2019-08-30 00:06:28 -04:00
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2020-01-10 12:36:13 +00:00
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# Copyright 2020 Open Source Robotics Foundation
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2019-08-30 00:06:28 -04:00
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# Distributed under the terms of the BSD license
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2020-03-27 12:53:57 +00:00
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{ lib, buildRosPackage, fetchurl, boost, catkin, cmake-modules, cob-control-msgs, cob-frame-tracker, cob-script-server, cob-srvs, dynamic-reconfigure, eigen, eigen-conversions, geometry-msgs, kdl-conversions, kdl-parser, nav-msgs, orocos-kdl, pluginlib, pythonPackages, robot-state-publisher, roscpp, roslint, rospy, rviz, sensor-msgs, std-msgs, tf, tf-conversions, topic-tools, trajectory-msgs, urdf, visualization-msgs, xacro }:
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2019-08-30 00:06:28 -04:00
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buildRosPackage {
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pname = "ros-melodic-cob-twist-controller";
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version = "0.8.11-r1";
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2019-08-30 00:06:28 -04:00
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src = fetchurl {
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url = "https://github.com/ipa320/cob_control-release/archive/release/melodic/cob_twist_controller/0.8.11-1.tar.gz";
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name = "0.8.11-1.tar.gz";
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sha256 = "7eae59427d25c107f17fd539d819c0d7c6ee4b10d4f19114113152b9c959ca73";
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2019-08-30 00:06:28 -04:00
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};
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2019-09-06 12:26:32 -04:00
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buildType = "catkin";
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2019-12-09 23:36:28 -05:00
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buildInputs = [ roslint ];
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propagatedBuildInputs = [ boost cmake-modules cob-control-msgs cob-frame-tracker cob-script-server cob-srvs dynamic-reconfigure eigen eigen-conversions geometry-msgs kdl-conversions kdl-parser nav-msgs orocos-kdl pluginlib pythonPackages.matplotlib pythonPackages.six robot-state-publisher roscpp rospy rviz sensor-msgs std-msgs tf tf-conversions topic-tools trajectory-msgs urdf visualization-msgs xacro ];
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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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