mirror of
https://github.com/lopsided98/nix-ros-overlay.git
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29 lines
2 KiB
Nix
29 lines
2 KiB
Nix
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# Copyright 2019 Open Source Robotics Foundation
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# Distributed under the terms of the BSD license
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{ lib, buildRosPackage, fetchurl, rospy, tf-conversions, tf, geometry-msgs, roslint, boost, rviz, robot-state-publisher, eigen-conversions, xacro, kdl-conversions, orocos-kdl, cob-control-msgs, trajectory-msgs, catkin, nav-msgs, urdf, cob-frame-tracker, std-msgs, roscpp, visualization-msgs, eigen, kdl-parser, cmake-modules, pluginlib, sensor-msgs, cob-srvs, dynamic-reconfigure, topic-tools }:
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buildRosPackage {
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pname = "ros-melodic-cob-twist-controller";
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version = "0.8.0-r1";
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src = fetchurl {
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url = https://github.com/ipa320/cob_control-release/archive/release/melodic/cob_twist_controller/0.8.0-1.tar.gz;
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sha256 = "b9d449b443b20e83c4918a015cae7b7e1a850583bf560f3ac75b4974939db22e";
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};
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buildInputs = [ tf-conversions tf geometry-msgs roslint boost eigen-conversions kdl-conversions orocos-kdl cob-control-msgs trajectory-msgs nav-msgs urdf std-msgs roscpp visualization-msgs eigen kdl-parser cmake-modules pluginlib sensor-msgs cob-srvs dynamic-reconfigure ];
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propagatedBuildInputs = [ rospy tf-conversions tf geometry-msgs boost rviz robot-state-publisher eigen-conversions xacro kdl-conversions orocos-kdl cob-control-msgs trajectory-msgs nav-msgs urdf cob-frame-tracker std-msgs roscpp visualization-msgs eigen kdl-parser cmake-modules pluginlib sensor-msgs cob-srvs dynamic-reconfigure topic-tools ];
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nativeBuildInputs = [ catkin ];
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meta = {
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description = ''The main purpose of the cob_twist_controller is to convert target twists into joint velocities.
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Therefore it makes use of several implemented inverse kinematics approaches at the first order differential level.
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The inverse differential kinematics solver considers kinematic chain extensions, singularity robustness,
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redundancy resolution and priority-based methods.
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To avoid hardware destruction there is a limiter interface active as well.
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Via parameter server users can dynamically configure the solving strategy.'';
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license = with lib.licenses; [ asl20 ];
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};
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}
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