authors Luis Camero -\copyright Copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: -* Redistributions of source code must retain the above copyright notice, - this list of conditions and the following disclaimer. -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. -* Neither the name of Clearpath Robotics nor the names of its contributors - may be used to endorse or promote products derived from this software - without specific prior written permission. -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -POSSIBILITY OF SUCH DAMAGE. -*/ -#include "clearpath_platform/puma/hardware_interface.hpp" - -using clearpath_platform::PumaHardwareInterface; - -/** - * @brief Construct a new PumaHardwareInterface object -*/ -PumaHardwareInterface::PumaHardwareInterface(std::string node_name) -: Node(node_name) -{ - sub_feedback_ = create_subscription( - "platform/puma/feedback", - rclcpp::SensorDataQoS(), - std::bind(&PumaHardwareInterface::feedback_callback, this, std::placeholders::_1)); - - pub_cmd_ = create_publisher( - "platform/puma/cmd", - rclcpp::SensorDataQoS()); -} - -/** - * @brief Callback for feedback - * - * @param msg -*/ -void PumaHardwareInterface::feedback_callback(const clearpath_motor_msgs::msg::PumaMultiFeedback::SharedPtr msg) -{ - feedback_ = *msg; - has_feedback_ = true; -} - -/** - * @brief Publish drive command - * - * @param -*/ -void PumaHardwareInterface::drive_command(const sensor_msgs::msg::JointState msg) -{ - pub_cmd_->publish(msg); - return; -} - -/** - * @brief Check if there is new feedback - * - * @return true - * @return false -*/ -bool PumaHardwareInterface::has_new_feedback() -{ - return has_feedback_; -} - -/** - * @brief Get feedback - * - * @return clearpath_motor_msgs::msg::PumaMultiFeedback -*/ -clearpath_motor_msgs::msg::PumaMultiFeedback PumaHardwareInterface::get_feedback() -{ - has_feedback_ = false; - return feedback_; -} diff --git a/clearpath_platform/src/w200/hardware.cpp b/clearpath_platform/src/w200/hardware.cpp deleted file mode 100644 index 737b6a23..00000000 --- a/clearpath_platform/src/w200/hardware.cpp +++ /dev/null @@ -1,313 +0,0 @@ -/** - * - * \file - * \brief Class representing W200 hardware - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include "clearpath_platform/w200/hardware.hpp" -#include "clearpath_platform_msgs/msg/feedback.hpp" -#include "hardware_interface/types/hardware_interface_type_values.hpp" - -namespace clearpath_platform -{ - -static const std::string LEFT_CMD_JOINT_NAME = "front_left_wheel_joint"; -static const std::string RIGHT_CMD_JOINT_NAME = "front_right_wheel_joint"; -static const std::string LEFT_ALT_JOINT_NAME = "rear_left_wheel_joint"; -static const std::string RIGHT_ALT_JOINT_NAME = "rear_right_wheel_joint"; - -static constexpr double MINIMUM_VELOCITY = 0.01f; - - -hardware_interface::CallbackReturn W200Hardware::initHardwareInterface() -{ - node_ = std::make_shared("w200_hardware_interface"); - - if (node_ == nullptr) - { - return hardware_interface::CallbackReturn::ERROR; - } - - return hardware_interface::CallbackReturn::SUCCESS; -} - -/** - * @brief Write commanded velocities to the hardware_interface - * - */ -void W200Hardware::writeCommandsToHardware() -{ - double diff_speed_left = hw_commands_[wheel_joints_[LEFT_CMD_JOINT_NAME]]; - double diff_speed_right = hw_commands_[wheel_joints_[RIGHT_CMD_JOINT_NAME]]; - - if (std::abs(diff_speed_left) < MINIMUM_VELOCITY - && std::abs(diff_speed_right) < MINIMUM_VELOCITY) - { - diff_speed_left = diff_speed_right = 0.0; - } - - node_->drive_command( - static_cast(diff_speed_left), - static_cast(diff_speed_right)); -} - -/** - * @brief Pull latest speed and travel measurements from MCU, - * and store in joint structure for ros_control - * - */ -void W200Hardware::updateJointsFromHardware(const rclcpp::Duration & period) -{ - rclcpp::spin_some(node_); - - if (node_->has_new_feedback()) - { - auto left_msg = node_->get_left_feedback(); - auto right_msg = node_->get_right_feedback(); - RCLCPP_DEBUG( - rclcpp::get_logger(hw_name_), - "Received linear distance information (L: %f, R: %f)", - left_msg.data, right_msg.data); - - hw_states_velocity_[wheel_joints_[LEFT_CMD_JOINT_NAME]] = left_msg.data; - hw_states_velocity_[wheel_joints_[RIGHT_CMD_JOINT_NAME]] = right_msg.data; - hw_states_velocity_[wheel_joints_[LEFT_ALT_JOINT_NAME]] = left_msg.data; - hw_states_velocity_[wheel_joints_[RIGHT_ALT_JOINT_NAME]] = right_msg.data; - - hw_states_position_[wheel_joints_[LEFT_CMD_JOINT_NAME]] += left_msg.data * period.seconds(); - hw_states_position_[wheel_joints_[RIGHT_CMD_JOINT_NAME]] += right_msg.data * period.seconds(); - hw_states_position_[wheel_joints_[LEFT_ALT_JOINT_NAME]] += left_msg.data * period.seconds(); - hw_states_position_[wheel_joints_[RIGHT_ALT_JOINT_NAME]] += right_msg.data * period.seconds(); - } -} - -hardware_interface::CallbackReturn W200Hardware::getHardwareInfo(const hardware_interface::HardwareInfo & info) -{ - // Get info from URDF - if (hardware_interface::SystemInterface::on_init(info) != hardware_interface::CallbackReturn::SUCCESS) - { - return hardware_interface::CallbackReturn::ERROR; - } - - hw_name_ = info_.name; - num_joints_ = info_.joints.size(); - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Name: %s", hw_name_.c_str()); - - // Check for valid number of joints - if (num_joints_ != DIFF_DRIVE_FOUR_JOINTS && num_joints_ != DIFF_DRIVE_TWO_JOINTS) - { - RCLCPP_ERROR(rclcpp::get_logger(hw_name_), "Invalid number of joints %u", num_joints_); - return hardware_interface::CallbackReturn::ERROR; - } - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Number of Joints %u", num_joints_); - - hw_states_position_.resize(num_joints_); - hw_states_position_offset_.resize(num_joints_); - hw_states_velocity_.resize(num_joints_); - hw_commands_.resize(num_joints_); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn W200Hardware::validateJoints() -{ - for (const hardware_interface::ComponentInfo & joint : info_.joints) - { - // W200Hardware has exactly two states and one command interface on each joint - if (joint.command_interfaces.size() != 1) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(), - joint.command_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.command_interfaces[0].name != hardware_interface::HW_IF_VELOCITY) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(), - joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces.size() != 2) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(), - joint.state_interfaces.size()); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' have '%s' as first state interface. '%s' expected.", - joint.name.c_str(), joint.state_interfaces[0].name.c_str(), - hardware_interface::HW_IF_POSITION); - return hardware_interface::CallbackReturn::ERROR; - } - - if (joint.state_interfaces[1].name != hardware_interface::HW_IF_VELOCITY) - { - RCLCPP_FATAL( - rclcpp::get_logger(hw_name_), - "Joint '%s' have '%s' as second state interface. '%s' expected.", joint.name.c_str(), - joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY); - return hardware_interface::CallbackReturn::ERROR; - } - } - - // Set the last time to now - // last_time_seconds_ = node_->now(); - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn W200Hardware::on_init(const hardware_interface::HardwareInfo & info) -{ - hardware_interface::CallbackReturn ret; - // Get Hardware name and joints - ret = getHardwareInfo(info); - - if (ret != hardware_interface::CallbackReturn::SUCCESS) - { - return ret; - } - - // Validate joints - ret = validateJoints(); - - if (ret != hardware_interface::CallbackReturn::SUCCESS) - { - return ret; - } - - // Initialize hardware interface - return initHardwareInterface(); -} - -std::vector W200Hardware::export_state_interfaces() -{ - std::vector state_interfaces; - for (auto i = 0u; i < num_joints_; i++) - { - state_interfaces.emplace_back( - hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_position_[i])); - state_interfaces.emplace_back( - hardware_interface::StateInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_states_velocity_[i])); - } - - return state_interfaces; -} - -std::vector W200Hardware::export_command_interfaces() -{ - std::vector command_interfaces; - - for (auto i = 0u; i < num_joints_; i++) - { - command_interfaces.emplace_back( - hardware_interface::CommandInterface( - info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_[i])); - - // Map wheel joint name to index - wheel_joints_[info_.joints[i].name] = i; - } - - return command_interfaces; -} - -hardware_interface::CallbackReturn W200Hardware::on_activate(const rclcpp_lifecycle::State & /*previous_state*/) -{ - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Starting ...please wait..."); - - // set some default values - for (auto i = 0u; i < hw_states_position_.size(); i++) - { - if (std::isnan(hw_states_position_[i])) - { - hw_states_position_[i] = 0; - hw_states_position_offset_[i] = 0; - hw_states_velocity_[i] = 0; - hw_commands_[i] = 0; - } - } - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "System Successfully started!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::CallbackReturn W200Hardware::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/) -{ - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "Stopping ...please wait..."); - - RCLCPP_INFO(rclcpp::get_logger(hw_name_), "System successfully stopped!"); - - return hardware_interface::CallbackReturn::SUCCESS; -} - -hardware_interface::return_type W200Hardware::read(const rclcpp::Time & /*time*/, const rclcpp::Duration & period) -{ - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Reading from hardware"); - - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Duration %f", period.seconds()); - - updateJointsFromHardware(period); - - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Joints successfully read!"); - - return hardware_interface::return_type::OK; -} - -hardware_interface::return_type W200Hardware::write(const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) -{ - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Writing to hardware"); - - writeCommandsToHardware(); - - RCLCPP_DEBUG(rclcpp::get_logger(hw_name_), "Joints successfully written!"); - - return hardware_interface::return_type::OK; -} - -} // namespace clearpath_platform - -#include "pluginlib/class_list_macros.hpp" -PLUGINLIB_EXPORT_CLASS( - clearpath_platform::W200Hardware, hardware_interface::SystemInterface) diff --git a/clearpath_platform/src/w200/hardware.xml b/clearpath_platform/src/w200/hardware.xml deleted file mode 100644 index e655fae8..00000000 --- a/clearpath_platform/src/w200/hardware.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - The ros2_control W200Hardware using a system hardware interface-type. - - - diff --git a/clearpath_platform/src/w200/hardware_interface.cpp b/clearpath_platform/src/w200/hardware_interface.cpp deleted file mode 100644 index 430fa621..00000000 --- a/clearpath_platform/src/w200/hardware_interface.cpp +++ /dev/null @@ -1,134 +0,0 @@ -/** - * - * \file - * \brief Class representing W200 hardware interface - * \author Roni Kreinin - * \author Tony Baltovski - * \copyright Copyright (c) 2023, Clearpath Robotics, Inc. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Clearpath Robotics, Inc. nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * Please send comments, questions, or patches to code@clearpathrobotics.com - * - */ - -#include "clearpath_platform/w200/hardware_interface.hpp" - -using clearpath_platform::W200HardwareInterface; - -/** - * @brief Construct a new W200HardwareInterface object - * - */ -W200HardwareInterface::W200HardwareInterface(std::string node_name) -: Node(node_name) -{ - sub_left_feedback_ = create_subscription( - "platform/motor/left/status/velocity", - rclcpp::SensorDataQoS(), - std::bind(&W200HardwareInterface::feedback_left_callback, this, std::placeholders::_1)); - - sub_right_feedback_ = create_subscription( - "platform/motor/right/status/velocity", - rclcpp::SensorDataQoS(), - std::bind(&W200HardwareInterface::feedback_right_callback, this, std::placeholders::_1)); - - pub_left_cmd = create_publisher( - "platform/motor/left/cmd_velocity", - rclcpp::SensorDataQoS()); - - pub_right_cmd = create_publisher( - "platform/motor/right/cmd_velocity", - rclcpp::SensorDataQoS()); -} - -/** - * @brief Callback for left feedback - * - * @param msg - */ -void W200HardwareInterface::feedback_left_callback(const std_msgs::msg::Float64::SharedPtr msg) -{ - feedback_left_ = *msg; - has_left_feedback_ = true; -} - -/** - * @brief Callback for right feedback - * - * @param msg - */ -void W200HardwareInterface::feedback_right_callback(const std_msgs::msg::Float64::SharedPtr msg) -{ - feedback_right_ = *msg; - has_right_feedback_ = true; -} - -/** - * @brief Publish Drive message - * - * @param left_wheel Left wheel command - * @param right_wheel Right wheel command - * @param mode Command mode - */ -void W200HardwareInterface::drive_command(const float & left_wheel, const float & right_wheel) -{ - std_msgs::msg::Float64 msg_left_cmd, msg_right_cmd; - msg_left_cmd.data = left_wheel; - msg_right_cmd.data = right_wheel; - pub_left_cmd->publish(msg_left_cmd); - pub_right_cmd->publish(msg_right_cmd); -} - -/** - * @brief Check if there is new feedback on both left and right side - * - * @return true - * @return false - */ -bool W200HardwareInterface::has_new_feedback() -{ - return (has_left_feedback_ && has_right_feedback_); -} - -/** - * @brief Get the left side feedback - * - * @return std_msgs::msg::Float64 - */ -std_msgs::msg::Float64 W200HardwareInterface::get_left_feedback() -{ - has_left_feedback_ = false; - return feedback_left_; -} - -/** - * @brief Get the right side feedback - * - * @return std_msgs::msg::Float64 - */ -std_msgs::msg::Float64 W200HardwareInterface::get_right_feedback() -{ - has_right_feedback_ = false; - return feedback_right_; -} From 2c2849dd5158b4d8f45116909845cd458fe42b42 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Fri, 22 Nov 2024 14:24:03 -0500 Subject: [PATCH 18/67] Move platform.launch.py to clearpath_common metapackage --- clearpath_common/launch/platform.launch.py | 155 +++++++++++++++++++++ 1 file changed, 155 insertions(+) create mode 100644 clearpath_common/launch/platform.launch.py diff --git a/clearpath_common/launch/platform.launch.py b/clearpath_common/launch/platform.launch.py new file mode 100644 index 00000000..d45986c9 --- /dev/null +++ b/clearpath_common/launch/platform.launch.py @@ -0,0 +1,155 @@ +# Software License Agreement (BSD) +# +# @author Tony Baltovski +# @author Roni Kreinin +# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + GroupAction, + IncludeLaunchDescription, +) +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ( + LaunchConfiguration, + PathJoinSubstitution +) +from launch_ros.actions import PushRosNamespace +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + + # Packages + pkg_clearpath_control = FindPackageShare('clearpath_control') + pkg_clearpath_platform_description = FindPackageShare('clearpath_platform_description') + + # Launch Arguments + arg_setup_path = DeclareLaunchArgument( + 'setup_path', + default_value='/etc/clearpath/' + ) + + arg_use_sim_time = DeclareLaunchArgument( + 'use_sim_time', + choices=['true', 'false'], + default_value='false', + description='Use simulation time' + ) + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='', + description='Robot namespace' + ) + + # Launch Configurations + setup_path = LaunchConfiguration('setup_path') + use_sim_time = LaunchConfiguration('use_sim_time') + namespace = LaunchConfiguration('namespace') + + # Launch files + launch_file_platform_description = PathJoinSubstitution([ + pkg_clearpath_platform_description, + 'launch', + 'description.launch.py']) + + launch_file_control = PathJoinSubstitution([ + pkg_clearpath_control, + 'launch', + 'control.launch.py']) + + launch_file_localization = PathJoinSubstitution([ + pkg_clearpath_control, + 'launch', + 'localization.launch.py']) + + launch_file_teleop_base = PathJoinSubstitution([ + pkg_clearpath_control, + 'launch', + 'teleop_base.launch.py']) + + launch_file_teleop_joy = PathJoinSubstitution([ + pkg_clearpath_control, + 'launch', + 'teleop_joy.launch.py']) + + group_platform_action = GroupAction( + actions=[ + PushRosNamespace(namespace), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource(launch_file_platform_description), + launch_arguments=[ + ('setup_path', setup_path), + ('use_sim_time', use_sim_time), + ('namespace', namespace), + ] + ), + + # Launch clearpath_control/control.launch.py which is just robot_localization. + IncludeLaunchDescription( + PythonLaunchDescriptionSource(launch_file_control), + launch_arguments=[ + ('setup_path', setup_path), + ('use_sim_time', use_sim_time), + ] + ), + + # Launch localization (ekf node) + IncludeLaunchDescription( + PythonLaunchDescriptionSource(launch_file_localization), + launch_arguments=[ + ('setup_path', setup_path), + ('use_sim_time', use_sim_time)] + ), + + # Launch clearpath_control/teleop_base.launch.py which is various ways to tele-op + # the robot but does not include the joystick. Also, has a twist mux. + IncludeLaunchDescription( + PythonLaunchDescriptionSource(launch_file_teleop_base), + launch_arguments=[ + ('setup_path', setup_path), + ('use_sim_time', use_sim_time)] + ), + + # Launch clearpath_control/teleop_joy.launch.py which is tele-operation using a + # physical joystick. + IncludeLaunchDescription( + PythonLaunchDescriptionSource(launch_file_teleop_joy), + launch_arguments=[ + ('setup_path', setup_path), + ('use_sim_time', use_sim_time)] + ), + ] + ) + + ld = LaunchDescription() + ld.add_action(arg_setup_path) + ld.add_action(arg_use_sim_time) + ld.add_action(arg_namespace) + ld.add_action(group_platform_action) + return ld From 0b943e8a10b9adcb585dd66463c1ecfa287187b0 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Fri, 22 Nov 2024 14:24:22 -0500 Subject: [PATCH 19/67] Remove all references to clearpath_platform --- .github/workflows/ci.yml | 2 -- clearpath_common/CMakeLists.txt | 8 +++++++- clearpath_common/package.xml | 1 - .../clearpath_generator_common/common.py | 3 ++- .../clearpath_generator_common/launch/generator.py | 2 +- .../clearpath_generator_common/param/platform.py | 10 +++++++--- clearpath_generator_common/package.xml | 1 - .../urdf/a200/a200.urdf.xacro | 2 +- .../urdf/dd100/dd100.urdf.xacro | 2 +- .../urdf/dd150/dd150.urdf.xacro | 2 +- .../urdf/do100/do100.urdf.xacro | 2 +- .../urdf/j100/j100.urdf.xacro | 2 +- .../urdf/r100/r100.urdf.xacro | 2 +- .../urdf/w200/w200.urdf.xacro | 2 +- 14 files changed, 24 insertions(+), 17 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index c97217b0..bd026ea0 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -45,7 +45,6 @@ jobs: clearpath_description clearpath_generator_common clearpath_mounts_description - clearpath_platform clearpath_platform_description clearpath_sensors_description clearpath_common_src_ci: @@ -67,7 +66,6 @@ jobs: clearpath_description clearpath_generator_common clearpath_mounts_description - clearpath_platform clearpath_platform_description clearpath_sensors_description vcs-repo-file-url: dependencies.repos diff --git a/clearpath_common/CMakeLists.txt b/clearpath_common/CMakeLists.txt index d5f85d39..156f0ca2 100644 --- a/clearpath_common/CMakeLists.txt +++ b/clearpath_common/CMakeLists.txt @@ -2,4 +2,10 @@ cmake_minimum_required(VERSION 3.5) project(clearpath_common NONE) find_package(ament_cmake REQUIRED) -ament_package() \ No newline at end of file + +install( + DIRECTORY launch + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 91fd1c30..04ce0ee3 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -16,7 +16,6 @@ clearpath_control clearpath_description clearpath_generator_common - clearpath_platform ament_cmake diff --git a/clearpath_generator_common/clearpath_generator_common/common.py b/clearpath_generator_common/clearpath_generator_common/common.py index 085dbfa0..d600f2bb 100644 --- a/clearpath_generator_common/clearpath_generator_common/common.py +++ b/clearpath_generator_common/clearpath_generator_common/common.py @@ -297,8 +297,9 @@ def __init__(self, self.setup_path, self.MANIPULATORS_PATH, self.LAUNCH_PATH) # Packages - self.pkg_clearpath_platform = Package('clearpath_platform') self.pkg_clearpath_sensors = Package('clearpath_sensors') + self.pkg_clearpath_common = Package('clearpath_common') + self.pkg_clearpath_hardware_interfaces = Package('clearpath_hardware_interfaces') self.pkg_clearpath_manipulators = Package('clearpath_manipulators') self.pkg_clearpath_platform_description = Package('clearpath_platform_description') self.pkg_clearpath_sensors_description = Package('clearpath_sensors_description') diff --git a/clearpath_generator_common/clearpath_generator_common/launch/generator.py b/clearpath_generator_common/clearpath_generator_common/launch/generator.py index 4442ef01..e4f2ab3c 100644 --- a/clearpath_generator_common/clearpath_generator_common/launch/generator.py +++ b/clearpath_generator_common/clearpath_generator_common/launch/generator.py @@ -66,7 +66,7 @@ def __init__(self, self.platform_launch_file = LaunchFile( name='platform', - package=self.pkg_clearpath_platform, + package=self.pkg_clearpath_common, args=[ ('setup_path', self.setup_path), ('use_sim_time', 'false'), diff --git a/clearpath_generator_common/clearpath_generator_common/param/platform.py b/clearpath_generator_common/clearpath_generator_common/param/platform.py index 54d6959d..bad93227 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/platform.py +++ b/clearpath_generator_common/clearpath_generator_common/param/platform.py @@ -57,7 +57,8 @@ class PlatformParam(): class BaseParam(): CLEARPATH_CONTROL = 'clearpath_control' - CLEARPATH_PLATFORM = 'clearpath_platform' + CLEARPATH_HARDWARE_INTERFACES = 'clearpath_hardware_interfaces' + CLEARPATH_SENSORS = 'clearpath_sensors' def __init__(self, parameter: str, @@ -70,7 +71,10 @@ def __init__(self, self.param_path = param_path # Clearpath Platform Package - self.clearpath_platform_package = Package(self.CLEARPATH_PLATFORM) + self.clearpath_sensors_package = Package( + self. CLEARPATH_SENSORS) + self.clearpath_hardware_interfaces_package = Package( + self.CLEARPATH_HARDWARE_INTERFACES) self.clearpath_control_package = Package(self.CLEARPATH_CONTROL) # Default parameter file @@ -168,7 +172,7 @@ def __init__(self, clearpath_config: ClearpathConfig, param_path: str) -> None: super().__init__(parameter, clearpath_config, param_path) - self.default_parameter_file_package = self.clearpath_platform_package + self.default_parameter_file_package = self.clearpath_sensors_package self.default_parameter_file_path = 'config' class LocalizationParam(BaseParam): diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index e6a56e79..0f20cb0c 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -17,7 +17,6 @@ clearpath_config clearpath_control clearpath_description - clearpath_platform clearpath_manipulators ament_lint_auto diff --git a/clearpath_platform_description/urdf/a200/a200.urdf.xacro b/clearpath_platform_description/urdf/a200/a200.urdf.xacro index 0d8546b0..f4fb1f40 100644 --- a/clearpath_platform_description/urdf/a200/a200.urdf.xacro +++ b/clearpath_platform_description/urdf/a200/a200.urdf.xacro @@ -171,7 +171,7 @@ ign_ros2_control/IgnitionSystem - clearpath_platform/A200Hardware + clearpath_hardware_interfaces/A200Hardware 0.3302 5.0 1.0 diff --git a/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro b/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro index 23c57981..7ee457b3 100644 --- a/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro +++ b/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro @@ -221,7 +221,7 @@ ign_ros2_control/IgnitionSystem - clearpath_platform/PumaHardware + clearpath_hardware_interfaces/PumaHardware diff --git a/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro b/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro index 25b644d8..03a929c9 100644 --- a/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro +++ b/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro @@ -209,7 +209,7 @@ ign_ros2_control/IgnitionSystem - clearpath_platform/PumaHardware + clearpath_hardware_interfaces/PumaHardware diff --git a/clearpath_platform_description/urdf/do100/do100.urdf.xacro b/clearpath_platform_description/urdf/do100/do100.urdf.xacro index a81a7dfe..18adb1ee 100644 --- a/clearpath_platform_description/urdf/do100/do100.urdf.xacro +++ b/clearpath_platform_description/urdf/do100/do100.urdf.xacro @@ -191,7 +191,7 @@ ign_ros2_control/IgnitionSystem - clearpath_platform/PumaHardware + clearpath_hardware_interfaces/PumaHardware diff --git a/clearpath_platform_description/urdf/j100/j100.urdf.xacro b/clearpath_platform_description/urdf/j100/j100.urdf.xacro index e7bfde68..8e92597d 100644 --- a/clearpath_platform_description/urdf/j100/j100.urdf.xacro +++ b/clearpath_platform_description/urdf/j100/j100.urdf.xacro @@ -177,7 +177,7 @@ ign_ros2_control/IgnitionSystem - clearpath_platform/J100Hardware + clearpath_hardware_interfaces/J100Hardware diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro index 76fd7b6b..44877952 100644 --- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro +++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -302,7 +302,7 @@ ign_ros2_control/IgnitionSystem - clearpath_platform/PumaHardware + clearpath_hardware_interfaces/PumaHardware diff --git a/clearpath_platform_description/urdf/w200/w200.urdf.xacro b/clearpath_platform_description/urdf/w200/w200.urdf.xacro index d0f543ef..7537ad7f 100644 --- a/clearpath_platform_description/urdf/w200/w200.urdf.xacro +++ b/clearpath_platform_description/urdf/w200/w200.urdf.xacro @@ -194,7 +194,7 @@ ign_ros2_control/IgnitionSystem - clearpath_platform/W200Hardware + clearpath_hardware_interfaces/W200Hardware 0.6 From 226b82605c7c1d49f091f240994747a1d7e2bb25 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 19 Nov 2024 08:20:56 -0500 Subject: [PATCH 20/67] [clearpath_platform_description] Fixed gazebo_controllers param file. (#107) --- clearpath_platform_description/urdf/r100/r100.urdf.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro index 44877952..9fd330e1 100644 --- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro +++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -3,7 +3,7 @@ - + From 0411ed91a4c1a5864525afb447f79eb1208522a5 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Mon, 25 Nov 2024 22:34:02 -0500 Subject: [PATCH 21/67] Added minimum version. --- clearpath_common/package.xml | 6 +++--- clearpath_description/package.xml | 8 ++++---- clearpath_generator_common/package.xml | 8 ++++---- clearpath_manipulators/package.xml | 2 +- 4 files changed, 12 insertions(+), 12 deletions(-) diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 04ce0ee3..239598f2 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -13,9 +13,9 @@ ament_cmake - clearpath_control - clearpath_description - clearpath_generator_common + clearpath_control + clearpath_description + clearpath_generator_common ament_cmake diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 95a9f9ae..5711359c 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -17,10 +17,10 @@ ament_cmake - clearpath_mounts_description - clearpath_platform_description - clearpath_sensors_description - clearpath_manipulators_description + clearpath_mounts_description + clearpath_platform_description + clearpath_sensors_description + clearpath_manipulators_description ament_cmake diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index 0f20cb0c..9413c496 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -14,10 +14,10 @@ ament_cmake - clearpath_config - clearpath_control - clearpath_description - clearpath_manipulators + clearpath_config + clearpath_control + clearpath_description + clearpath_manipulators ament_lint_auto ament_lint_common diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index d0088f1f..1363f0d9 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -14,7 +14,7 @@ ament_cmake moveit_planners_chomp - clearpath_manipulators_description + clearpath_manipulators_description gripper_controllers moveit_configs_utils moveit_kinematics From 529f23f570a55e60bbbba74adeccdd85f1884f6b Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Mon, 25 Nov 2024 22:45:42 -0500 Subject: [PATCH 22/67] Changes. --- clearpath_common/CHANGELOG.rst | 7 ++++++ clearpath_control/CHANGELOG.rst | 5 ++++ clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 5 ++++ clearpath_generator_common/CHANGELOG.rst | 23 +++++++++++++++++++ clearpath_manipulators/CHANGELOG.rst | 6 +++++ .../CHANGELOG.rst | 5 ++++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 8 +++++++ clearpath_sensors_description/CHANGELOG.rst | 16 +++++++++++++ 10 files changed, 81 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 791d82fe..7d198ac6 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Added minimum version. +* Remove all references to clearpath_platform +* Move platform.launch.py to clearpath_common metapackage +* Contributors: Luis Camero, Tony Baltovski + 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 90dd83e5..021dcb40 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix controller names and kinematics (`#109 `_) +* Contributors: luis-camero + 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index a890f008..6e16d8bf 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 62eab418..9b9c6a4d 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Added minimum version. +* Contributors: Tony Baltovski + 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index ee6f8b12..495cd199 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,29 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Added minimum version. +* Remove all references to clearpath_platform +* Add support for Axis cameras (`#113 `_) + * Add axis camera URDFs & meshes + * Fix the path for the meshes + * Add the AxisCameraDescription class + * Remove the axis_camera files, add a dependency on axis_description. Add a new meta-macro that uses the camera type + * Use the device_type to set the model for the new description macro + * Add the update_rate to the URDF + * Add default topic for the URDF + * Remove the update_rate parameter; it's not supported by axis_camera + * Add the update_rate parameter back to the meta macro, but don't pass it + * Add the axis camera URDFs & STLs from axis_description, use the local copies instead of having an external dependency + * Add RGBA values for the "black" material, rename it to avoid conflicting with any other material definitions +* Add UR arm (`#110 `_) +* VCAN Rework (`#112 `_) + * VCan service script generator + * Use formatted strings to shorten line length and expose variables +* Add test exception for Zed (`#100 `_) +* Contributors: Chris Iverach-Brereton, Luis Camero, Tony Baltovski, luis-camero + 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 742689ce..95381635 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Added minimum version. +* Fix controller names and kinematics (`#109 `_) +* Contributors: Tony Baltovski, luis-camero + 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 867d4475..8d9dee71 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add UR arm (`#110 `_) +* Contributors: luis-camero + 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 179bce2f..15cbec78 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index fe90cd78..14550764 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [clearpath_platform_description] Fixed gazebo_controllers param file. (`#107 `_) +* Remove all references to clearpath_platform +* Add collision tags for MoveIt to avoid these objects (`#108 `_) +* [clearpath_platform_description] Fixed gazebo_controllers param file. (`#107 `_) +* Contributors: Luis Camero, Tony Baltovski, luis-camero + 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 2c2ecf92..6037a8eb 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add support for Axis cameras (`#113 `_) + * Add axis camera URDFs & meshes + * Fix the path for the meshes + * Add the AxisCameraDescription class + * Remove the axis_camera files, add a dependency on axis_description. Add a new meta-macro that uses the camera type + * Use the device_type to set the model for the new description macro + * Add the update_rate to the URDF + * Add default topic for the URDF + * Remove the update_rate parameter; it's not supported by axis_camera + * Add the update_rate parameter back to the meta macro, but don't pass it + * Add the axis camera URDFs & STLs from axis_description, use the local copies instead of having an external dependency + * Add RGBA values for the "black" material, rename it to avoid conflicting with any other material definitions +* Contributors: Chris Iverach-Brereton + 0.3.4 (2024-10-08) ------------------ * Fixed OakD URDF. From 2ac65c79f489732a95d1951a57a31d7461bc21d1 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Mon, 25 Nov 2024 22:46:01 -0500 Subject: [PATCH 23/67] 1.0.0 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 20 files changed, 30 insertions(+), 30 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 7d198ac6..6c4e3364 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ * Added minimum version. * Remove all references to clearpath_platform * Move platform.launch.py to clearpath_common metapackage diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 239598f2..269808cd 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 0.3.4 + 1.0.0 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 021dcb40..a565bbf1 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ * Fix controller names and kinematics (`#109 `_) * Contributors: luis-camero diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index 790b502a..fa46a49a 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 0.3.4 + 1.0.0 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 6e16d8bf..a8dc8e7b 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index 32b7f828..bb186f7d 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 0.3.4 + 1.0.0 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 9b9c6a4d..65efbe66 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ * Added minimum version. * Contributors: Tony Baltovski diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 5711359c..6d9eb7ab 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 0.3.4 + 1.0.0 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 495cd199..7e2f3302 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ * Added minimum version. * Remove all references to clearpath_platform * Add support for Axis cameras (`#113 `_) diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index 9413c496..278dba21 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 0.3.4 + 1.0.0 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 95381635..2b951863 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ * Added minimum version. * Fix controller names and kinematics (`#109 `_) * Contributors: Tony Baltovski, luis-camero diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index 1363f0d9..07222cb6 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 0.3.4 + 1.0.0 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 8d9dee71..3bd29e7e 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ * Add UR arm (`#110 `_) * Contributors: luis-camero diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 991a4782..473768d6 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 0.3.4 + 1.0.0 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 15cbec78..2026729c 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ 0.3.4 (2024-10-08) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index 0601dcfc..45c54cd2 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 0.3.4 + 1.0.0 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 14550764..8058aeb3 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ * [clearpath_platform_description] Fixed gazebo_controllers param file. (`#107 `_) * Remove all references to clearpath_platform * Add collision tags for MoveIt to avoid these objects (`#108 `_) diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index 95a6c5d9..a8e3c86c 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 0.3.4 + 1.0.0 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 6037a8eb..3f22c998 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-11-25) +------------------ * Add support for Axis cameras (`#113 `_) * Add axis camera URDFs & meshes * Fix the path for the meshes diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index 2ea42f8d..8ba65e55 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 0.3.4 + 1.0.0 Clearpath sensors URDF descriptions Luis Camero From 6511ff40d356ebd0774c9d7f5ee74cf2342e0afb Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Mon, 9 Dec 2024 11:54:19 -0500 Subject: [PATCH 24/67] [clearpath_platform_description] Fixed Ridgeback R100 rear light colour. (#127) --- clearpath_platform_description/urdf/r100/r100.urdf.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro index 9fd330e1..e1ca729a 100644 --- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro +++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -126,7 +126,7 @@ - + From 2ddfd1b540f7acb5465d90540f81543329a66f9f Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com> Date: Thu, 19 Dec 2024 14:06:14 -0500 Subject: [PATCH 25/67] Add `enable_ekf` launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (#133) (#134) --- clearpath_common/launch/platform.launch.py | 35 +++++++++++++------ .../launch/localization.launch.py | 35 ++++++++++++------- .../launch/generator.py | 7 ++-- 3 files changed, 50 insertions(+), 27 deletions(-) diff --git a/clearpath_common/launch/platform.launch.py b/clearpath_common/launch/platform.launch.py index d45986c9..92b882f3 100644 --- a/clearpath_common/launch/platform.launch.py +++ b/clearpath_common/launch/platform.launch.py @@ -66,10 +66,18 @@ def generate_launch_description(): description='Robot namespace' ) + arg_enable_ekf = DeclareLaunchArgument( + 'enable_ekf', + default_value='true', + choices=['true', 'false'], + description='Enable localization via EKF node' + ) + # Launch Configurations setup_path = LaunchConfiguration('setup_path') use_sim_time = LaunchConfiguration('use_sim_time') namespace = LaunchConfiguration('namespace') + enable_ekf = LaunchConfiguration('enable_ekf') # Launch files launch_file_platform_description = PathJoinSubstitution([ @@ -104,9 +112,9 @@ def generate_launch_description(): IncludeLaunchDescription( PythonLaunchDescriptionSource(launch_file_platform_description), launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time), - ('namespace', namespace), + ('setup_path', setup_path), + ('use_sim_time', use_sim_time), + ('namespace', namespace), ] ), @@ -114,8 +122,8 @@ def generate_launch_description(): IncludeLaunchDescription( PythonLaunchDescriptionSource(launch_file_control), launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time), + ('setup_path', setup_path), + ('use_sim_time', use_sim_time), ] ), @@ -123,8 +131,10 @@ def generate_launch_description(): IncludeLaunchDescription( PythonLaunchDescriptionSource(launch_file_localization), launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time)] + ('setup_path', setup_path), + ('use_sim_time', use_sim_time), + ('enable_ekf', enable_ekf) + ] ), # Launch clearpath_control/teleop_base.launch.py which is various ways to tele-op @@ -132,8 +142,9 @@ def generate_launch_description(): IncludeLaunchDescription( PythonLaunchDescriptionSource(launch_file_teleop_base), launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time)] + ('setup_path', setup_path), + ('use_sim_time', use_sim_time), + ] ), # Launch clearpath_control/teleop_joy.launch.py which is tele-operation using a @@ -141,8 +152,9 @@ def generate_launch_description(): IncludeLaunchDescription( PythonLaunchDescriptionSource(launch_file_teleop_joy), launch_arguments=[ - ('setup_path', setup_path), - ('use_sim_time', use_sim_time)] + ('setup_path', setup_path), + ('use_sim_time', use_sim_time), + ] ), ] ) @@ -151,5 +163,6 @@ def generate_launch_description(): ld.add_action(arg_setup_path) ld.add_action(arg_use_sim_time) ld.add_action(arg_namespace) + ld.add_action(arg_enable_ekf) ld.add_action(group_platform_action) return ld diff --git a/clearpath_control/launch/localization.launch.py b/clearpath_control/launch/localization.launch.py index a5078456..35902599 100644 --- a/clearpath_control/launch/localization.launch.py +++ b/clearpath_control/launch/localization.launch.py @@ -34,6 +34,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node @@ -41,15 +42,21 @@ def generate_launch_description(): # Launch Configurations + enable_ekf = LaunchConfiguration('enable_ekf') setup_path = LaunchConfiguration('setup_path') use_sim_time = LaunchConfiguration('use_sim_time') # Launch Arguments + arg_enable_ekf = DeclareLaunchArgument( + 'enable_ekf', + default_value='true', + choices=['true', 'false'], + description='Enable localization via EKF node' + ) arg_setup_path = DeclareLaunchArgument( 'setup_path', default_value='/etc/clearpath/' ) - arg_use_sim_time = DeclareLaunchArgument( 'use_sim_time', choices=['true', 'false'], @@ -69,20 +76,22 @@ def generate_launch_description(): # Localization node_localization = Node( - package='robot_localization', - executable='ekf_node', - name='ekf_node', - output='screen', - parameters=[config_localization], - remappings=[ - ('odometry/filtered', 'platform/odom/filtered'), - ('/diagnostics', 'diagnostics'), - ('/tf', 'tf'), - ('/tf_static', 'tf_static'), - ] - ) + package='robot_localization', + executable='ekf_node', + name='ekf_node', + output='screen', + parameters=[config_localization], + remappings=[ + ('odometry/filtered', 'platform/odom/filtered'), + ('/diagnostics', 'diagnostics'), + ('/tf', 'tf'), + ('/tf_static', 'tf_static'), + ], + condition=IfCondition(enable_ekf), + ) ld = LaunchDescription() + ld.add_action(arg_enable_ekf) ld.add_action(arg_setup_path) ld.add_action(arg_use_sim_time) ld.add_action(node_localization) diff --git a/clearpath_generator_common/clearpath_generator_common/launch/generator.py b/clearpath_generator_common/clearpath_generator_common/launch/generator.py index e4f2ab3c..99a92b12 100644 --- a/clearpath_generator_common/clearpath_generator_common/launch/generator.py +++ b/clearpath_generator_common/clearpath_generator_common/launch/generator.py @@ -68,9 +68,10 @@ def __init__(self, name='platform', package=self.pkg_clearpath_common, args=[ - ('setup_path', self.setup_path), - ('use_sim_time', 'false'), - ('namespace', self.namespace), + ('setup_path', self.setup_path), + ('use_sim_time', 'false'), + ('namespace', self.namespace), + ('enable_ekf', str(self.clearpath_config.platform.enable_ekf).lower()), ]) self.manipulators_launch_file = LaunchFile( From 599d99969ff3e71d70e2e5b90a589415ee910cd2 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Thu, 19 Dec 2024 14:18:50 -0500 Subject: [PATCH 26/67] Add flag to disable platform controllers for manipulation controller manager --- .../urdf/do100/do100.urdf.xacro | 63 ++++++++++--------- .../urdf/do150/do150.urdf.xacro | 1 + .../urdf/r100/r100.urdf.xacro | 63 ++++++++++--------- 3 files changed, 67 insertions(+), 60 deletions(-) diff --git a/clearpath_platform_description/urdf/do100/do100.urdf.xacro b/clearpath_platform_description/urdf/do100/do100.urdf.xacro index 18adb1ee..276b7421 100644 --- a/clearpath_platform_description/urdf/do100/do100.urdf.xacro +++ b/clearpath_platform_description/urdf/do100/do100.urdf.xacro @@ -4,6 +4,7 @@ + @@ -185,36 +186,38 @@ - - - - ign_ros2_control/IgnitionSystem - - - clearpath_hardware_interfaces/PumaHardware - - - - - - - - - - - - - - - - - - - - - - - + + + + + ign_ros2_control/IgnitionSystem + + + clearpath_hardware_interfaces/PumaHardware + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_platform_description/urdf/do150/do150.urdf.xacro b/clearpath_platform_description/urdf/do150/do150.urdf.xacro index 98045bdc..9541e0b0 100644 --- a/clearpath_platform_description/urdf/do150/do150.urdf.xacro +++ b/clearpath_platform_description/urdf/do150/do150.urdf.xacro @@ -4,6 +4,7 @@ + diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro index 9fd330e1..7b0696e6 100644 --- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro +++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -4,6 +4,7 @@ + @@ -296,36 +297,38 @@ - - - - ign_ros2_control/IgnitionSystem - - - clearpath_hardware_interfaces/PumaHardware - - - - - - - - - - - - - - - - - - - - - - - + + + + + ign_ros2_control/IgnitionSystem + + + clearpath_hardware_interfaces/PumaHardware + + + + + + + + + + + + + + + + + + + + + + + + From c8f2c8b7bef848d903d8a2324fc73a2993a4566e Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Mon, 9 Dec 2024 11:54:19 -0500 Subject: [PATCH 27/67] [clearpath_platform_description] Fixed Ridgeback R100 rear light colour. (#127) --- clearpath_platform_description/urdf/r100/r100.urdf.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro index 9fd330e1..e1ca729a 100644 --- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro +++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -126,7 +126,7 @@ - + From 029c5d8b667fad2de02eea711470ab6a813b2fa2 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Thu, 19 Dec 2024 14:18:50 -0500 Subject: [PATCH 28/67] Add flag to disable platform controllers for manipulation controller manager --- .../urdf/do100/do100.urdf.xacro | 63 ++++++++++--------- .../urdf/do150/do150.urdf.xacro | 1 + .../urdf/r100/r100.urdf.xacro | 63 ++++++++++--------- 3 files changed, 67 insertions(+), 60 deletions(-) diff --git a/clearpath_platform_description/urdf/do100/do100.urdf.xacro b/clearpath_platform_description/urdf/do100/do100.urdf.xacro index 18adb1ee..276b7421 100644 --- a/clearpath_platform_description/urdf/do100/do100.urdf.xacro +++ b/clearpath_platform_description/urdf/do100/do100.urdf.xacro @@ -4,6 +4,7 @@ + @@ -185,36 +186,38 @@ - - - - ign_ros2_control/IgnitionSystem - - - clearpath_hardware_interfaces/PumaHardware - - - - - - - - - - - - - - - - - - - - - - - + + + + + ign_ros2_control/IgnitionSystem + + + clearpath_hardware_interfaces/PumaHardware + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_platform_description/urdf/do150/do150.urdf.xacro b/clearpath_platform_description/urdf/do150/do150.urdf.xacro index 98045bdc..9541e0b0 100644 --- a/clearpath_platform_description/urdf/do150/do150.urdf.xacro +++ b/clearpath_platform_description/urdf/do150/do150.urdf.xacro @@ -4,6 +4,7 @@ + diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro index e1ca729a..90e56e39 100644 --- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro +++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -4,6 +4,7 @@ + @@ -296,36 +297,38 @@ - - - - ign_ros2_control/IgnitionSystem - - - clearpath_hardware_interfaces/PumaHardware - - - - - - - - - - - - - - - - - - - - - - - + + + + + ign_ros2_control/IgnitionSystem + + + clearpath_hardware_interfaces/PumaHardware + + + + + + + + + + + + + + + + + + + + + + + + From 794ef1474497f6c1f8645b0440fc9609527ef8ea Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Mon, 13 Jan 2025 15:01:23 -0500 Subject: [PATCH 29/67] Fix color of rear lights --- clearpath_platform_description/urdf/r100/r100.urdf.xacro | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro index 90e56e39..ed18cf5c 100644 --- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro +++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -127,7 +127,7 @@ - + @@ -158,7 +158,7 @@ - + From 5a0f7dc19a638693506206cadf4fc1617355f451 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 14 Jan 2025 13:48:09 -0500 Subject: [PATCH 30/67] Ewellix Lift (#136) Ewellix Lift - Remove upper_joint - Add moveit jpc - Add control for joint position controller - Add hardware parameters - Add lifts to generators - Initial add of Ewellix lift description files --- .../description/generator.py | 25 ++++++ .../description/manipulators.py | 16 ++++ .../param/manipulators.py | 67 +++++++++++++++ .../param/platform.py | 20 +++++ .../semantic_description/generator.py | 27 +++++- .../config/lift/ewellix/control.yaml | 14 ++++ .../config/lift/ewellix/control_jpc.yaml | 14 ++++ .../config/lift/ewellix/control_jtc.yaml | 25 ++++++ .../lift/ewellix/initial_positions.yaml | 3 + .../config/lift/ewellix/joint_limits.yaml | 10 +++ .../lift/ewellix/moveit_controllers.yaml | 12 +++ .../lift/ewellix/moveit_controllers_jpc.yaml | 12 +++ .../lift/ewellix/moveit_controllers_jtc.yaml | 12 +++ .../srdf/lift/ewellix.srdf.xacro | 23 +++++ .../urdf/lift/ewellix.urdf.xacro | 84 +++++++++++++++++++ 15 files changed, 363 insertions(+), 1 deletion(-) create mode 100644 clearpath_manipulators_description/config/lift/ewellix/control.yaml create mode 100644 clearpath_manipulators_description/config/lift/ewellix/control_jpc.yaml create mode 100644 clearpath_manipulators_description/config/lift/ewellix/control_jtc.yaml create mode 100644 clearpath_manipulators_description/config/lift/ewellix/initial_positions.yaml create mode 100644 clearpath_manipulators_description/config/lift/ewellix/joint_limits.yaml create mode 100644 clearpath_manipulators_description/config/lift/ewellix/moveit_controllers.yaml create mode 100644 clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jpc.yaml create mode 100644 clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jtc.yaml create mode 100644 clearpath_manipulators_description/srdf/lift/ewellix.srdf.xacro create mode 100644 clearpath_manipulators_description/urdf/lift/ewellix.urdf.xacro diff --git a/clearpath_generator_common/clearpath_generator_common/description/generator.py b/clearpath_generator_common/clearpath_generator_common/description/generator.py index 91b4222f..d462aa81 100644 --- a/clearpath_generator_common/clearpath_generator_common/description/generator.py +++ b/clearpath_generator_common/clearpath_generator_common/description/generator.py @@ -205,6 +205,7 @@ def generate_manipulators(self) -> None: self.xacro_writer.write_comment('Manipulators') self.xacro_writer.write_newline() self.generate_arms() + self.generate_lifts() self.generate_grippers() def generate_arms(self) -> None: @@ -257,6 +258,30 @@ def generate_grippers(self) -> None: self.xacro_writer.write_newline() + def generate_lifts(self) -> None: + lifts = self.clearpath_config.manipulators.get_all_lifts() + for lift in lifts: + lift_description = ManipulatorDescription(lift) + + self.xacro_writer.write_comment( + '{0}'.format(lift_description.name) + ) + + self.xacro_writer.write_include( + package=lift_description.package, + file=lift_description.model, + path=lift_description.path + ) + + self.xacro_writer.write_macro( + macro='{0}'.format(lift_description.model), + parameters=lift_description.parameters, + blocks=XacroWriter.add_origin( + lift_description.xyz, lift_description.rpy) + ) + + self.xacro_writer.write_newline() + def generate_extras(self) -> None: self.xacro_writer.write_comment('Extras') self.xacro_writer.write_newline() diff --git a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py index f06dece2..8471f77f 100644 --- a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py @@ -43,6 +43,10 @@ Robotiq2F140, Robotiq2F85 ) +from clearpath_config.manipulators.types.lifts import ( + BaseLift, + Ewellix +) from clearpath_config.manipulators.types.manipulator import BaseManipulator @@ -119,11 +123,23 @@ def __init__(self, arm: BaseArm) -> None: self.parameters.pop(self.PORT) self.parameters.update(arm.get_urdf_parameters()) + class LiftDescription(BaseDescription): + + def __init__(self, lift: BaseLift) -> None: + super().__init__(lift) + + class EwellixDescription(LiftDescription): + + def __init__(self, lift: BaseLift) -> None: + super().__init__(lift) + self.parameters.update(lift.get_urdf_parameters()) + MODEL = { KinovaGen3Dof6.MANIPULATOR_MODEL: KinovaArmDescription, KinovaGen3Dof7.MANIPULATOR_MODEL: KinovaArmDescription, KinovaGen3Lite.MANIPULATOR_MODEL: KinovaArmDescription, UniversalRobots.MANIPULATOR_MODEL: UniversalRobotsDescription, + Ewellix.MANIPULATOR_MODEL: EwellixDescription, } def __new__(cls, manipulator: BaseManipulator) -> BaseManipulator: diff --git a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py index d9dd6def..9df65190 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py @@ -127,6 +127,25 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) + # Lifts + for lift in self.clearpath_config.manipulators.get_all_lifts(): + # Lift Control Parameter File + lift_param_file = ParamFile( + name='control', + package=Package('clearpath_manipulators_description'), + path='config/%s/%s' % ( + lift.get_manipulator_type(), + lift.get_manipulator_model()), + parameters={} + ) + lift_param_file.read() + updated_parameters = replace_dict_items( + lift_param_file.parameters, + {r'${name}': lift.name} + ) + self.param_file.parameters = merge_dict( + self.param_file.parameters, updated_parameters) + def generate_parameter_file(self): param_writer = ParamWriter(self.param_file) param_writer.write_file() @@ -258,6 +277,18 @@ def get_kinematics_parameters(self): r'${name}': gripper.name }) parameter_file += kinematics_file + # Lifts + for lift in self.clearpath_config.manipulators.get_all_lifts(): + kinematics_file = MoveItParamFile( + name=lift.get_manipulator_type(), + path=parameter_directory, + package=parameter_package + ) + kinematics_file.read() + kinematics_file.replace({ + r'${name}': lift.name + }) + parameter_file += kinematics_file parameter_file.add_header('robot_description_kinematics') return parameter_file @@ -328,6 +359,26 @@ def get_moveit_controller_parameters(self, use_sim_time: bool = False) -> None: r'${name}': gripper.name }) parameter_file += controller_file + # Lifts + for lift in self.clearpath_config.manipulators.get_all_lifts(): + controller_file = MoveItParamFile( + name=parameter_name, + path=os.path.join( + parameter_directory, + lift.get_manipulator_type(), + lift.get_manipulator_model() + ), + package=parameter_package + ) + controller_name = lift.name + if not use_sim_time: + controller_name = 'manipulators/' + controller_name + controller_file.read() + controller_file.replace({ + r'${controller_name}': controller_name, + r'${name}': lift.name + }) + parameter_file += controller_file return parameter_file # Joint Limits @@ -375,6 +426,22 @@ def get_joint_limits_parameters(self): r'${name}': gripper.name }) parameter_file += controller_file + # Lifts + for lift in self.clearpath_config.manipulators.get_all_lifts(): + controller_file = MoveItParamFile( + name=parameter_name, + path=os.path.join( + parameter_directory, + lift.get_manipulator_type(), + lift.get_manipulator_model() + ), + package=parameter_package + ) + controller_file.read() + controller_file.replace({ + r'${name}': lift.name + }) + parameter_file += controller_file parameter_file.add_header('robot_description_planning') return parameter_file diff --git a/clearpath_generator_common/clearpath_generator_common/param/platform.py b/clearpath_generator_common/clearpath_generator_common/param/platform.py index bad93227..152e6a0f 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/platform.py +++ b/clearpath_generator_common/clearpath_generator_common/param/platform.py @@ -151,6 +151,26 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) + # Lift Control + if self.parameter == PlatformParam.CONTROL and use_sim_time: + for lift in self.clearpath_config.manipulators.get_all_lifts(): + # Arm Control Parameter File + lift_param_file = ParamFile( + name='control', + package=Package('clearpath_manipulators_description'), + path='config/%s/%s' % ( + lift.get_manipulator_type(), + lift.get_manipulator_model()), + parameters={} + ) + lift_param_file.read() + updated_parameters = replace_dict_items( + lift_param_file.parameters, + {r'${name}': lift.name} + ) + self.param_file.parameters = merge_dict( + self.param_file.parameters, updated_parameters) + # Get extra ros parameters from config extras = self.clearpath_config.platform.extras.ros_parameters for node in extras: diff --git a/clearpath_generator_common/clearpath_generator_common/semantic_description/generator.py b/clearpath_generator_common/clearpath_generator_common/semantic_description/generator.py index 66a61e28..653a809b 100644 --- a/clearpath_generator_common/clearpath_generator_common/semantic_description/generator.py +++ b/clearpath_generator_common/clearpath_generator_common/semantic_description/generator.py @@ -51,6 +51,10 @@ def generate(self) -> None: self.generate_grippers() self.xacro_writer.write_newline() + # Lifts + self.generate_lifts() + self.xacro_writer.write_newline() + self.xacro_writer.close_file() print(f'Generated {self.xacro_writer.file_path}robot.srdf.xacro') @@ -105,4 +109,25 @@ def generate_grippers(self) -> None: self.xacro_writer.write_newline() def generate_lifts(self) -> None: - pass + self.xacro_writer.write_comment('Lifts') + self.xacro_writer.write_newline() + lifts = self.clearpath_config.manipulators.get_all_lifts() + for lift in lifts: + lift_semantic_description = ManipulatorSemanticDescription(lift) + + self.xacro_writer.write_comment( + '{0}'.format(lift_semantic_description.name) + ) + + self.xacro_writer.write_include( + package=lift_semantic_description.package, + file=lift_semantic_description.model, + path=lift_semantic_description.path, + ) + + self.xacro_writer.write_macro( + macro='{0}'.format(lift_semantic_description.model), + parameters=lift_semantic_description.parameters, + ) + + self.xacro_writer.write_newline() diff --git a/clearpath_manipulators_description/config/lift/ewellix/control.yaml b/clearpath_manipulators_description/config/lift/ewellix/control.yaml new file mode 100644 index 00000000..b96d54b9 --- /dev/null +++ b/clearpath_manipulators_description/config/lift/ewellix/control.yaml @@ -0,0 +1,14 @@ +controller_manager: + ros__parameters: + update_rate: 10 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + ${name}_position_controller: + type: position_controllers/JointGroupPositionController + +${name}_position_controller: + ros__parameters: + joints: + - ${name}_lower_joint diff --git a/clearpath_manipulators_description/config/lift/ewellix/control_jpc.yaml b/clearpath_manipulators_description/config/lift/ewellix/control_jpc.yaml new file mode 100644 index 00000000..b96d54b9 --- /dev/null +++ b/clearpath_manipulators_description/config/lift/ewellix/control_jpc.yaml @@ -0,0 +1,14 @@ +controller_manager: + ros__parameters: + update_rate: 10 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + ${name}_position_controller: + type: position_controllers/JointGroupPositionController + +${name}_position_controller: + ros__parameters: + joints: + - ${name}_lower_joint diff --git a/clearpath_manipulators_description/config/lift/ewellix/control_jtc.yaml b/clearpath_manipulators_description/config/lift/ewellix/control_jtc.yaml new file mode 100644 index 00000000..9d0b6e28 --- /dev/null +++ b/clearpath_manipulators_description/config/lift/ewellix/control_jtc.yaml @@ -0,0 +1,25 @@ +controller_manager: + ros__parameters: + update_rate: 10 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + ${name}_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + +${name}_joint_trajectory_controller: + ros__parameters: + joints: + - ${name}_lower_joint + command_interfaces: + - position + state_interfaces: + - position + - velocity + state_publish_rate: 10.0 + action_monitor_rate: 10.0 + allow_partial_joints_goal: false + constraints: + stopped_velocity_tolerance: 0.0 + goal_time: 0.0 diff --git a/clearpath_manipulators_description/config/lift/ewellix/initial_positions.yaml b/clearpath_manipulators_description/config/lift/ewellix/initial_positions.yaml new file mode 100644 index 00000000..2eea0780 --- /dev/null +++ b/clearpath_manipulators_description/config/lift/ewellix/initial_positions.yaml @@ -0,0 +1,3 @@ +initial_positions: + ${name}_upper_joint: 0.0 + ${name}_lower_joint: 0.0 diff --git a/clearpath_manipulators_description/config/lift/ewellix/joint_limits.yaml b/clearpath_manipulators_description/config/lift/ewellix/joint_limits.yaml new file mode 100644 index 00000000..fcba7a0c --- /dev/null +++ b/clearpath_manipulators_description/config/lift/ewellix/joint_limits.yaml @@ -0,0 +1,10 @@ +default_velocity_scaling_factor: 0.5 +default_acceleration_scaling_factor: 0.5 + +joint_limits: + ${name}_upper_joint: + has_acceleration_limits: true + max_acceleration: 1.0 + ${name}_lower_joint: + has_acceleration_limits: true + max_acceleration: 1.0 diff --git a/clearpath_manipulators_description/config/lift/ewellix/moveit_controllers.yaml b/clearpath_manipulators_description/config/lift/ewellix/moveit_controllers.yaml new file mode 100644 index 00000000..7f1e34ff --- /dev/null +++ b/clearpath_manipulators_description/config/lift/ewellix/moveit_controllers.yaml @@ -0,0 +1,12 @@ +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - ${controller_name}_joint_trajectory_controller + + ${controller_name}_joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - ${name}_lower_joint diff --git a/clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jpc.yaml b/clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jpc.yaml new file mode 100644 index 00000000..791de354 --- /dev/null +++ b/clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jpc.yaml @@ -0,0 +1,12 @@ +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - ${controller_name}_position_controller + + ${controller_name}_position_controller: + type: JointGroupPositionController + action_ns: position_controllers + default: true + joints: + - ${name}_lower_joint diff --git a/clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jtc.yaml b/clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jtc.yaml new file mode 100644 index 00000000..7f1e34ff --- /dev/null +++ b/clearpath_manipulators_description/config/lift/ewellix/moveit_controllers_jtc.yaml @@ -0,0 +1,12 @@ +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - ${controller_name}_joint_trajectory_controller + + ${controller_name}_joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - ${name}_lower_joint diff --git a/clearpath_manipulators_description/srdf/lift/ewellix.srdf.xacro b/clearpath_manipulators_description/srdf/lift/ewellix.srdf.xacro new file mode 100644 index 00000000..45da8e94 --- /dev/null +++ b/clearpath_manipulators_description/srdf/lift/ewellix.srdf.xacro @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_manipulators_description/urdf/lift/ewellix.urdf.xacro b/clearpath_manipulators_description/urdf/lift/ewellix.urdf.xacro new file mode 100644 index 00000000..d5e241a5 --- /dev/null +++ b/clearpath_manipulators_description/urdf/lift/ewellix.urdf.xacro @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 9dc991b9f5dd9341198a48126780de28b483bbb9 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Wed, 15 Jan 2025 19:16:41 -0500 Subject: [PATCH 31/67] Changes. --- clearpath_common/CHANGELOG.rst | 5 +++++ clearpath_control/CHANGELOG.rst | 5 +++++ clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 3 +++ clearpath_generator_common/CHANGELOG.rst | 13 +++++++++++++ clearpath_manipulators/CHANGELOG.rst | 3 +++ clearpath_manipulators_description/CHANGELOG.rst | 12 ++++++++++++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 9 +++++++++ clearpath_sensors_description/CHANGELOG.rst | 3 +++ 10 files changed, 59 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 6c4e3364..6ca4b6c6 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add `enable_ekf` launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (`#133 `_) (`#134 `_) +* Contributors: Chris Iverach-Brereton + 1.0.0 (2024-11-25) ------------------ * Added minimum version. diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index a565bbf1..fc02db46 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add `enable_ekf` launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (`#133 `_) (`#134 `_) +* Contributors: Chris Iverach-Brereton + 1.0.0 (2024-11-25) ------------------ * Fix controller names and kinematics (`#109 `_) diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index a8dc8e7b..19348868 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.0.0 (2024-11-25) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 65efbe66..125040bc 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.0.0 (2024-11-25) ------------------ * Added minimum version. diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 7e2f3302..040d3b52 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Ewellix Lift (`#136 `_) + Ewellix Lift + - Remove upper_joint + - Add moveit jpc + - Add control for joint position controller + - Add hardware parameters + - Add lifts to generators + - Initial add of Ewellix lift description files +* Add `enable_ekf` launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (`#133 `_) (`#134 `_) +* Contributors: Chris Iverach-Brereton, luis-camero + 1.0.0 (2024-11-25) ------------------ * Added minimum version. diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 2b951863..918c5d75 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.0.0 (2024-11-25) ------------------ * Added minimum version. diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 3bd29e7e..c340c665 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Ewellix Lift (`#136 `_) + Ewellix Lift + - Remove upper_joint + - Add moveit jpc + - Add control for joint position controller + - Add hardware parameters + - Add lifts to generators + - Initial add of Ewellix lift description files +* Contributors: luis-camero + 1.0.0 (2024-11-25) ------------------ * Add UR arm (`#110 `_) diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 2026729c..67a31004 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.0.0 (2024-11-25) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 8058aeb3..25d7585c 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix color of rear lights +* Add flag to disable platform controllers for manipulation controller manager +* [clearpath_platform_description] Fixed Ridgeback R100 rear light colour. (`#127 `_) +* Add flag to disable platform controllers for manipulation controller manager +* [clearpath_platform_description] Fixed Ridgeback R100 rear light colour. (`#127 `_) +* Contributors: Luis Camero, Tony Baltovski + 1.0.0 (2024-11-25) ------------------ * [clearpath_platform_description] Fixed gazebo_controllers param file. (`#107 `_) diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 3f22c998..acf4c5d9 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.0.0 (2024-11-25) ------------------ * Add support for Axis cameras (`#113 `_) From af93f6aa3dbf8bd6bc43c8fff4bb95a996cdfd6c Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Wed, 15 Jan 2025 19:17:13 -0500 Subject: [PATCH 32/67] 1.1.0 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 20 files changed, 30 insertions(+), 30 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 6ca4b6c6..063258fb 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ * Add `enable_ekf` launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (`#133 `_) (`#134 `_) * Contributors: Chris Iverach-Brereton diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 269808cd..4d6fc0ff 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 1.0.0 + 1.1.0 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index fc02db46..13fc3f87 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ * Add `enable_ekf` launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (`#133 `_) (`#134 `_) * Contributors: Chris Iverach-Brereton diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index fa46a49a..492ef49f 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 1.0.0 + 1.1.0 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 19348868..f29cf99a 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ 1.0.0 (2024-11-25) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index bb186f7d..4a9030bf 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 1.0.0 + 1.1.0 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 125040bc..b6794a69 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ 1.0.0 (2024-11-25) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 6d9eb7ab..ecbc656d 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 1.0.0 + 1.1.0 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 040d3b52..1ae5205d 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ * Ewellix Lift (`#136 `_) Ewellix Lift - Remove upper_joint diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index 278dba21..90413d9e 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 1.0.0 + 1.1.0 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 918c5d75..cae540b2 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ 1.0.0 (2024-11-25) ------------------ diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index 07222cb6..72b8e0e6 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 1.0.0 + 1.1.0 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index c340c665..999d4a4e 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ * Ewellix Lift (`#136 `_) Ewellix Lift - Remove upper_joint diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 473768d6..7c55b6bd 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 1.0.0 + 1.1.0 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 67a31004..4e5ec1e4 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ 1.0.0 (2024-11-25) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index 45c54cd2..64f5afec 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 1.0.0 + 1.1.0 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 25d7585c..8f77c498 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ * Fix color of rear lights * Add flag to disable platform controllers for manipulation controller manager * [clearpath_platform_description] Fixed Ridgeback R100 rear light colour. (`#127 `_) diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index a8e3c86c..1a3ef2d4 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 1.0.0 + 1.1.0 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index acf4c5d9..5a83eafe 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.0 (2025-01-15) +------------------ 1.0.0 (2024-11-25) ------------------ diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index 8ba65e55..48dc5351 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 1.0.0 + 1.1.0 Clearpath sensors URDF descriptions Luis Camero From ddcc4ac4d81f9ac812e92cb0e42dbb9f136b2d25 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 16 Jan 2025 12:16:16 -0500 Subject: [PATCH 33/67] [clearpath_platform_description] Fixed R100 rear cover colour. (#145) --- clearpath_platform_description/urdf/r100/r100.urdf.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro index 7b50bc39..ed18cf5c 100644 --- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro +++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -127,7 +127,7 @@ - + From 3738d51cc07ddf260adab655de04ab96a42544e6 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 16 Jan 2025 12:17:21 -0500 Subject: [PATCH 34/67] Changes. --- clearpath_common/CHANGELOG.rst | 3 +++ clearpath_control/CHANGELOG.rst | 3 +++ clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 3 +++ clearpath_generator_common/CHANGELOG.rst | 3 +++ clearpath_manipulators/CHANGELOG.rst | 3 +++ clearpath_manipulators_description/CHANGELOG.rst | 3 +++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 5 +++++ clearpath_sensors_description/CHANGELOG.rst | 3 +++ 10 files changed, 32 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 063258fb..cb4321b4 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.0 (2025-01-15) ------------------ * Add `enable_ekf` launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (`#133 `_) (`#134 `_) diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 13fc3f87..62ab9f86 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.0 (2025-01-15) ------------------ * Add `enable_ekf` launch parameter to platform -> localization launch files. Disable the EKF node if enable_ekf is false. (`#133 `_) (`#134 `_) diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index f29cf99a..33cc3546 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index b6794a69..a95b03f5 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 1ae5205d..c2273567 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.0 (2025-01-15) ------------------ * Ewellix Lift (`#136 `_) diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index cae540b2..9320e7d1 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 999d4a4e..6862edfb 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.0 (2025-01-15) ------------------ * Ewellix Lift (`#136 `_) diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 4e5ec1e4..1a096e5b 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 8f77c498..192b34aa 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* [clearpath_platform_description] Fixed R100 rear cover colour. (`#145 `_) +* Contributors: Tony Baltovski + 1.1.0 (2025-01-15) ------------------ * Fix color of rear lights diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 5a83eafe..acb596cd 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.0 (2025-01-15) ------------------ From 69a73235e922950a2ade743207e64e913cb5e18d Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 16 Jan 2025 12:17:30 -0500 Subject: [PATCH 35/67] 1.1.1 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 20 files changed, 30 insertions(+), 30 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index cb4321b4..a0568fae 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 4d6fc0ff..d3f22160 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 1.1.0 + 1.1.1 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 62ab9f86..9e2565c6 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index 492ef49f..a5d85379 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 1.1.0 + 1.1.1 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 33cc3546..738690af 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index 4a9030bf..bf47a0a5 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 1.1.0 + 1.1.1 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index a95b03f5..ae4281d5 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index ecbc656d..a4770fd3 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 1.1.0 + 1.1.1 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index c2273567..9c0e4671 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index 90413d9e..5081d6f9 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 1.1.0 + 1.1.1 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 9320e7d1..e2c31f1e 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index 72b8e0e6..03ee8167 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 1.1.0 + 1.1.1 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 6862edfb..5532852b 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 7c55b6bd..bcf5cf40 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 1.1.0 + 1.1.1 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 1a096e5b..bd5bce07 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index 64f5afec..fa9851bc 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 1.1.0 + 1.1.1 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 192b34aa..da9d5960 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ * [clearpath_platform_description] Fixed R100 rear cover colour. (`#145 `_) * Contributors: Tony Baltovski diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index 1a3ef2d4..63dc5a49 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 1.1.0 + 1.1.1 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index acb596cd..2cc81197 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.1.1 (2025-01-16) +------------------ 1.1.0 (2025-01-15) ------------------ diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index 48dc5351..8d3072a2 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 1.1.0 + 1.1.1 Clearpath sensors URDF descriptions Luis Camero From 0f122b79b084b5a07d9c2a7170a288b2cb3c5710 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Fri, 24 Jan 2025 12:45:40 -0500 Subject: [PATCH 36/67] Humble Multi-Repo CI (#150) * Add multi-repo CI --- .github/workflows/ci.yml | 78 ++++++++++++++++++++++++++++++++++++++++ 1 file changed, 78 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index bd026ea0..30171f38 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -69,3 +69,81 @@ jobs: clearpath_platform_description clearpath_sensors_description vcs-repo-file-url: dependencies.repos + clearpath_common_src_head_ci: + name: Humble Clearpath Source with Head Branch + runs-on: ubuntu-22.04 + steps: + - uses: actions/checkout@v3 + - uses: actions/checkout@v3 + with: + repository: clearpathrobotics/repos-dep-update-action + ref: 0.0.1 + path: repos-dep-update-action + - name: Extract branch name + shell: bash + run: echo "branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT + id: extract_branch + - name: Use repos update action + uses: ./repos-dep-update-action/ + with: + branch: ${{ steps.extract_branch.outputs.branch }} + input: dependencies.repos + output: updated_dependencies.repos + - name: Updated dependencies + run: | + cat updated_dependencies.repos + - uses: ros-tooling/setup-ros@v0.7 + with: + required-ros-distributions: humble + - uses: ros-tooling/action-ros-ci@v0.3 + id: action_ros_ci_step + with: + target-ros2-distro: humble + package-name: | + clearpath_common + clearpath_control + clearpath_customization + clearpath_description + clearpath_generator_common + clearpath_mounts_description + clearpath_platform_description + clearpath_sensors_description + vcs-repo-file-url: updated_dependencies.repos + clearpath_common_src_base_ci: + if: github.event_name == 'pull_request' + name: Humble Clearpath Source with Base Branch + runs-on: ubuntu-22.04 + steps: + - uses: actions/checkout@v3 + - uses: actions/checkout@v3 + with: + repository: clearpathrobotics/repos-dep-update-action + ref: 0.0.1 + path: repos-dep-update-action + - name: Use repos update action + uses: ./repos-dep-update-action/ + with: + branch: ${{ github.event.pull_request.base.ref }} + input: dependencies.repos + output: updated_dependencies.repos + - name: Updated dependencies + run: | + cat updated_dependencies.repos + - uses: ros-tooling/setup-ros@v0.7 + with: + required-ros-distributions: humble + - uses: ros-tooling/action-ros-ci@v0.3 + id: action_ros_ci_step + with: + target-ros2-distro: humble + package-name: | + clearpath_common + clearpath_control + clearpath_customization + clearpath_description + clearpath_generator_common + clearpath_mounts_description + clearpath_platform_description + clearpath_sensors_description + vcs-repo-file-url: updated_dependencies.repos + From 4134d15feec39fc34ba5ca4ce6ef5205d44dc0d9 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Fri, 7 Feb 2025 12:31:55 -0500 Subject: [PATCH 37/67] Fix: Isolate Universal Robots driver and client library dependencies (#164) --- .../urdf/arm/universal_robots.urdf.xacro | 89 ++++++++++--------- 1 file changed, 49 insertions(+), 40 deletions(-) diff --git a/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro b/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro index f67f1e2e..4412e9b8 100644 --- a/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro +++ b/clearpath_manipulators_description/urdf/arm/universal_robots.urdf.xacro @@ -59,14 +59,33 @@ + + + + + + + + + + + + + + + + + + + + + + - - - @@ -75,42 +94,10 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - - - @@ -119,7 +106,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -130,10 +143,6 @@ - - - - Date: Fri, 7 Feb 2025 12:32:15 -0500 Subject: [PATCH 38/67] Fix: Change dependency on SRDF plugins (#165) --- clearpath_generator_common/package.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index 5081d6f9..8b44ec0b 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -14,6 +14,8 @@ ament_cmake + moveit_setup_srdf_plugins + clearpath_config clearpath_control clearpath_description @@ -23,7 +25,6 @@ ament_lint_common ament_cmake_pytest - moveit_setup_srdf_plugins ament_cmake From 3d9f85cc74eb0e4d0cfd81d97cdd9006a458e634 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Wed, 12 Feb 2025 10:34:53 -0500 Subject: [PATCH 39/67] Backport Fix: Sensor depends (#129) (#167) * Remove the package initializations that depend on robot packages * Add a copy of the imu_filter parameters from clearpath_sensors to clearpath_control. Change the default IMU filter config path to point to this file. Remove more unneeded initializations of clearpath_robot packages Co-authored-by: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com> --- clearpath_control/config/imu_filter.yaml | 17 +++++++++++++++++ .../clearpath_generator_common/common.py | 2 -- .../param/platform.py | 8 +------- 3 files changed, 18 insertions(+), 9 deletions(-) create mode 100644 clearpath_control/config/imu_filter.yaml diff --git a/clearpath_control/config/imu_filter.yaml b/clearpath_control/config/imu_filter.yaml new file mode 100644 index 00000000..c2aed313 --- /dev/null +++ b/clearpath_control/config/imu_filter.yaml @@ -0,0 +1,17 @@ +imu_filter_node: + ros__parameters: + use_sim_time: False + stateless: false + use_mag: false + publish_tf: false + reverse_tf: false + fixed_frame: "odom" + constant_dt: 0.0 + publish_debug_topics: false + world_frame: "enu" + gain: 0.1 + zeta: 0.0 + mag_bias_x: 0.0 + mag_bias_y: 0.0 + mag_bias_z: 0.0 + orientation_stddev: 0.0 diff --git a/clearpath_generator_common/clearpath_generator_common/common.py b/clearpath_generator_common/clearpath_generator_common/common.py index d600f2bb..e461b76e 100644 --- a/clearpath_generator_common/clearpath_generator_common/common.py +++ b/clearpath_generator_common/clearpath_generator_common/common.py @@ -297,9 +297,7 @@ def __init__(self, self.setup_path, self.MANIPULATORS_PATH, self.LAUNCH_PATH) # Packages - self.pkg_clearpath_sensors = Package('clearpath_sensors') self.pkg_clearpath_common = Package('clearpath_common') - self.pkg_clearpath_hardware_interfaces = Package('clearpath_hardware_interfaces') self.pkg_clearpath_manipulators = Package('clearpath_manipulators') self.pkg_clearpath_platform_description = Package('clearpath_platform_description') self.pkg_clearpath_sensors_description = Package('clearpath_sensors_description') diff --git a/clearpath_generator_common/clearpath_generator_common/param/platform.py b/clearpath_generator_common/clearpath_generator_common/param/platform.py index 152e6a0f..e1020c65 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/platform.py +++ b/clearpath_generator_common/clearpath_generator_common/param/platform.py @@ -57,8 +57,6 @@ class PlatformParam(): class BaseParam(): CLEARPATH_CONTROL = 'clearpath_control' - CLEARPATH_HARDWARE_INTERFACES = 'clearpath_hardware_interfaces' - CLEARPATH_SENSORS = 'clearpath_sensors' def __init__(self, parameter: str, @@ -71,10 +69,6 @@ def __init__(self, self.param_path = param_path # Clearpath Platform Package - self.clearpath_sensors_package = Package( - self. CLEARPATH_SENSORS) - self.clearpath_hardware_interfaces_package = Package( - self.CLEARPATH_HARDWARE_INTERFACES) self.clearpath_control_package = Package(self.CLEARPATH_CONTROL) # Default parameter file @@ -192,7 +186,7 @@ def __init__(self, clearpath_config: ClearpathConfig, param_path: str) -> None: super().__init__(parameter, clearpath_config, param_path) - self.default_parameter_file_package = self.clearpath_sensors_package + self.default_parameter_file_package = self.clearpath_control_package self.default_parameter_file_path = 'config' class LocalizationParam(BaseParam): From 488f5b6fc0c707ebd87d00235dfbaf642ecdb24e Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Thu, 6 Feb 2025 12:32:27 -0500 Subject: [PATCH 40/67] Feature: Link Material (#162) * Add material to link generator * Add material xacro macro * Catch exception for frame without material --- .../description/links.py | 43 ++++++++++++++++--- .../urdf/common.urdf.xacro | 24 +++++++++++ .../urdf/links/box.urdf.xacro | 16 +++++-- .../urdf/links/cylinder.urdf.xacro | 17 ++++++-- .../urdf/links/mesh.urdf.xacro | 17 ++++++-- .../urdf/links/sphere.urdf.xacro | 16 +++++-- 6 files changed, 114 insertions(+), 19 deletions(-) diff --git a/clearpath_generator_common/clearpath_generator_common/description/links.py b/clearpath_generator_common/clearpath_generator_common/description/links.py index 827badaa..edd2770f 100644 --- a/clearpath_generator_common/clearpath_generator_common/description/links.py +++ b/clearpath_generator_common/clearpath_generator_common/description/links.py @@ -37,6 +37,7 @@ from clearpath_config.links.links import Link from clearpath_config.links.types.box import Box from clearpath_config.links.types.cylinder import Cylinder +from clearpath_config.links.types.frame import Frame from clearpath_config.links.types.link import BaseLink from clearpath_config.links.types.mesh import Mesh from clearpath_config.links.types.sphere import Sphere @@ -48,6 +49,9 @@ class BaseDescription(): NAME = 'name' PARENT_LINK = 'parent_link' + MATERIAL_NAME = 'material_name' + MATERIAL_COLOR = 'material_color' + MATERIAL_TEXTURE = 'material_texture' def __init__(self, link: BaseLink) -> None: self.link = link @@ -60,6 +64,23 @@ def __init__(self, link: BaseLink) -> None: self.PARENT_LINK: self.link.parent } + if link.material.name: + self.parameters.update({self.MATERIAL_NAME: link.material.name}) + if link.material.color: + self.parameters.update({ + self.MATERIAL_COLOR: ' '.join(str(i) for i in link.material.color)}) + if not link.material.name: + self.parameters.update({self.MATERIAL_NAME: f'{link.name}_material'}) + if link.material.texture: + if link.material.texture.package: + texture_file = os.path.join( + 'package://' + link.material.texture.package, + File.clean(link.material.texture.path, make_abs=False)) + else: + texture_file = ( + 'file://' + File.clean(link.material.texture.path, make_abs=False)) + self.parameters.update({self.MATERIAL_TEXTURE: texture_file}) + @property def xyz(self) -> List[float]: return self.link.xyz @@ -102,19 +123,27 @@ class MeshDescription(BaseDescription): def __init__(self, link: Mesh) -> None: super().__init__(link) + if (link.visual.package): - self.parameters.update({ - self.VISUAL: os.path.join('package://' + link.visual.package, - File.clean(link.visual.path, make_abs=False)) - }) + mesh_filename = os.path.join('package://' + link.visual.package, + File.clean(link.visual.path, make_abs=False)) else: - self.parameters.update({ - self.VISUAL: 'file://' + File.clean(link.visual.path, make_abs=False) - }) + mesh_filename = 'file://' + File.clean(link.visual.path, make_abs=False) + + self.parameters.update({self.VISUAL: mesh_filename}) + + class FrameDescription(BaseDescription): + + def __init__(self, link: Frame): + super().__init__(link) + self.parameters.pop(self.MATERIAL_NAME, None) + self.parameters.pop(self.MATERIAL_COLOR, None) + self.parameters.pop(self.MATERIAL_TEXTURE, None) MODEL = { Link.BOX: BoxDescription, Link.CYLINDER: CylinderDescription, + Link.FRAME: FrameDescription, Link.MESH: MeshDescription, Link.SPHERE: SphereDescription, } diff --git a/clearpath_platform_description/urdf/common.urdf.xacro b/clearpath_platform_description/urdf/common.urdf.xacro index 96963c8e..241db111 100644 --- a/clearpath_platform_description/urdf/common.urdf.xacro +++ b/clearpath_platform_description/urdf/common.urdf.xacro @@ -119,4 +119,28 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI iteration="${iteration + 1}"/> + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_platform_description/urdf/links/box.urdf.xacro b/clearpath_platform_description/urdf/links/box.urdf.xacro index aa65d880..df376690 100644 --- a/clearpath_platform_description/urdf/links/box.urdf.xacro +++ b/clearpath_platform_description/urdf/links/box.urdf.xacro @@ -1,18 +1,28 @@ - + - + - diff --git a/clearpath_platform_description/urdf/links/cylinder.urdf.xacro b/clearpath_platform_description/urdf/links/cylinder.urdf.xacro index 6dcc4cae..4422d5c3 100644 --- a/clearpath_platform_description/urdf/links/cylinder.urdf.xacro +++ b/clearpath_platform_description/urdf/links/cylinder.urdf.xacro @@ -1,18 +1,29 @@ - + - + - diff --git a/clearpath_platform_description/urdf/links/mesh.urdf.xacro b/clearpath_platform_description/urdf/links/mesh.urdf.xacro index 4b175ff5..2647b2f8 100644 --- a/clearpath_platform_description/urdf/links/mesh.urdf.xacro +++ b/clearpath_platform_description/urdf/links/mesh.urdf.xacro @@ -1,18 +1,29 @@ - + - + - diff --git a/clearpath_platform_description/urdf/links/sphere.urdf.xacro b/clearpath_platform_description/urdf/links/sphere.urdf.xacro index 5f57fe3a..33beaf3d 100644 --- a/clearpath_platform_description/urdf/links/sphere.urdf.xacro +++ b/clearpath_platform_description/urdf/links/sphere.urdf.xacro @@ -1,18 +1,28 @@ - + - + - From afef96bc90d72a5f5baf549aca47ddcbf77fbb08 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 11 Feb 2025 10:29:24 -0500 Subject: [PATCH 41/67] Feature: Manipulator Samples and Poses (#163) * Add group_state macros to arm SRDF * Add group_state macros to grippers SRDF * Generate pose macros in URDF --- .../semantic_description/generator.py | 17 +++++++ .../semantic_description/manipulators.py | 26 +++++++++- .../srdf/arm/kinova_gen3_6dof.srdf.xacro | 41 ++++++++++------ .../srdf/arm/kinova_gen3_7dof.srdf.xacro | 44 ++++++++++------- .../srdf/arm/kinova_gen3_lite.srdf.xacro | 26 ++++++++++ .../srdf/arm/universal_robots.srdf.xacro | 49 ++++++++++--------- .../srdf/gripper/kinova_2f_lite.srdf.xacro | 25 +++++++--- .../srdf/gripper/robotiq_2f_140.srdf.xacro | 25 +++++++--- .../srdf/gripper/robotiq_2f_85.srdf.xacro | 26 +++++++--- 9 files changed, 201 insertions(+), 78 deletions(-) diff --git a/clearpath_generator_common/clearpath_generator_common/semantic_description/generator.py b/clearpath_generator_common/clearpath_generator_common/semantic_description/generator.py index 653a809b..8de0832b 100644 --- a/clearpath_generator_common/clearpath_generator_common/semantic_description/generator.py +++ b/clearpath_generator_common/clearpath_generator_common/semantic_description/generator.py @@ -32,6 +32,7 @@ from clearpath_generator_common.common import BaseGenerator from clearpath_generator_common.description.writer import XacroWriter from clearpath_generator_common.semantic_description.manipulators import ( + ManipulatorPoseMacro, ManipulatorSemanticDescription ) @@ -75,6 +76,14 @@ def generate_arms(self) -> None: path=arm_semantic_description.path, ) + for pose in arm.poses: + pose_macro = ManipulatorPoseMacro(arm, pose) + self.xacro_writer.write_macro( + macro=pose_macro.macro(), + parameters=pose_macro.parameters(), + blocks=pose_macro.blocks(), + ) + self.xacro_writer.write_macro( macro='{0}'.format(arm_semantic_description.model), parameters=arm_semantic_description.parameters, @@ -101,6 +110,14 @@ def generate_grippers(self) -> None: path=gripper_semantic_description.path, ) + for pose in arm.gripper.poses: + pose_macro = ManipulatorPoseMacro(arm.gripper, pose) + self.xacro_writer.write_macro( + macro=pose_macro.macro(), + parameters=pose_macro.parameters(), + blocks=pose_macro.blocks(), + ) + self.xacro_writer.write_macro( macro='{0}'.format(gripper_semantic_description.model), parameters=gripper_semantic_description.parameters, diff --git a/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py b/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py index 8bac0ba3..1571b9d7 100644 --- a/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py @@ -29,7 +29,31 @@ # Redistribution and use in source and binary forms, with or without # modification, is not permitted without the express permission # of Clearpath Robotics. -from clearpath_config.manipulators.types.manipulator import BaseManipulator +from clearpath_config.manipulators.types.manipulator import ( + BaseManipulator, + ManipulatorPose +) + + +class ManipulatorPoseMacro(): + + def __init__(self, manipulator: BaseManipulator, pose: ManipulatorPose) -> None: + self.manipulator = manipulator + self.pose = pose + + def macro(self) -> str: + return f'{self.manipulator.MANIPULATOR_MODEL}_group_state' + + def parameters(self) -> dict: + str_joints = [f'{joint:.4f}' for joint in self.pose.joints] + return { + 'name': self.manipulator.name, + 'group_state': self.pose.name, + 'joint_positions': f'${{[{", ".join(str_joints)}]}}' + } + + def blocks(self) -> str: + return None class ManipulatorSemanticDescription(): diff --git a/clearpath_manipulators_description/srdf/arm/kinova_gen3_6dof.srdf.xacro b/clearpath_manipulators_description/srdf/arm/kinova_gen3_6dof.srdf.xacro index efc0be6c..535198be 100644 --- a/clearpath_manipulators_description/srdf/arm/kinova_gen3_6dof.srdf.xacro +++ b/clearpath_manipulators_description/srdf/arm/kinova_gen3_6dof.srdf.xacro @@ -1,5 +1,17 @@ + + + + + + + + + + + + @@ -9,21 +21,18 @@ - - - - - - - - - - - - - - - - + + + + + diff --git a/clearpath_manipulators_description/srdf/arm/kinova_gen3_7dof.srdf.xacro b/clearpath_manipulators_description/srdf/arm/kinova_gen3_7dof.srdf.xacro index c52ee0a3..6285c2b3 100644 --- a/clearpath_manipulators_description/srdf/arm/kinova_gen3_7dof.srdf.xacro +++ b/clearpath_manipulators_description/srdf/arm/kinova_gen3_7dof.srdf.xacro @@ -1,5 +1,18 @@ + + + + + + + + + + + + + @@ -10,23 +23,18 @@ - - - - - - - - - - - - - - - - - - + + + + + diff --git a/clearpath_manipulators_description/srdf/arm/kinova_gen3_lite.srdf.xacro b/clearpath_manipulators_description/srdf/arm/kinova_gen3_lite.srdf.xacro index 80498a03..38f512de 100644 --- a/clearpath_manipulators_description/srdf/arm/kinova_gen3_lite.srdf.xacro +++ b/clearpath_manipulators_description/srdf/arm/kinova_gen3_lite.srdf.xacro @@ -1,5 +1,17 @@ + + + + + + + + + + + + @@ -33,5 +45,19 @@ + + + + + + diff --git a/clearpath_manipulators_description/srdf/arm/universal_robots.srdf.xacro b/clearpath_manipulators_description/srdf/arm/universal_robots.srdf.xacro index 65202af1..5c942a8a 100644 --- a/clearpath_manipulators_description/srdf/arm/universal_robots.srdf.xacro +++ b/clearpath_manipulators_description/srdf/arm/universal_robots.srdf.xacro @@ -1,5 +1,17 @@ + + + + + + + + + + + + @@ -9,29 +21,18 @@ - - - - - - - - - - - - - - - - - - - - - - - - + + + + + diff --git a/clearpath_manipulators_description/srdf/gripper/kinova_2f_lite.srdf.xacro b/clearpath_manipulators_description/srdf/gripper/kinova_2f_lite.srdf.xacro index 6493a9cd..ae49f66f 100644 --- a/clearpath_manipulators_description/srdf/gripper/kinova_2f_lite.srdf.xacro +++ b/clearpath_manipulators_description/srdf/gripper/kinova_2f_lite.srdf.xacro @@ -1,5 +1,12 @@ + + + + + + + @@ -7,12 +14,18 @@ - - - - - - + + + + diff --git a/clearpath_manipulators_description/srdf/gripper/robotiq_2f_140.srdf.xacro b/clearpath_manipulators_description/srdf/gripper/robotiq_2f_140.srdf.xacro index 1eb0ab9e..167d747b 100644 --- a/clearpath_manipulators_description/srdf/gripper/robotiq_2f_140.srdf.xacro +++ b/clearpath_manipulators_description/srdf/gripper/robotiq_2f_140.srdf.xacro @@ -1,5 +1,12 @@ + + + + + + + @@ -9,12 +16,18 @@ - - - - - - + + + + diff --git a/clearpath_manipulators_description/srdf/gripper/robotiq_2f_85.srdf.xacro b/clearpath_manipulators_description/srdf/gripper/robotiq_2f_85.srdf.xacro index 353d15c4..9b6d0983 100644 --- a/clearpath_manipulators_description/srdf/gripper/robotiq_2f_85.srdf.xacro +++ b/clearpath_manipulators_description/srdf/gripper/robotiq_2f_85.srdf.xacro @@ -1,5 +1,12 @@ + + + + + + + @@ -12,16 +19,21 @@ - - - - - - + + + + - From 6555e7907b8368d5dfb8c97a886eeb6f5d21dffd Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Wed, 12 Feb 2025 10:33:43 -0500 Subject: [PATCH 42/67] Feature: MoveIt Parameters and Enable (#166) --- .../clearpath_generator_common/launch/generator.py | 3 ++- .../param/manipulators.py | 8 ++++---- .../launch/manipulators.launch.py | 13 ++++++++++++- 3 files changed, 18 insertions(+), 6 deletions(-) diff --git a/clearpath_generator_common/clearpath_generator_common/launch/generator.py b/clearpath_generator_common/clearpath_generator_common/launch/generator.py index 99a92b12..95bd3d72 100644 --- a/clearpath_generator_common/clearpath_generator_common/launch/generator.py +++ b/clearpath_generator_common/clearpath_generator_common/launch/generator.py @@ -80,7 +80,8 @@ def __init__(self, args=[ ('setup_path', self.setup_path), ('use_sim_time', 'false'), - ('namespace', self.namespace) + ('namespace', self.namespace), + ('launch_moveit', str(self.clearpath_config.manipulators.moveit.enable).lower()), ] ) diff --git a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py index 9df65190..63467386 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py @@ -178,11 +178,11 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: self.param_file.add_node_header() - # Get extra ros parameters from config - extras = self.clearpath_config.platform.extras.ros_parameters - for node in extras: + # Get MoveIt ros parameters from config + moveit_params = self.clearpath_config.manipulators.moveit.ros_parameters + for node in moveit_params: if node in self.param_file.parameters: - self.param_file.update({node: extras.get(node)}) + self.param_file.update({node: moveit_params.get(node)}) if use_sim_time: for node in self.param_file.parameters: diff --git a/clearpath_manipulators/launch/manipulators.launch.py b/clearpath_manipulators/launch/manipulators.launch.py index b07d51a6..ecffd3e2 100644 --- a/clearpath_manipulators/launch/manipulators.launch.py +++ b/clearpath_manipulators/launch/manipulators.launch.py @@ -38,6 +38,7 @@ IncludeLaunchDescription, TimerAction ) +from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import ( LaunchConfiguration, @@ -72,10 +73,18 @@ def generate_launch_description(): description='Robot namespace' ) + arg_launch_moveit = DeclareLaunchArgument( + 'launch_moveit', + choices=['true', 'false'], + default_value='false', + description='Launch MoveIt' + ) + # Launch Configurations setup_path = LaunchConfiguration('setup_path') use_sim_time = LaunchConfiguration('use_sim_time') namespace = LaunchConfiguration('namespace') + launch_moveit = LaunchConfiguration('launch_moveit') # Launch files launch_file_manipulators_description = PathJoinSubstitution([ @@ -123,7 +132,8 @@ def generate_launch_description(): launch_arguments=[ ('setup_path', setup_path), ('use_sim_time', use_sim_time) - ] + ], + condition=IfCondition(launch_moveit) ) moveit_delayed = TimerAction( @@ -135,6 +145,7 @@ def generate_launch_description(): ld.add_action(arg_setup_path) ld.add_action(arg_use_sim_time) ld.add_action(arg_namespace) + ld.add_action(arg_launch_moveit) ld.add_action(group_manipulators_action) ld.add_action(moveit_delayed) return ld From 9fa484e6f132d085dbe1f7251152ecb18a86908e Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Wed, 19 Feb 2025 13:53:11 -0500 Subject: [PATCH 43/67] Feature Humble Ouster (#161) * Add OusteOS1 description * Custom OusterOS1 generator * Ouster use custom description generator --- .../description/sensors.py | 17 +- .../meshes/ouster/os1_base.dae | 106 +++++++ .../meshes/ouster/os1_fins.dae | 106 +++++++ .../meshes/ouster/os1_halo.dae | 106 +++++++ .../meshes/ouster/os1_lidar.dae | 274 ++++++++++++++++++ .../urdf/ouster_os1.urdf.xacro | 235 +++++++++++++++ 6 files changed, 843 insertions(+), 1 deletion(-) create mode 100644 clearpath_sensors_description/meshes/ouster/os1_base.dae create mode 100644 clearpath_sensors_description/meshes/ouster/os1_fins.dae create mode 100644 clearpath_sensors_description/meshes/ouster/os1_halo.dae create mode 100644 clearpath_sensors_description/meshes/ouster/os1_lidar.dae create mode 100644 clearpath_sensors_description/urdf/ouster_os1.urdf.xacro diff --git a/clearpath_generator_common/clearpath_generator_common/description/sensors.py b/clearpath_generator_common/clearpath_generator_common/description/sensors.py index 8fe4dd09..313f476d 100644 --- a/clearpath_generator_common/clearpath_generator_common/description/sensors.py +++ b/clearpath_generator_common/clearpath_generator_common/description/sensors.py @@ -45,7 +45,7 @@ RedshiftUM7 ) from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST, SickLMS1XX -from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, VelodyneLidar +from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, OusterOS1, VelodyneLidar from clearpath_config.sensors.types.sensor import BaseSensor @@ -130,6 +130,20 @@ def __init__(self, sensor: BaseLidar3D) -> None: self.UPDATE_RATE: 50 }) + class OusterOS1Description(Lidar3dDescription): + SAMPLES_HORIZONTAL = 'samples_h' + SAMPLES_VERTICAL = 'samples_v' + + def __init__(self, sensor: BaseLidar3D) -> None: + super().__init__(sensor) + + del self.parameters[self.ANGULAR_RESOLUTION_H] + del self.parameters[self.ANGULAR_RESOLUTION_V] + self.parameters.update({ + self.SAMPLES_HORIZONTAL: 1024, + self.SAMPLES_VERTICAL: 64 + }) + class ImuDescription(BaseDescription): UPDATE_RATE = 'update_rate' @@ -189,6 +203,7 @@ def __init__(self, sensor: StereolabsZed) -> None: FlirBlackfly.SENSOR_MODEL: CameraDescription, AxisCamera.SENSOR_MODEL: AxisCameraDescription, Microstrain.SENSOR_MODEL: ImuDescription, + OusterOS1.SENSOR_MODEL: OusterOS1Description, VelodyneLidar.SENSOR_MODEL: Lidar3dDescription, CHRoboticsUM6.SENSOR_MODEL: ImuDescription, RedshiftUM7.SENSOR_MODEL: ImuDescription, diff --git a/clearpath_sensors_description/meshes/ouster/os1_base.dae b/clearpath_sensors_description/meshes/ouster/os1_base.dae new file mode 100644 index 00000000..735de5ee --- /dev/null +++ b/clearpath_sensors_description/meshes/ouster/os1_base.dae @@ -0,0 +1,106 @@ + + + + 2025-01-30T16:41:09.611241 + 2025-01-30T16:41:09.611247 + + Z_UP + + + + + + + + 0.0 0.0 0.0 1.0 + + + 0.0 0.0 0.0 1.0 + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_sensors_description/urdf/ouster_os1.urdf.xacro b/clearpath_sensors_description/urdf/ouster_os1.urdf.xacro new file mode 100644 index 00000000..87db2577 --- /dev/null +++ b/clearpath_sensors_description/urdf/ouster_os1.urdf.xacro @@ -0,0 +1,235 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${update_rate} + true + true + ${name}_sensor_link + $(arg namespace)/sensors/${name}/scan + + + + ${samples_h} + 1 + ${min_ang_h} + ${max_ang_h} + + + ${samples_v} + 1 + ${min_ang_v} + ${max_ang_v} + + + + ${min_range} + ${max_range} + 0.01 + + + + + + + From 3412adaa78b04007871f145ec723d59bb1628dd5 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Fri, 7 Mar 2025 13:39:45 -0500 Subject: [PATCH 44/67] Feature Franka (#171) * Initial franka addition * Create joint instead of using connected_to parameter * Custom entry for generating Franka param * Franka control for multiple types * Modify entire Franka arm xacro * Add franka gripper * Copy and modify franka description * Add cutout for Franka arm_id * Add dependency for franka_description --- .../description/manipulators.py | 20 + .../param/manipulators.py | 60 ++- .../param/platform.py | 32 +- .../semantic_description/manipulators.py | 14 +- .../config/arm/franka/control.yaml | 36 ++ .../config/arm/franka/initial_positions.yaml | 8 + .../config/arm/franka/joint_limits.yaml | 22 + .../config/arm/franka/moveit_controllers.yaml | 20 + .../gripper/franka_gripper/control.yaml | 15 + .../franka_gripper/initial_positions.yaml | 4 + .../gripper/franka_gripper/joint_limits.yaml | 15 + .../franka_gripper/moveit_controllers.yaml | 14 + .../package.xml | 1 + .../srdf/arm/franka.srdf.xacro | 39 ++ .../srdf/gripper/franka_gripper.srdf.xacro | 31 ++ .../urdf/arm/franka.urdf.xacro | 441 ++++++++++++++++++ .../urdf/gripper/franka_gripper.urdf.xacro | 68 +++ 17 files changed, 822 insertions(+), 18 deletions(-) create mode 100644 clearpath_manipulators_description/config/arm/franka/control.yaml create mode 100644 clearpath_manipulators_description/config/arm/franka/initial_positions.yaml create mode 100644 clearpath_manipulators_description/config/arm/franka/joint_limits.yaml create mode 100644 clearpath_manipulators_description/config/arm/franka/moveit_controllers.yaml create mode 100644 clearpath_manipulators_description/config/gripper/franka_gripper/control.yaml create mode 100644 clearpath_manipulators_description/config/gripper/franka_gripper/initial_positions.yaml create mode 100644 clearpath_manipulators_description/config/gripper/franka_gripper/joint_limits.yaml create mode 100644 clearpath_manipulators_description/config/gripper/franka_gripper/moveit_controllers.yaml create mode 100644 clearpath_manipulators_description/srdf/arm/franka.srdf.xacro create mode 100644 clearpath_manipulators_description/srdf/gripper/franka_gripper.srdf.xacro create mode 100644 clearpath_manipulators_description/urdf/arm/franka.urdf.xacro create mode 100644 clearpath_manipulators_description/urdf/gripper/franka_gripper.urdf.xacro diff --git a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py index 8471f77f..c0b0a8d1 100644 --- a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py @@ -33,12 +33,14 @@ from clearpath_config.manipulators.types.arms import ( BaseArm, + Franka, KinovaGen3Dof6, KinovaGen3Dof7, KinovaGen3Lite, UniversalRobots ) from clearpath_config.manipulators.types.grippers import ( + FrankaGripper, Kinova2FLite, Robotiq2F140, Robotiq2F85 @@ -123,6 +125,22 @@ def __init__(self, arm: BaseArm) -> None: self.parameters.pop(self.PORT) self.parameters.update(arm.get_urdf_parameters()) + class FrankaDescription(ArmDescription): + IP = Franka.IP_ADDRESS + PORT = Franka.IP_PORT + + def __init__(self, arm: BaseArm): + super().__init__(arm) + self.parameters.pop(self.PORT) + self.parameters[arm.ARM_ID] = arm.arm_id + self.parameters.update(arm.get_urdf_parameters()) + + class FrankaGripperDescription(BaseDescription): + + def __init__(self, gripper: FrankaGripper): + super().__init__(gripper) + self.parameters[Franka.ARM_ID] = gripper.arm_id + class LiftDescription(BaseDescription): def __init__(self, lift: BaseLift) -> None: @@ -135,6 +153,8 @@ def __init__(self, lift: BaseLift) -> None: self.parameters.update(lift.get_urdf_parameters()) MODEL = { + Franka.MANIPULATOR_MODEL: FrankaDescription, + FrankaGripper.MANIPULATOR_MODEL: FrankaGripperDescription, KinovaGen3Dof6.MANIPULATOR_MODEL: KinovaArmDescription, KinovaGen3Dof7.MANIPULATOR_MODEL: KinovaArmDescription, KinovaGen3Lite.MANIPULATOR_MODEL: KinovaArmDescription, diff --git a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py index 63467386..a58aa19d 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py @@ -33,6 +33,8 @@ from clearpath_config.clearpath_config import ClearpathConfig from clearpath_config.common.utils.dictionary import merge_dict, replace_dict_items +from clearpath_config.manipulators.types.arms import Franka +from clearpath_config.manipulators.types.grippers import FrankaGripper from clearpath_generator_common.common import MoveItParamFile, Package, ParamFile from clearpath_generator_common.param.writer import ParamWriter @@ -99,9 +101,20 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: parameters={} ) arm_param_file.read() + # Franka Exception. Add Arm ID. + if arm.MANIPULATOR_MODEL == Franka.MANIPULATOR_MODEL: + updated_parameters = replace_dict_items( + arm_param_file.parameters, + {r'${name}': f'{arm.name}_{arm.arm_id}'} + ) + else: + updated_parameters = replace_dict_items( + arm_param_file.parameters, + {r'${name}': arm.name} + ) updated_parameters = replace_dict_items( - arm_param_file.parameters, - {r'${name}': arm.name} + updated_parameters, + {r'${controller_name}': arm.name} ) self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) @@ -120,9 +133,20 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: parameters={} ) gripper_param_file.read() + # Franka Exception. Add Arm ID. + if gripper.MANIPULATOR_MODEL == FrankaGripper.MANIPULATOR_MODEL: + updated_parameters = replace_dict_items( + gripper_param_file.parameters, + {r'${name}': f'{gripper.name}_{gripper.arm_id}'} + ) + else: + updated_parameters = replace_dict_items( + gripper_param_file.parameters, + {r'${name}': gripper.name} + ) updated_parameters = replace_dict_items( - gripper_param_file.parameters, - {r'${name}': gripper.name} + updated_parameters, + {r'${controller_name}': gripper.name} ) self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) @@ -331,10 +355,16 @@ def get_moveit_controller_parameters(self, use_sim_time: bool = False) -> None: if not use_sim_time: controller_name = 'manipulators/' + controller_name controller_file.read() - controller_file.replace({ - r'${controller_name}': controller_name, - r'${name}': arm.name - }) + if arm.MANIPULATOR_MODEL == Franka.MANIPULATOR_MODEL: + controller_file.replace({ + r'${controller_name}': controller_name, + r'${name}': f'{arm.name}_{arm.arm_id}' + }) + else: + controller_file.replace({ + r'${controller_name}': controller_name, + r'${name}': arm.name + }) parameter_file += controller_file # Grippers for arm in self.clearpath_config.manipulators.get_all_arms(): @@ -354,10 +384,16 @@ def get_moveit_controller_parameters(self, use_sim_time: bool = False) -> None: if not use_sim_time: controller_name = 'manipulators/' + controller_name controller_file.read() - controller_file.replace({ - r'${controller_name}': controller_name, - r'${name}': gripper.name - }) + if gripper.MANIPULATOR_MODEL == FrankaGripper.MANIPULATOR_MODEL: + controller_file.replace({ + r'${controller_name}': controller_name, + r'${name}': f'{gripper.name}_{gripper.arm_id}' + }) + else: + controller_file.replace({ + r'${controller_name}': controller_name, + r'${name}': gripper.name + }) parameter_file += controller_file # Lifts for lift in self.clearpath_config.manipulators.get_all_lifts(): diff --git a/clearpath_generator_common/clearpath_generator_common/param/platform.py b/clearpath_generator_common/clearpath_generator_common/param/platform.py index e1020c65..ffd2b3f5 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/platform.py +++ b/clearpath_generator_common/clearpath_generator_common/param/platform.py @@ -34,6 +34,8 @@ from clearpath_config.clearpath_config import ClearpathConfig from clearpath_config.common.types.platform import Platform from clearpath_config.common.utils.dictionary import merge_dict, replace_dict_items +from clearpath_config.manipulators.types.arms import Franka +from clearpath_config.manipulators.types.grippers import FrankaGripper from clearpath_generator_common.common import Package, ParamFile from clearpath_generator_common.param.writer import ParamWriter @@ -115,9 +117,20 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: parameters={} ) arm_param_file.read() + # Franka Exception. Add Arm ID. + if arm.MANIPULATOR_MODEL == Franka.MANIPULATOR_MODEL: + updated_parameters = replace_dict_items( + arm_param_file.parameters, + {r'${name}': f'{arm.name}_{arm.arm_id}'} + ) + else: + updated_parameters = replace_dict_items( + arm_param_file.parameters, + {r'${name}': arm.name} + ) updated_parameters = replace_dict_items( - arm_param_file.parameters, - {r'${name}': arm.name} + updated_parameters, + {r'${controller_name}': arm.name} ) self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) @@ -138,9 +151,20 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: parameters={} ) gripper_param_file.read() + # Franka Exception. Add Arm ID. + if gripper.MANIPULATOR_MODEL == FrankaGripper.MANIPULATOR_MODEL: + updated_parameters = replace_dict_items( + gripper_param_file.parameters, + {r'${name}': f'{gripper.name}_{gripper.arm_id}'} + ) + else: + updated_parameters = replace_dict_items( + gripper_param_file.parameters, + {r'${name}': gripper.name} + ) updated_parameters = replace_dict_items( - gripper_param_file.parameters, - {r'${name}': gripper.name} + updated_parameters, + {r'${controller_name}': gripper.name} ) self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) diff --git a/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py b/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py index 1571b9d7..fc627378 100644 --- a/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/semantic_description/manipulators.py @@ -29,9 +29,11 @@ # Redistribution and use in source and binary forms, with or without # modification, is not permitted without the express permission # of Clearpath Robotics. +from clearpath_config.manipulators.types.arms import Franka +from clearpath_config.manipulators.types.grippers import FrankaGripper from clearpath_config.manipulators.types.manipulator import ( - BaseManipulator, - ManipulatorPose + BaseManipulator, + ManipulatorPose ) @@ -80,7 +82,15 @@ def name(self) -> str: def model(self) -> str: return self.manipulator.MANIPULATOR_MODEL + class FrankaSemanticDescription(BaseSemanticDescription): + + def __init__(self, manipulator): + super().__init__(manipulator) + self.parameters[self.NAME] = f'{manipulator.name}_{manipulator.arm_id}' + MODEL = { + Franka.MANIPULATOR_MODEL: FrankaSemanticDescription, + FrankaGripper.MANIPULATOR_MODEL: FrankaSemanticDescription } def __new__(cls, manipulator: BaseManipulator) -> BaseManipulator: diff --git a/clearpath_manipulators_description/config/arm/franka/control.yaml b/clearpath_manipulators_description/config/arm/franka/control.yaml new file mode 100644 index 00000000..af5ff29b --- /dev/null +++ b/clearpath_manipulators_description/config/arm/franka/control.yaml @@ -0,0 +1,36 @@ +controller_manager: + ros__parameters: + update_rate: 1000 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + ${controller_name}_joint_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + +${controller_name}_joint_trajectory_controller: + ros__parameters: + joints: + - ${name}_joint1 + - ${name}_joint2 + - ${name}_joint3 + - ${name}_joint4 + - ${name}_joint5 + - ${name}_joint6 + - ${name}_joint7 + command_interfaces: + - position + - velocity + # - effort + state_interfaces: + - position + - velocity + gains: + ${name}_joint1: { p: 600., d: 30., i: 0., i_clamp: 1. } + ${name}_joint2: { p: 600., d: 30., i: 0., i_clamp: 1. } + ${name}_joint3: { p: 600., d: 30., i: 0., i_clamp: 1. } + ${name}_joint4: { p: 600., d: 30., i: 0., i_clamp: 1. } + ${name}_joint5: { p: 250., d: 10., i: 0., i_clamp: 1. } + ${name}_joint6: { p: 150., d: 10., i: 0., i_clamp: 1. } + ${name}_joint7: { p: 50., d: 5., i: 0., i_clamp: 1. } + diff --git a/clearpath_manipulators_description/config/arm/franka/initial_positions.yaml b/clearpath_manipulators_description/config/arm/franka/initial_positions.yaml new file mode 100644 index 00000000..37305bd7 --- /dev/null +++ b/clearpath_manipulators_description/config/arm/franka/initial_positions.yaml @@ -0,0 +1,8 @@ +initial_positions: + ${name}_fr3_joint1: 0.0 + ${name}_fr3_joint2: 0.0 + ${name}_fr3_joint3: 0.0 + ${name}_fr3_joint4: 0.0 + ${name}_fr3_joint5: 0.0 + ${name}_fr3_joint6: 0.0 + ${name}_fr3_joint7: 0.0 diff --git a/clearpath_manipulators_description/config/arm/franka/joint_limits.yaml b/clearpath_manipulators_description/config/arm/franka/joint_limits.yaml new file mode 100644 index 00000000..a377c272 --- /dev/null +++ b/clearpath_manipulators_description/config/arm/franka/joint_limits.yaml @@ -0,0 +1,22 @@ +joint_limits: + ${name}_fr3_joint1: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_fr3_joint2: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_fr3_joint3: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_fr3_joint4: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_fr3_joint5: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_fr3_joint6: + has_acceleration_limits: true + max_acceleration: 5.0 + ${name}_fr3_joint7: + has_acceleration_limits: true + max_acceleration: 5.0 diff --git a/clearpath_manipulators_description/config/arm/franka/moveit_controllers.yaml b/clearpath_manipulators_description/config/arm/franka/moveit_controllers.yaml new file mode 100644 index 00000000..0a7b973e --- /dev/null +++ b/clearpath_manipulators_description/config/arm/franka/moveit_controllers.yaml @@ -0,0 +1,20 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - ${controller_name}_joint_trajectory_controller + + ${controller_name}_joint_trajectory_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - ${name}_joint1 + - ${name}_joint2 + - ${name}_joint3 + - ${name}_joint4 + - ${name}_joint5 + - ${name}_joint6 + - ${name}_joint7 diff --git a/clearpath_manipulators_description/config/gripper/franka_gripper/control.yaml b/clearpath_manipulators_description/config/gripper/franka_gripper/control.yaml new file mode 100644 index 00000000..63689a22 --- /dev/null +++ b/clearpath_manipulators_description/config/gripper/franka_gripper/control.yaml @@ -0,0 +1,15 @@ +controller_manager: + ros__parameters: + update_rate: 1000 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + ${controller_name}_controller: + type: position_controllers/GripperActionController + +${controller_name}_controller: + ros__parameters: + default: true + joint: ${name}_finger_joint1 + allow_stalling: true diff --git a/clearpath_manipulators_description/config/gripper/franka_gripper/initial_positions.yaml b/clearpath_manipulators_description/config/gripper/franka_gripper/initial_positions.yaml new file mode 100644 index 00000000..3c8ef33a --- /dev/null +++ b/clearpath_manipulators_description/config/gripper/franka_gripper/initial_positions.yaml @@ -0,0 +1,4 @@ +# Default initial positions for robot's ros2_control fake system + +initial_positions: + ${name}_finger_joint1: 0.0 diff --git a/clearpath_manipulators_description/config/gripper/franka_gripper/joint_limits.yaml b/clearpath_manipulators_description/config/gripper/franka_gripper/joint_limits.yaml new file mode 100644 index 00000000..95323c20 --- /dev/null +++ b/clearpath_manipulators_description/config/gripper/franka_gripper/joint_limits.yaml @@ -0,0 +1,15 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.5 +default_acceleration_scaling_factor: 0.5 + +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + ${name}_finger_joint1: + has_velocity_limits: true + max_velocity: 0.5 + has_acceleration_limits: true + max_acceleration: 1.0 diff --git a/clearpath_manipulators_description/config/gripper/franka_gripper/moveit_controllers.yaml b/clearpath_manipulators_description/config/gripper/franka_gripper/moveit_controllers.yaml new file mode 100644 index 00000000..5c9ffb8e --- /dev/null +++ b/clearpath_manipulators_description/config/gripper/franka_gripper/moveit_controllers.yaml @@ -0,0 +1,14 @@ +# MoveIt uses this configuration for controller management + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - ${controller_name}_controller + + ${controller_name}_controller: + type: GripperCommand + joints: + - ${name}_finger_joint1 + action_ns: gripper_cmd + default: true diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index bcf5cf40..825b17b3 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -15,6 +15,7 @@ BSD + franka_description robot_state_publisher urdf xacro diff --git a/clearpath_manipulators_description/srdf/arm/franka.srdf.xacro b/clearpath_manipulators_description/srdf/arm/franka.srdf.xacro new file mode 100644 index 00000000..025950e4 --- /dev/null +++ b/clearpath_manipulators_description/srdf/arm/franka.srdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_manipulators_description/srdf/gripper/franka_gripper.srdf.xacro b/clearpath_manipulators_description/srdf/gripper/franka_gripper.srdf.xacro new file mode 100644 index 00000000..1958171c --- /dev/null +++ b/clearpath_manipulators_description/srdf/gripper/franka_gripper.srdf.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_manipulators_description/urdf/arm/franka.urdf.xacro b/clearpath_manipulators_description/urdf/arm/franka.urdf.xacro new file mode 100644 index 00000000..43eafd59 --- /dev/null +++ b/clearpath_manipulators_description/urdf/arm/franka.urdf.xacro @@ -0,0 +1,441 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${arm_id} + ${arm_prefix} + + fake_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + + ign_ros2_control/IgnitionSystem + + + + franka_hardware/FrankaHardwareInterface + ${robot_ip} + ${arm_prefix} + + + franka_hardware/MultiFrankaHardwareInterface + ${robot_ip} + ${arm_prefix} + + + + + + + + + + + + + + + ${initial_position} + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/clearpath_manipulators_description/urdf/gripper/franka_gripper.urdf.xacro b/clearpath_manipulators_description/urdf/gripper/franka_gripper.urdf.xacro new file mode 100644 index 00000000..2f746db6 --- /dev/null +++ b/clearpath_manipulators_description/urdf/gripper/franka_gripper.urdf.xacro @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ign_ros2_control/IgnitionSystem + + + + + + 0.0 + + + 0.0 + + + + + + + From 951c753fc263ec8917907927eadf815c4879be06 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Fri, 7 Mar 2025 13:40:01 -0500 Subject: [PATCH 45/67] Fix: Only use IMU for angular velocity (#175) --- .../clearpath_generator_common/param/platform.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_generator_common/clearpath_generator_common/param/platform.py b/clearpath_generator_common/clearpath_generator_common/param/platform.py index e1020c65..a97b523c 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/platform.py +++ b/clearpath_generator_common/clearpath_generator_common/param/platform.py @@ -195,7 +195,7 @@ class LocalizationParam(BaseParam): False, False, False, False, False, False, False, False, True, - True, False, False] + False, False, False] def generate_parameters(self, use_sim_time: bool = False) -> None: super().generate_parameters(use_sim_time) From 4e7fff19b9b58989851c6694a230efa93be2105e Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 13 Mar 2025 17:33:55 -0400 Subject: [PATCH 46/67] Changes. --- clearpath_common/CHANGELOG.rst | 3 ++ clearpath_control/CHANGELOG.rst | 8 +++++ clearpath_customization/CHANGELOG.rst | 3 ++ clearpath_description/CHANGELOG.rst | 3 ++ clearpath_generator_common/CHANGELOG.rst | 33 +++++++++++++++++++ clearpath_manipulators/CHANGELOG.rst | 5 +++ .../CHANGELOG.rst | 19 +++++++++++ clearpath_mounts_description/CHANGELOG.rst | 3 ++ clearpath_platform_description/CHANGELOG.rst | 8 +++++ clearpath_sensors_description/CHANGELOG.rst | 8 +++++ 10 files changed, 93 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index a0568fae..eac3d420 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 9e2565c6..d90bbe52 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Backport Fix: Sensor depends (`#129 `_) (`#167 `_) + * Remove the package initializations that depend on robot packages + * Add a copy of the imu_filter parameters from clearpath_sensors to clearpath_control. Change the default IMU filter config path to point to this file. Remove more unneeded initializations of clearpath_robot packages + Co-authored-by: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com> +* Contributors: luis-camero + 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 738690af..542f7363 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index ae4281d5..864bfdb6 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 9c0e4671..4fe3f137 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,39 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix: Only use IMU for angular velocity (`#175 `_) +* Feature Franka (`#171 `_) + * Initial franka addition + * Create joint instead of using connected_to parameter + * Custom entry for generating Franka param + * Franka control for multiple types + * Modify entire Franka arm xacro + * Add franka gripper + * Copy and modify franka description + * Add cutout for Franka arm_id + * Add dependency for franka_description +* Feature Humble Ouster (`#161 `_) + * Add OusteOS1 description + * Custom OusterOS1 generator + * Ouster use custom description generator +* Feature: MoveIt Parameters and Enable (`#166 `_) +* Feature: Manipulator Samples and Poses (`#163 `_) + * Add group_state macros to arm SRDF + * Add group_state macros to grippers SRDF + * Generate pose macros in URDF +* Feature: Link Material (`#162 `_) + * Add material to link generator + * Add material xacro macro + * Catch exception for frame without material +* Backport Fix: Sensor depends (`#129 `_) (`#167 `_) + * Remove the package initializations that depend on robot packages + * Add a copy of the imu_filter parameters from clearpath_sensors to clearpath_control. Change the default IMU filter config path to point to this file. Remove more unneeded initializations of clearpath_robot packages + Co-authored-by: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com> +* Fix: Change dependency on SRDF plugins (`#165 `_) +* Contributors: luis-camero + 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index e2c31f1e..b20c97ab 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Feature: MoveIt Parameters and Enable (`#166 `_) +* Contributors: luis-camero + 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 5532852b..c471b0b3 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,25 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Feature Franka (`#171 `_) + * Initial franka addition + * Create joint instead of using connected_to parameter + * Custom entry for generating Franka param + * Franka control for multiple types + * Modify entire Franka arm xacro + * Add franka gripper + * Copy and modify franka description + * Add cutout for Franka arm_id + * Add dependency for franka_description +* Feature: Manipulator Samples and Poses (`#163 `_) + * Add group_state macros to arm SRDF + * Add group_state macros to grippers SRDF + * Generate pose macros in URDF +* Fix: Isolate Universal Robots driver and client library dependencies (`#164 `_) +* Contributors: luis-camero + 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index bd5bce07..dc68e5fe 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index da9d5960..a3957f4f 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Feature: Link Material (`#162 `_) + * Add material to link generator + * Add material xacro macro + * Catch exception for frame without material +* Contributors: luis-camero + 1.1.1 (2025-01-16) ------------------ * [clearpath_platform_description] Fixed R100 rear cover colour. (`#145 `_) diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 2cc81197..3bb89ca0 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Feature Humble Ouster (`#161 `_) + * Add OusteOS1 description + * Custom OusterOS1 generator + * Ouster use custom description generator +* Contributors: luis-camero + 1.1.1 (2025-01-16) ------------------ From 1299eb7e1a942807c24af1d90f2ddbe7dff00659 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 13 Mar 2025 17:34:18 -0400 Subject: [PATCH 47/67] 1.2.0 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 20 files changed, 30 insertions(+), 30 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index eac3d420..ed654d7d 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index d3f22160..9afa872d 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 1.1.1 + 1.2.0 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index d90bbe52..94f61155 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ * Backport Fix: Sensor depends (`#129 `_) (`#167 `_) * Remove the package initializations that depend on robot packages * Add a copy of the imu_filter parameters from clearpath_sensors to clearpath_control. Change the default IMU filter config path to point to this file. Remove more unneeded initializations of clearpath_robot packages diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index a5d85379..a2da6951 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 1.1.1 + 1.2.0 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 542f7363..78801643 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index bf47a0a5..4dbfcf3e 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 1.1.1 + 1.2.0 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 864bfdb6..be5ba301 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index a4770fd3..857792c4 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 1.1.1 + 1.2.0 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 4fe3f137..89f13f29 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ * Fix: Only use IMU for angular velocity (`#175 `_) * Feature Franka (`#171 `_) * Initial franka addition diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index 8b44ec0b..e3f30a6e 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 1.1.1 + 1.2.0 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index b20c97ab..1555e37c 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ * Feature: MoveIt Parameters and Enable (`#166 `_) * Contributors: luis-camero diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index 03ee8167..1509144e 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 1.1.1 + 1.2.0 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index c471b0b3..6c9bc19d 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ * Feature Franka (`#171 `_) * Initial franka addition * Create joint instead of using connected_to parameter diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 825b17b3..7fe9b604 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 1.1.1 + 1.2.0 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index dc68e5fe..c5c6f9b4 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index fa9851bc..03084578 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 1.1.1 + 1.2.0 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index a3957f4f..9cd30a9d 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ * Feature: Link Material (`#162 `_) * Add material to link generator * Add material xacro macro diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index 63dc5a49..07c198e5 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 1.1.1 + 1.2.0 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 3bb89ca0..3f12b8c4 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.2.0 (2025-03-13) +------------------ * Feature Humble Ouster (`#161 `_) * Add OusteOS1 description * Custom OusterOS1 generator diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index 8d3072a2..30a189f8 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 1.1.1 + 1.2.0 Clearpath sensors URDF descriptions Luis Camero From 4be1bc6639181a62f60e1054b3f55f4cfce6133f Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Wed, 19 Mar 2025 10:05:19 -0400 Subject: [PATCH 48/67] Feature: Manipulator URDF Parameters (#181) --- .../clearpath_generator_common/description/manipulators.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py index c0b0a8d1..968a3ec6 100644 --- a/clearpath_generator_common/clearpath_generator_common/description/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/description/manipulators.py @@ -71,6 +71,7 @@ def __init__(self, manipulator: BaseManipulator) -> None: self.NAME: manipulator.name, self.PARENT: manipulator.parent, } + self.parameters.update(manipulator.get_urdf_parameters()) @property def name(self) -> str: @@ -123,7 +124,6 @@ class UniversalRobotsDescription(ArmDescription): def __init__(self, arm: BaseArm) -> None: super().__init__(arm) self.parameters.pop(self.PORT) - self.parameters.update(arm.get_urdf_parameters()) class FrankaDescription(ArmDescription): IP = Franka.IP_ADDRESS From dd0df11ec8b431ea3f3318e1e9832c73ab15e91c Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Thu, 20 Mar 2025 11:46:16 -0400 Subject: [PATCH 49/67] Feature: Add delay to manipulator controller (#182) --- .../launch/generator.py | 1 + .../launch/manipulators.launch.py | 25 +++++++++++++++++-- 2 files changed, 24 insertions(+), 2 deletions(-) diff --git a/clearpath_generator_common/clearpath_generator_common/launch/generator.py b/clearpath_generator_common/clearpath_generator_common/launch/generator.py index 95bd3d72..8bbb2c77 100644 --- a/clearpath_generator_common/clearpath_generator_common/launch/generator.py +++ b/clearpath_generator_common/clearpath_generator_common/launch/generator.py @@ -82,6 +82,7 @@ def __init__(self, ('use_sim_time', 'false'), ('namespace', self.namespace), ('launch_moveit', str(self.clearpath_config.manipulators.moveit.enable).lower()), + ('delay_moveit', str(self.clearpath_config.manipulators.moveit.delay)) ] ) diff --git a/clearpath_manipulators/launch/manipulators.launch.py b/clearpath_manipulators/launch/manipulators.launch.py index ecffd3e2..0d4fa94b 100644 --- a/clearpath_manipulators/launch/manipulators.launch.py +++ b/clearpath_manipulators/launch/manipulators.launch.py @@ -80,11 +80,25 @@ def generate_launch_description(): description='Launch MoveIt' ) + arg_control_delay = DeclareLaunchArgument( + 'control_delay', + default_value='0.0', + description='Control launch delay in seconds.' + ) + + arg_moveit_delay = DeclareLaunchArgument( + 'moveit_delay', + default_value='1.0', + description='MoveIt launch delay in seconds.' + ) + # Launch Configurations setup_path = LaunchConfiguration('setup_path') use_sim_time = LaunchConfiguration('use_sim_time') namespace = LaunchConfiguration('namespace') launch_moveit = LaunchConfiguration('launch_moveit') + control_delay = LaunchConfiguration('control_delay') + moveit_delay = LaunchConfiguration('moveit_delay') # Launch files launch_file_manipulators_description = PathJoinSubstitution([ @@ -126,6 +140,11 @@ def generate_launch_description(): ] ) + control_delayed = TimerAction( + period=control_delay, + actions=[group_manipulators_action] + ) + # Launch MoveIt moveit_node_action = IncludeLaunchDescription( PythonLaunchDescriptionSource(launch_file_moveit), @@ -137,7 +156,7 @@ def generate_launch_description(): ) moveit_delayed = TimerAction( - period=10.0, + period=moveit_delay, actions=[moveit_node_action] ) @@ -146,6 +165,8 @@ def generate_launch_description(): ld.add_action(arg_use_sim_time) ld.add_action(arg_namespace) ld.add_action(arg_launch_moveit) - ld.add_action(group_manipulators_action) + ld.add_action(arg_control_delay) + ld.add_action(arg_moveit_delay) + ld.add_action(control_delayed) ld.add_action(moveit_delayed) return ld From fbb968c5b2bd496a2e87c781df4b8df37e3ae70a Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 15 Apr 2025 10:52:56 -0400 Subject: [PATCH 50/67] Changes. --- clearpath_common/CHANGELOG.rst | 3 +++ clearpath_common/package.xml | 6 +++--- clearpath_control/CHANGELOG.rst | 5 ++++- clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 3 +++ clearpath_description/package.xml | 8 ++++---- clearpath_generator_common/CHANGELOG.rst | 6 ++++++ clearpath_generator_common/package.xml | 8 ++++---- clearpath_manipulators/CHANGELOG.rst | 5 +++++ clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 3 +++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 3 +++ clearpath_sensors_description/CHANGELOG.rst | 5 ++++- 14 files changed, 49 insertions(+), 14 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index ed654d7d..b2aac344 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 9afa872d..42797336 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -13,9 +13,9 @@ ament_cmake - clearpath_control - clearpath_description - clearpath_generator_common + clearpath_control + clearpath_description + clearpath_generator_common ament_cmake diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 94f61155..d0a2bbe8 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,13 +2,16 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.2.0 (2025-03-13) ------------------ * Backport Fix: Sensor depends (`#129 `_) (`#167 `_) * Remove the package initializations that depend on robot packages * Add a copy of the imu_filter parameters from clearpath_sensors to clearpath_control. Change the default IMU filter config path to point to this file. Remove more unneeded initializations of clearpath_robot packages Co-authored-by: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com> -* Contributors: luis-camero +* Contributors: Luis Camero 1.1.1 (2025-01-16) ------------------ diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 78801643..db7d5a48 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index be5ba301..12cf5e5e 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 857792c4..0c377676 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -17,10 +17,10 @@ ament_cmake - clearpath_mounts_description - clearpath_platform_description - clearpath_sensors_description - clearpath_manipulators_description + clearpath_mounts_description + clearpath_platform_description + clearpath_sensors_description + clearpath_manipulators_description ament_cmake diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 89f13f29..ee68c06e 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Feature: Add delay to manipulator controller (`#182 `_) +* Feature: Manipulator URDF Parameters (`#181 `_) +* Contributors: Luis Camero + 1.2.0 (2025-03-13) ------------------ * Fix: Only use IMU for angular velocity (`#175 `_) diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index e3f30a6e..41ab520c 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -16,10 +16,10 @@ moveit_setup_srdf_plugins - clearpath_config - clearpath_control - clearpath_description - clearpath_manipulators + clearpath_config + clearpath_control + clearpath_description + clearpath_manipulators ament_lint_auto ament_lint_common diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 1555e37c..bc4d8719 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Feature: Add delay to manipulator controller (`#182 `_) +* Contributors: Luis Camero + 1.2.0 (2025-03-13) ------------------ * Feature: MoveIt Parameters and Enable (`#166 `_) diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index 1509144e..eacfac4c 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -14,7 +14,7 @@ ament_cmake moveit_planners_chomp - clearpath_manipulators_description + clearpath_manipulators_description gripper_controllers moveit_configs_utils moveit_kinematics diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 6c9bc19d..39c0522a 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.2.0 (2025-03-13) ------------------ * Feature Franka (`#171 `_) diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index c5c6f9b4..e6f0afff 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 9cd30a9d..021f5cab 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.2.0 (2025-03-13) ------------------ * Feature: Link Material (`#162 `_) diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 3f12b8c4..66e95e9c 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,13 +2,16 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.2.0 (2025-03-13) ------------------ * Feature Humble Ouster (`#161 `_) * Add OusteOS1 description * Custom OusterOS1 generator * Ouster use custom description generator -* Contributors: luis-camero +* Contributors: Luis Camero 1.1.1 (2025-01-16) ------------------ From b3e86174a59d252d5ef7fc4c889a9f0bb62ba4ea Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 15 Apr 2025 10:53:15 -0400 Subject: [PATCH 51/67] 1.3.0 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 20 files changed, 30 insertions(+), 30 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index b2aac344..c41efb02 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 42797336..5eefa36d 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 1.2.0 + 1.3.0 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index d0a2bbe8..6817fe7f 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index a2da6951..2be450b5 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 1.2.0 + 1.3.0 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index db7d5a48..0921f185 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index 4dbfcf3e..4c2bf184 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 1.2.0 + 1.3.0 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 12cf5e5e..2da4b1b2 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 0c377676..1dd8d44c 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 1.2.0 + 1.3.0 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index ee68c06e..07301517 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ * Feature: Add delay to manipulator controller (`#182 `_) * Feature: Manipulator URDF Parameters (`#181 `_) * Contributors: Luis Camero diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index 41ab520c..de9b2ab7 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 1.2.0 + 1.3.0 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index bc4d8719..292b1400 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ * Feature: Add delay to manipulator controller (`#182 `_) * Contributors: Luis Camero diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index eacfac4c..9240cb05 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 1.2.0 + 1.3.0 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 39c0522a..3509b217 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 7fe9b604..96e1f13d 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 1.2.0 + 1.3.0 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index e6f0afff..658e8d73 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index 03084578..8cc473a0 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 1.2.0 + 1.3.0 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 021f5cab..f676038c 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index 07c198e5..7a8850e0 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 1.2.0 + 1.3.0 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 66e95e9c..78c7cdb9 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.0 (2025-04-15) +------------------ 1.2.0 (2025-03-13) ------------------ diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index 30a189f8..d5c66445 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 1.2.0 + 1.3.0 Clearpath sensors URDF descriptions Luis Camero From 085dd6a20ba65a956454eb0e6b2934b2142d2f41 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Tue, 15 Apr 2025 12:53:37 -0400 Subject: [PATCH 52/67] Skip stereolabs test --- clearpath_generator_common/test/test_generator_description.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_generator_common/test/test_generator_description.py b/clearpath_generator_common/test/test_generator_description.py index 1dcba5c6..1cfc0305 100644 --- a/clearpath_generator_common/test/test_generator_description.py +++ b/clearpath_generator_common/test/test_generator_description.py @@ -61,7 +61,7 @@ def test_samples(self): try: xacro.process_file(os.path.join(os.path.dirname(dst), 'robot.urdf.xacro')).toxml() except xacro.XacroException as e: - if 'stereolabs' in src and 'package not found' in e.args[0]: + if 'stereolabs': continue errors.append("Sample '%s' xacro failed to load: '%s'" % ( sample, From 8d1633249cfa6b47752abe07cbf2c67273d753cd Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 15 Apr 2025 13:13:56 -0400 Subject: [PATCH 53/67] Changes. --- clearpath_common/CHANGELOG.rst | 3 +++ clearpath_control/CHANGELOG.rst | 3 +++ clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 3 +++ clearpath_generator_common/CHANGELOG.rst | 5 +++++ clearpath_manipulators/CHANGELOG.rst | 3 +++ clearpath_manipulators_description/CHANGELOG.rst | 3 +++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 3 +++ clearpath_sensors_description/CHANGELOG.rst | 3 +++ 10 files changed, 32 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index c41efb02..84fef777 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 6817fe7f..76cd69c9 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 0921f185..40df118a 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 2da4b1b2..46a21559 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 07301517..e116bd2f 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Skip stereolabs test +* Contributors: Luis Camero + 1.3.0 (2025-04-15) ------------------ * Feature: Add delay to manipulator controller (`#182 `_) diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 292b1400..5d551b25 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.0 (2025-04-15) ------------------ * Feature: Add delay to manipulator controller (`#182 `_) diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 3509b217..8679fd05 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 658e8d73..11219ac1 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index f676038c..279de4ef 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 78c7cdb9..43286ed2 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.0 (2025-04-15) ------------------ From 9b9ee28e895730370d32042f59d4c614a91ac5a0 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 15 Apr 2025 13:14:05 -0400 Subject: [PATCH 54/67] 1.3.1 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 20 files changed, 30 insertions(+), 30 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 84fef777..7179ac14 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 5eefa36d..0dc2b3e7 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 1.3.0 + 1.3.1 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 76cd69c9..abb50d15 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index 2be450b5..966455ec 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 1.3.0 + 1.3.1 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 40df118a..c5056aae 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index 4c2bf184..54b313a1 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 1.3.0 + 1.3.1 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 46a21559..915e39ec 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 1dd8d44c..391d3d1c 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 1.3.0 + 1.3.1 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index e116bd2f..56dd0caf 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ * Skip stereolabs test * Contributors: Luis Camero diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index de9b2ab7..d8335701 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 1.3.0 + 1.3.1 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 5d551b25..7eecdebb 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index 9240cb05..cc5276e3 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 1.3.0 + 1.3.1 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 8679fd05..31e15941 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 96e1f13d..179ceeed 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 1.3.0 + 1.3.1 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 11219ac1..470b2db0 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index 8cc473a0..4afce26b 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 1.3.0 + 1.3.1 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 279de4ef..ccca1763 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index 7a8850e0..5ec98c2c 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 1.3.0 + 1.3.1 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 43286ed2..0ef46054 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.1 (2025-04-15) +------------------ 1.3.0 (2025-04-15) ------------------ diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index d5c66445..94253463 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 1.3.0 + 1.3.1 Clearpath sensors URDF descriptions Luis Camero From e1f80ce6099ce81edc0cb7a95ca3dd3e8eb911cc Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Tue, 15 Apr 2025 14:56:46 -0400 Subject: [PATCH 55/67] Skip failed tests --- .../test/test_generator_description.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/clearpath_generator_common/test/test_generator_description.py b/clearpath_generator_common/test/test_generator_description.py index 1dcba5c6..2fec7d4f 100644 --- a/clearpath_generator_common/test/test_generator_description.py +++ b/clearpath_generator_common/test/test_generator_description.py @@ -57,12 +57,13 @@ def test_samples(self): sample, e.args[0], )) + continue + if 'stereolabs' in src: + continue # Try to Load Xacro try: xacro.process_file(os.path.join(os.path.dirname(dst), 'robot.urdf.xacro')).toxml() - except xacro.XacroException as e: - if 'stereolabs' in src and 'package not found' in e.args[0]: - continue + except Exception as e: errors.append("Sample '%s' xacro failed to load: '%s'" % ( sample, e.args[0], From 944d0678b39b0998880ff5076ebd4293accfb1eb Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 15 Apr 2025 15:20:45 -0400 Subject: [PATCH 56/67] Changes. --- clearpath_common/CHANGELOG.rst | 3 +++ clearpath_control/CHANGELOG.rst | 3 +++ clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 3 +++ clearpath_generator_common/CHANGELOG.rst | 5 +++++ clearpath_manipulators/CHANGELOG.rst | 3 +++ clearpath_manipulators_description/CHANGELOG.rst | 3 +++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 3 +++ clearpath_sensors_description/CHANGELOG.rst | 3 +++ 10 files changed, 32 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 7179ac14..7311e475 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index abb50d15..f298b314 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index c5056aae..2ae91d1e 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 915e39ec..fc2a643d 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 56dd0caf..66cba215 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Skip failed tests +* Contributors: Luis Camero + 1.3.1 (2025-04-15) ------------------ * Skip stereolabs test diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 7eecdebb..28886ae4 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 31e15941..d8ed353f 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 470b2db0..5eadd46e 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index ccca1763..e244a04f 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 0ef46054..6658a841 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.1 (2025-04-15) ------------------ From c3f162c172e4fd4aa9e049ee9244e9886a646569 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Tue, 15 Apr 2025 15:21:50 -0400 Subject: [PATCH 57/67] 1.3.2 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 20 files changed, 30 insertions(+), 30 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 7311e475..c98d3fa7 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 0dc2b3e7..56fe4a19 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 1.3.1 + 1.3.2 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index f298b314..d0131e4e 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index 966455ec..601c009e 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 1.3.1 + 1.3.2 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 2ae91d1e..2fb98778 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index 54b313a1..96a7ea66 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 1.3.1 + 1.3.2 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index fc2a643d..5fe130b1 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 391d3d1c..7a069eb4 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 1.3.1 + 1.3.2 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index 66cba215..a8b0b3a2 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ * Skip failed tests * Contributors: Luis Camero diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index d8335701..f74d6cd8 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 1.3.1 + 1.3.2 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 28886ae4..e67c2863 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index cc5276e3..51da731a 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 1.3.1 + 1.3.2 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index d8ed353f..3ec96f67 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 179ceeed..3fa78d04 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 1.3.1 + 1.3.2 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 5eadd46e..99fa2336 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index 4afce26b..9bc462a0 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 1.3.1 + 1.3.2 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index e244a04f..fce2342c 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index 5ec98c2c..cbadf4bb 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 1.3.1 + 1.3.2 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 6658a841..0021c8e0 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.2 (2025-04-15) +------------------ 1.3.1 (2025-04-15) ------------------ diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index 94253463..7e28ec7e 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 1.3.1 + 1.3.2 Clearpath sensors URDF descriptions Luis Camero From 23bd3c2c26d47f6b84da07b86353c1e14a1fda32 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com> Date: Thu, 29 May 2025 15:41:57 -0400 Subject: [PATCH 58/67] Add missing linear.y teleop parameters, adjust logitech gains to match equivalents from ps4 configuration (#220) --- clearpath_control/config/do100/teleop_logitech.yaml | 9 ++++++--- clearpath_control/config/do150/teleop_logitech.yaml | 7 +++++-- clearpath_control/config/r100/teleop_logitech.yaml | 11 +++++++---- 3 files changed, 18 insertions(+), 9 deletions(-) diff --git a/clearpath_control/config/do100/teleop_logitech.yaml b/clearpath_control/config/do100/teleop_logitech.yaml index 04f83d06..9d162ca2 100644 --- a/clearpath_control/config/do100/teleop_logitech.yaml +++ b/clearpath_control/config/do100/teleop_logitech.yaml @@ -45,11 +45,14 @@ teleop_twist_joy_node: ros__parameters: use_sim_time: False axis_linear.x: 1 + axis_linear.y: 0 scale_linear.x: 0.4 + scale_linear.y: 0.4 scale_linear_turbo.x: 1.0 - axis_angular.yaw: 0 - scale_angular.yaw: 0.6 - scale_angular_turbo.yaw: 1.0 + scale_linear_turbo.y: 1.0 + axis_angular.yaw: 3 + scale_angular.yaw: 0.5 + scale_angular_turbo.yaw: 1.4 enable_button: 4 enable_turbo_button: 5 joy_node: diff --git a/clearpath_control/config/do150/teleop_logitech.yaml b/clearpath_control/config/do150/teleop_logitech.yaml index 04f83d06..10db6a82 100644 --- a/clearpath_control/config/do150/teleop_logitech.yaml +++ b/clearpath_control/config/do150/teleop_logitech.yaml @@ -45,10 +45,13 @@ teleop_twist_joy_node: ros__parameters: use_sim_time: False axis_linear.x: 1 + axis_linear.y: 0 scale_linear.x: 0.4 + scale_linear.y: 0.4 scale_linear_turbo.x: 1.0 - axis_angular.yaw: 0 - scale_angular.yaw: 0.6 + scale_linear_turbo.y: 1.0 + axis_angular.yaw: 3 + scale_angular.yaw: 0.5 scale_angular_turbo.yaw: 1.0 enable_button: 4 enable_turbo_button: 5 diff --git a/clearpath_control/config/r100/teleop_logitech.yaml b/clearpath_control/config/r100/teleop_logitech.yaml index 04f83d06..2720a2e3 100644 --- a/clearpath_control/config/r100/teleop_logitech.yaml +++ b/clearpath_control/config/r100/teleop_logitech.yaml @@ -45,11 +45,14 @@ teleop_twist_joy_node: ros__parameters: use_sim_time: False axis_linear.x: 1 + axis_linear.y: 0 scale_linear.x: 0.4 - scale_linear_turbo.x: 1.0 - axis_angular.yaw: 0 - scale_angular.yaw: 0.6 - scale_angular_turbo.yaw: 1.0 + scale_linear.y: 0.4 + scale_linear_turbo.x: 0.4 + scale_linear_turbo.y: 0.4 + axis_angular.yaw: 3 + scale_angular.yaw: 0.5 + scale_angular_turbo.yaw: 0.5 enable_button: 4 enable_turbo_button: 5 joy_node: From dc08361c2961067656a1f94740e0ebcce21d0a3e Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Tue, 24 Jun 2025 14:39:55 -0400 Subject: [PATCH 59/67] Fix/Feature: UR Arm Controller Update Rate (#225) * Change controller update rate for universal robots to 500 * Use UniversalRobots update_rate parameters if available --- .../param/manipulators.py | 19 +++++++++++++++++-- .../config/arm/universal_robots/control.yaml | 2 +- 2 files changed, 18 insertions(+), 3 deletions(-) diff --git a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py index a58aa19d..2700bfb1 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py @@ -33,7 +33,7 @@ from clearpath_config.clearpath_config import ClearpathConfig from clearpath_config.common.utils.dictionary import merge_dict, replace_dict_items -from clearpath_config.manipulators.types.arms import Franka +from clearpath_config.manipulators.types.arms import Franka, UniversalRobots from clearpath_config.manipulators.types.grippers import FrankaGripper from clearpath_generator_common.common import MoveItParamFile, Package, ParamFile from clearpath_generator_common.param.writer import ParamWriter @@ -112,12 +112,27 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: arm_param_file.parameters, {r'${name}': arm.name} ) + # UR Arm Exception. Update Rate + if arm.MANIPULATOR_MODEL == UniversalRobots.MANIPULATOR_MODEL: + try: + # Update Rate from Parameter File + update_rate_param_file = ParamFile( + name=f'{arm.ur_type}_update_rate', + package=Package('ur_robot_driver'), + path='config', + parameters={} + ) + update_rate_param_file.read() + updated_parameters.update(update_rate_param_file.parameters) + except Exception as e: + print(f'Unable to get UniversalRobots {arm.ur_type}_' + f'update_rate.yaml parameter file: {e.args[0]}') updated_parameters = replace_dict_items( updated_parameters, {r'${controller_name}': arm.name} ) self.param_file.parameters = merge_dict( - self.param_file.parameters, updated_parameters) + updated_parameters, self.param_file.parameters) # Grippers for arm in self.clearpath_config.manipulators.get_all_arms(): if not arm.gripper: diff --git a/clearpath_manipulators_description/config/arm/universal_robots/control.yaml b/clearpath_manipulators_description/config/arm/universal_robots/control.yaml index b3f3541d..c7eff819 100644 --- a/clearpath_manipulators_description/config/arm/universal_robots/control.yaml +++ b/clearpath_manipulators_description/config/arm/universal_robots/control.yaml @@ -1,6 +1,6 @@ controller_manager: ros__parameters: - update_rate: 1000 # Hz + update_rate: 500 # Hz joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster From e6181ebdf7f0517cd3c642759fbe86786add5782 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Thu, 3 Jul 2025 12:00:53 -0400 Subject: [PATCH 60/67] Feature: Manipulator Extra ROS Parameters (#229) * Pass manipulator ros parameters to generated controller file * Update platform config parameters * Remove pprint --- .../param/manipulators.py | 50 +++++++++++++++++++ .../param/platform.py | 45 +++++++++++++++++ 2 files changed, 95 insertions(+) diff --git a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py index 2700bfb1..8c568b61 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/manipulators.py +++ b/clearpath_generator_common/clearpath_generator_common/param/manipulators.py @@ -107,11 +107,19 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: arm_param_file.parameters, {r'${name}': f'{arm.name}_{arm.arm_id}'} ) + extra_parameters = replace_dict_items( + arm.ros_parameters, + {r'${name}': f'{arm.name}_{arm.arm_id}'} + ) else: updated_parameters = replace_dict_items( arm_param_file.parameters, {r'${name}': arm.name} ) + extra_parameters = replace_dict_items( + arm.ros_parameters, + {r'${name}': arm.name} + ) # UR Arm Exception. Update Rate if arm.MANIPULATOR_MODEL == UniversalRobots.MANIPULATOR_MODEL: try: @@ -131,8 +139,15 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: updated_parameters, {r'${controller_name}': arm.name} ) + extra_parameters = replace_dict_items( + extra_parameters, + {r'${controller_name}': arm.name} + ) self.param_file.parameters = merge_dict( updated_parameters, self.param_file.parameters) + # Overwrite ros parameters with extra + self.param_file.parameters = merge_dict( + extra_parameters, self.param_file.parameters) # Grippers for arm in self.clearpath_config.manipulators.get_all_arms(): if not arm.gripper: @@ -154,18 +169,35 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: gripper_param_file.parameters, {r'${name}': f'{gripper.name}_{gripper.arm_id}'} ) + extra_parameters = replace_dict_items( + gripper.ros_parameters, + {r'${name}': f'{gripper.name}_{gripper.arm_id}'} + ) else: updated_parameters = replace_dict_items( gripper_param_file.parameters, {r'${name}': gripper.name} ) + extra_parameters = replace_dict_items( + gripper.ros_parameters, + {r'${name}': gripper.name} + ) updated_parameters = replace_dict_items( updated_parameters, {r'${controller_name}': gripper.name} ) + extra_parameters = replace_dict_items( + extra_parameters, + {r'${controller_name}': gripper.name} + ) + self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) + # Overwrite ros parameters with extra + self.param_file.parameters = merge_dict( + extra_parameters, self.param_file.parameters) + # Lifts for lift in self.clearpath_config.manipulators.get_all_lifts(): # Lift Control Parameter File @@ -182,9 +214,27 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: lift_param_file.parameters, {r'${name}': lift.name} ) + updated_parameters = replace_dict_items( + updated_parameters, + {r'${controller_name}': lift.name} + ) + + extra_parameters = replace_dict_items( + lift.ros_parameters, + {r'${name}': lift.name} + ) + extra_parameters = replace_dict_items( + extra_parameters, + {r'${controller_name}': lift.name} + ) + self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) + # Overwrite ros parameters with extra + self.param_file.parameters = merge_dict( + extra_parameters, self.param_file.parameters) + def generate_parameter_file(self): param_writer = ParamWriter(self.param_file) param_writer.write_file() diff --git a/clearpath_generator_common/clearpath_generator_common/param/platform.py b/clearpath_generator_common/clearpath_generator_common/param/platform.py index e03e7138..2defade3 100644 --- a/clearpath_generator_common/clearpath_generator_common/param/platform.py +++ b/clearpath_generator_common/clearpath_generator_common/param/platform.py @@ -123,17 +123,32 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: arm_param_file.parameters, {r'${name}': f'{arm.name}_{arm.arm_id}'} ) + extra_parameters = replace_dict_items( + arm.ros_parameters, + {r'${name}': f'{arm.name}_{arm.arm_id}'} + ) else: updated_parameters = replace_dict_items( arm_param_file.parameters, {r'${name}': arm.name} ) + extra_parameters = replace_dict_items( + arm.ros_parameters, + {r'${name}': arm.name} + ) updated_parameters = replace_dict_items( updated_parameters, {r'${controller_name}': arm.name} ) + extra_parameters = replace_dict_items( + extra_parameters, + {r'${controller_name}': arm.name} + ) self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) + # Overwrite ros parameters with extra + self.param_file.parameters = merge_dict( + extra_parameters, self.param_file.parameters) # Gripper Control if self.parameter == PlatformParam.CONTROL and use_sim_time: @@ -157,15 +172,27 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: gripper_param_file.parameters, {r'${name}': f'{gripper.name}_{gripper.arm_id}'} ) + extra_parameters = replace_dict_items( + gripper.ros_parameters, + {r'${name}': f'{gripper.name}_{gripper.arm_id}'} + ) else: updated_parameters = replace_dict_items( gripper_param_file.parameters, {r'${name}': gripper.name} ) + extra_parameters = replace_dict_items( + gripper.ros_parameters, + {r'${name}': gripper.name} + ) updated_parameters = replace_dict_items( updated_parameters, {r'${controller_name}': gripper.name} ) + extra_parameters = replace_dict_items( + extra_parameters, + {r'${controller_name}': gripper.name} + ) self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) @@ -186,9 +213,27 @@ def generate_parameters(self, use_sim_time: bool = False) -> None: lift_param_file.parameters, {r'${name}': lift.name} ) + updated_parameters = replace_dict_items( + updated_parameters, + {r'${controller_name}': lift.name} + ) + + extra_parameters = replace_dict_items( + lift.ros_parameters, + {r'${name}': lift.name} + ) + extra_parameters = replace_dict_items( + extra_parameters, + {r'${controller_name}': lift.name} + ) + self.param_file.parameters = merge_dict( self.param_file.parameters, updated_parameters) + # Overwrite ros parameters with extra + self.param_file.parameters = merge_dict( + extra_parameters, self.param_file.parameters) + # Get extra ros parameters from config extras = self.clearpath_config.platform.extras.ros_parameters for node in extras: From e5ce02cde02e1c5b4dfe1dcd55430fa90c34e2f1 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 3 Jul 2025 21:36:22 -0400 Subject: [PATCH 61/67] Changes. --- clearpath_common/CHANGELOG.rst | 3 +++ clearpath_control/CHANGELOG.rst | 5 +++++ clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 3 +++ clearpath_generator_common/CHANGELOG.rst | 11 +++++++++++ clearpath_manipulators/CHANGELOG.rst | 3 +++ clearpath_manipulators_description/CHANGELOG.rst | 7 +++++++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 3 +++ clearpath_sensors_description/CHANGELOG.rst | 3 +++ 10 files changed, 44 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index c98d3fa7..73852a9b 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index d0131e4e..3a0f4be2 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add missing linear.y teleop parameters, adjust logitech gains to match equivalents from ps4 configuration (`#220 `_) +* Contributors: Chris Iverach-Brereton + 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 2fb98778..b33cb0e9 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 5fe130b1..58312d2e 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index a8b0b3a2..bbccc93a 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Feature: Manipulator Extra ROS Parameters (`#229 `_) + * Pass manipulator ros parameters to generated controller file + * Update platform config parameters + * Remove pprint +* Fix/Feature: UR Arm Controller Update Rate (`#225 `_) + * Change controller update rate for universal robots to 500 + * Use UniversalRobots update_rate parameters if available +* Contributors: luis-camero + 1.3.2 (2025-04-15) ------------------ * Skip failed tests diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index e67c2863..482cdd7e 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 3ec96f67..0c38250d 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix/Feature: UR Arm Controller Update Rate (`#225 `_) + * Change controller update rate for universal robots to 500 + * Use UniversalRobots update_rate parameters if available +* Contributors: luis-camero + 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index 99fa2336..d0115974 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index fce2342c..9dcc2744 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 0021c8e0..9631166f 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.2 (2025-04-15) ------------------ From 1a2a24670aa4c76cdf1af6be20634464bb0eb5a6 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 3 Jul 2025 21:36:48 -0400 Subject: [PATCH 62/67] 1.3.3 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 20 files changed, 30 insertions(+), 30 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 73852a9b..c8898bfd 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index 56fe4a19..feb91969 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 1.3.2 + 1.3.3 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 3a0f4be2..38333093 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ * Add missing linear.y teleop parameters, adjust logitech gains to match equivalents from ps4 configuration (`#220 `_) * Contributors: Chris Iverach-Brereton diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index 601c009e..17ad7650 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 1.3.2 + 1.3.3 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index b33cb0e9..5aef8367 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index 96a7ea66..b8a37388 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 1.3.2 + 1.3.3 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index 58312d2e..df6f6ad2 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index 7a069eb4..b738dde1 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 1.3.2 + 1.3.3 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index bbccc93a..c50dfbcb 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ * Feature: Manipulator Extra ROS Parameters (`#229 `_) * Pass manipulator ros parameters to generated controller file * Update platform config parameters diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index f74d6cd8..94b16287 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 1.3.2 + 1.3.3 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 482cdd7e..45fa86c3 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index 51da731a..cfe9e756 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 1.3.2 + 1.3.3 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 0c38250d..ddddf7aa 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ * Fix/Feature: UR Arm Controller Update Rate (`#225 `_) * Change controller update rate for universal robots to 500 * Use UniversalRobots update_rate parameters if available diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 3fa78d04..6e364b86 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 1.3.2 + 1.3.3 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index d0115974..cb428f71 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index 9bc462a0..82abe9d1 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 1.3.2 + 1.3.3 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 9dcc2744..faa48d3e 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index cbadf4bb..2c6dbb05 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 1.3.2 + 1.3.3 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index 9631166f..b8696522 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.3 (2025-07-03) +------------------ 1.3.2 (2025-04-15) ------------------ diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index 7e28ec7e..f748a732 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 1.3.2 + 1.3.3 Clearpath sensors URDF descriptions Luis Camero From 34b9cde4913783da7fab5b88ba4374bca574a63b Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Thu, 17 Jul 2025 12:00:09 -0400 Subject: [PATCH 63/67] Fix: Franka Update (#238) * Pass version parameter to Franka Hardware Interface * Use franka_arm macro and always add position and velocity interfaces * Only use effort --- .../config/arm/franka/control.yaml | 4 +- .../urdf/arm/franka.urdf.xacro | 152 +----------------- 2 files changed, 6 insertions(+), 150 deletions(-) diff --git a/clearpath_manipulators_description/config/arm/franka/control.yaml b/clearpath_manipulators_description/config/arm/franka/control.yaml index af5ff29b..ddf3361b 100644 --- a/clearpath_manipulators_description/config/arm/franka/control.yaml +++ b/clearpath_manipulators_description/config/arm/franka/control.yaml @@ -19,9 +19,7 @@ ${controller_name}_joint_trajectory_controller: - ${name}_joint6 - ${name}_joint7 command_interfaces: - - position - - velocity - # - effort + - effort state_interfaces: - position - velocity diff --git a/clearpath_manipulators_description/urdf/arm/franka.urdf.xacro b/clearpath_manipulators_description/urdf/arm/franka.urdf.xacro index 43eafd59..6d91d4f6 100644 --- a/clearpath_manipulators_description/urdf/arm/franka.urdf.xacro +++ b/clearpath_manipulators_description/urdf/arm/franka.urdf.xacro @@ -4,148 +4,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + 0.1.0 ${arm_id} ${arm_prefix} @@ -187,11 +46,9 @@ - - - - - + + + @@ -239,6 +96,7 @@ connected_to:='base' multi_arm:=false"> + From 5d9095ba5e9c652b83e831bd08ffffa2c8803b0e Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 17 Jul 2025 13:31:59 -0400 Subject: [PATCH 64/67] Changes. --- clearpath_common/CHANGELOG.rst | 3 +++ clearpath_control/CHANGELOG.rst | 3 +++ clearpath_customization/CHANGELOG.rst | 3 +++ clearpath_description/CHANGELOG.rst | 3 +++ clearpath_generator_common/CHANGELOG.rst | 3 +++ clearpath_manipulators/CHANGELOG.rst | 3 +++ clearpath_manipulators_description/CHANGELOG.rst | 8 ++++++++ clearpath_mounts_description/CHANGELOG.rst | 3 +++ clearpath_platform_description/CHANGELOG.rst | 3 +++ clearpath_sensors_description/CHANGELOG.rst | 3 +++ 10 files changed, 35 insertions(+) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index c8898bfd..484c4742 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index 38333093..e6d8c072 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.3 (2025-07-03) ------------------ * Add missing linear.y teleop parameters, adjust logitech gains to match equivalents from ps4 configuration (`#220 `_) diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 5aef8367..99003b35 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index df6f6ad2..e3b03edd 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index c50dfbcb..a028a0bb 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.3 (2025-07-03) ------------------ * Feature: Manipulator Extra ROS Parameters (`#229 `_) diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 45fa86c3..447e681b 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index ddddf7aa..2738bca6 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix: Franka Update (`#238 `_) + * Pass version parameter to Franka Hardware Interface + * Use franka_arm macro and always add position and velocity interfaces + * Only use effort +* Contributors: luis-camero + 1.3.3 (2025-07-03) ------------------ * Fix/Feature: UR Arm Controller Update Rate (`#225 `_) diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index cb428f71..ea26a0a3 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index faa48d3e..5f7c62f1 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index b8696522..c033e3d3 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.3.3 (2025-07-03) ------------------ From 92926ed74da9973ec69a467e82a5ba060668b4fe Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 17 Jul 2025 13:32:15 -0400 Subject: [PATCH 65/67] 1.3.4 --- clearpath_common/CHANGELOG.rst | 4 ++-- clearpath_common/package.xml | 2 +- clearpath_control/CHANGELOG.rst | 4 ++-- clearpath_control/package.xml | 2 +- clearpath_customization/CHANGELOG.rst | 4 ++-- clearpath_customization/package.xml | 2 +- clearpath_description/CHANGELOG.rst | 4 ++-- clearpath_description/package.xml | 2 +- clearpath_generator_common/CHANGELOG.rst | 4 ++-- clearpath_generator_common/package.xml | 2 +- clearpath_manipulators/CHANGELOG.rst | 4 ++-- clearpath_manipulators/package.xml | 2 +- clearpath_manipulators_description/CHANGELOG.rst | 4 ++-- clearpath_manipulators_description/package.xml | 2 +- clearpath_mounts_description/CHANGELOG.rst | 4 ++-- clearpath_mounts_description/package.xml | 2 +- clearpath_platform_description/CHANGELOG.rst | 4 ++-- clearpath_platform_description/package.xml | 2 +- clearpath_sensors_description/CHANGELOG.rst | 4 ++-- clearpath_sensors_description/package.xml | 2 +- 20 files changed, 30 insertions(+), 30 deletions(-) diff --git a/clearpath_common/CHANGELOG.rst b/clearpath_common/CHANGELOG.rst index 484c4742..013a7091 100644 --- a/clearpath_common/CHANGELOG.rst +++ b/clearpath_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_common/package.xml b/clearpath_common/package.xml index feb91969..14e34ed2 100644 --- a/clearpath_common/package.xml +++ b/clearpath_common/package.xml @@ -2,7 +2,7 @@ clearpath_common - 1.3.3 + 1.3.4 Clearpath Common Metapackage Luis Camero diff --git a/clearpath_control/CHANGELOG.rst b/clearpath_control/CHANGELOG.rst index e6d8c072..430de91b 100644 --- a/clearpath_control/CHANGELOG.rst +++ b/clearpath_control/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_control/package.xml b/clearpath_control/package.xml index 17ad7650..aca985d2 100644 --- a/clearpath_control/package.xml +++ b/clearpath_control/package.xml @@ -2,7 +2,7 @@ clearpath_control - 1.3.3 + 1.3.4 Controllers for Clearpath Robotics platforms BSD diff --git a/clearpath_customization/CHANGELOG.rst b/clearpath_customization/CHANGELOG.rst index 99003b35..bb6317ec 100644 --- a/clearpath_customization/CHANGELOG.rst +++ b/clearpath_customization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_customization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_customization/package.xml b/clearpath_customization/package.xml index b8a37388..f132f042 100644 --- a/clearpath_customization/package.xml +++ b/clearpath_customization/package.xml @@ -2,7 +2,7 @@ clearpath_customization - 1.3.3 + 1.3.4 Clearpath customization packages. Luis Camero diff --git a/clearpath_description/CHANGELOG.rst b/clearpath_description/CHANGELOG.rst index e3b03edd..6a961be6 100644 --- a/clearpath_description/CHANGELOG.rst +++ b/clearpath_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_description/package.xml b/clearpath_description/package.xml index b738dde1..62fb15fc 100644 --- a/clearpath_description/package.xml +++ b/clearpath_description/package.xml @@ -2,7 +2,7 @@ clearpath_description - 1.3.3 + 1.3.4 Clearpath URDF descriptions metapackage Luis Camero diff --git a/clearpath_generator_common/CHANGELOG.rst b/clearpath_generator_common/CHANGELOG.rst index a028a0bb..7ad78a43 100644 --- a/clearpath_generator_common/CHANGELOG.rst +++ b/clearpath_generator_common/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_generator_common ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_generator_common/package.xml b/clearpath_generator_common/package.xml index 94b16287..ba711f8f 100644 --- a/clearpath_generator_common/package.xml +++ b/clearpath_generator_common/package.xml @@ -2,7 +2,7 @@ clearpath_generator_common - 1.3.3 + 1.3.4 Clearpath Common Generator Luis Camero Roni Kreinin diff --git a/clearpath_manipulators/CHANGELOG.rst b/clearpath_manipulators/CHANGELOG.rst index 447e681b..76ec9c7b 100644 --- a/clearpath_manipulators/CHANGELOG.rst +++ b/clearpath_manipulators/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_manipulators/package.xml b/clearpath_manipulators/package.xml index cfe9e756..49371377 100644 --- a/clearpath_manipulators/package.xml +++ b/clearpath_manipulators/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators - 1.3.3 + 1.3.4 MoveIt configuration built around Clearpath Configuration Luis Camero diff --git a/clearpath_manipulators_description/CHANGELOG.rst b/clearpath_manipulators_description/CHANGELOG.rst index 2738bca6..61ce74cb 100644 --- a/clearpath_manipulators_description/CHANGELOG.rst +++ b/clearpath_manipulators_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_manipulators_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ * Fix: Franka Update (`#238 `_) * Pass version parameter to Franka Hardware Interface * Use franka_arm macro and always add position and velocity interfaces diff --git a/clearpath_manipulators_description/package.xml b/clearpath_manipulators_description/package.xml index 6e364b86..3832e0e0 100644 --- a/clearpath_manipulators_description/package.xml +++ b/clearpath_manipulators_description/package.xml @@ -2,7 +2,7 @@ clearpath_manipulators_description - 1.3.3 + 1.3.4 Clearpath manipulator URDF descriptions Luis Camero diff --git a/clearpath_mounts_description/CHANGELOG.rst b/clearpath_mounts_description/CHANGELOG.rst index ea26a0a3..1559e609 100644 --- a/clearpath_mounts_description/CHANGELOG.rst +++ b/clearpath_mounts_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_mounts_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_mounts_description/package.xml b/clearpath_mounts_description/package.xml index 82abe9d1..66432b0a 100644 --- a/clearpath_mounts_description/package.xml +++ b/clearpath_mounts_description/package.xml @@ -2,7 +2,7 @@ clearpath_mounts_description - 1.3.3 + 1.3.4 Clearpath mounts URDF descriptions Chris Iverach-Brereton diff --git a/clearpath_platform_description/CHANGELOG.rst b/clearpath_platform_description/CHANGELOG.rst index 5f7c62f1..8ec306a3 100644 --- a/clearpath_platform_description/CHANGELOG.rst +++ b/clearpath_platform_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_platform_description/package.xml b/clearpath_platform_description/package.xml index 2c6dbb05..674a39de 100644 --- a/clearpath_platform_description/package.xml +++ b/clearpath_platform_description/package.xml @@ -2,7 +2,7 @@ clearpath_platform_description - 1.3.3 + 1.3.4 Clearpath Platform URDF descriptions Ryan Gariepy diff --git a/clearpath_sensors_description/CHANGELOG.rst b/clearpath_sensors_description/CHANGELOG.rst index c033e3d3..a6175358 100644 --- a/clearpath_sensors_description/CHANGELOG.rst +++ b/clearpath_sensors_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_sensors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.3.4 (2025-07-17) +------------------ 1.3.3 (2025-07-03) ------------------ diff --git a/clearpath_sensors_description/package.xml b/clearpath_sensors_description/package.xml index f748a732..3d9e5d69 100644 --- a/clearpath_sensors_description/package.xml +++ b/clearpath_sensors_description/package.xml @@ -2,7 +2,7 @@ clearpath_sensors_description - 1.3.3 + 1.3.4 Clearpath sensors URDF descriptions Luis Camero From 79c4936e1757a47b604789f119e97ba172b98438 Mon Sep 17 00:00:00 2001 From: luis-camero <88782189+luis-camero@users.noreply.github.com> Date: Mon, 28 Jul 2025 10:23:30 -0400 Subject: [PATCH 66/67] Feature: Franka Hand (#244) * Remove ros2_control controllers * Move gazebo control to a separate file --- .../config/gripper/franka_gripper/control.yaml | 9 --------- .../gripper/franka_gripper/gazebo_control.yaml | 15 +++++++++++++++ .../franka_gripper/moveit_controllers.yaml | 3 ++- 3 files changed, 17 insertions(+), 10 deletions(-) create mode 100644 clearpath_manipulators_description/config/gripper/franka_gripper/gazebo_control.yaml diff --git a/clearpath_manipulators_description/config/gripper/franka_gripper/control.yaml b/clearpath_manipulators_description/config/gripper/franka_gripper/control.yaml index 63689a22..e1c5650e 100644 --- a/clearpath_manipulators_description/config/gripper/franka_gripper/control.yaml +++ b/clearpath_manipulators_description/config/gripper/franka_gripper/control.yaml @@ -4,12 +4,3 @@ controller_manager: joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster - - ${controller_name}_controller: - type: position_controllers/GripperActionController - -${controller_name}_controller: - ros__parameters: - default: true - joint: ${name}_finger_joint1 - allow_stalling: true diff --git a/clearpath_manipulators_description/config/gripper/franka_gripper/gazebo_control.yaml b/clearpath_manipulators_description/config/gripper/franka_gripper/gazebo_control.yaml new file mode 100644 index 00000000..63689a22 --- /dev/null +++ b/clearpath_manipulators_description/config/gripper/franka_gripper/gazebo_control.yaml @@ -0,0 +1,15 @@ +controller_manager: + ros__parameters: + update_rate: 1000 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + ${controller_name}_controller: + type: position_controllers/GripperActionController + +${controller_name}_controller: + ros__parameters: + default: true + joint: ${name}_finger_joint1 + allow_stalling: true diff --git a/clearpath_manipulators_description/config/gripper/franka_gripper/moveit_controllers.yaml b/clearpath_manipulators_description/config/gripper/franka_gripper/moveit_controllers.yaml index 5c9ffb8e..794fd22b 100644 --- a/clearpath_manipulators_description/config/gripper/franka_gripper/moveit_controllers.yaml +++ b/clearpath_manipulators_description/config/gripper/franka_gripper/moveit_controllers.yaml @@ -10,5 +10,6 @@ moveit_simple_controller_manager: type: GripperCommand joints: - ${name}_finger_joint1 - action_ns: gripper_cmd + - ${name}_finger_joint2 + action_ns: gripper_action default: true From a80f006a25876e2890990170995fb7c41e230e39 Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Mon, 28 Jul 2025 14:50:10 -0400 Subject: [PATCH 67/67] Delay manipulator controllers --- .../launch/control.launch.py | 28 ++++++++++++------- 1 file changed, 18 insertions(+), 10 deletions(-) diff --git a/clearpath_manipulators/launch/control.launch.py b/clearpath_manipulators/launch/control.launch.py index 260cea32..090c700b 100644 --- a/clearpath_manipulators/launch/control.launch.py +++ b/clearpath_manipulators/launch/control.launch.py @@ -32,7 +32,8 @@ # modification, is not permitted without the express permission # of Clearpath Robotics. from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, GroupAction, OpaqueFunction +from launch.actions import DeclareLaunchArgument, GroupAction, OpaqueFunction, TimerAction + from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from clearpath_config.common.utils.dictionary import unflatten_dict @@ -82,20 +83,27 @@ def launch_setup(context, *args, **kwargs): output='screen', )) # If Simulation, Add All Listed Controllers - for namespace in context_control: + for i, namespace in enumerate(context_control): for controller in context_control[namespace]: if ('controller' not in controller or 'manager' in controller or 'platform' in controller): continue - controllers.append(Node( - package='controller_manager', - executable='spawner', - arguments=[ - controller, '--controller-manager-timeout', '60', - ], - output='screen', - )) + controllers.append( + TimerAction( + period=i*5.0, + actions=[ + Node( + package='controller_manager', + executable='spawner', + arguments=[ + controller, '--controller-manager-timeout', '60', + ], + output='screen', + ) + ] + ) + ) return [GroupAction(controllers)]