2019-08-30 00:06:28 -04:00
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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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2019-12-09 05:16:46 +00:00
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{ lib, buildRosPackage, fetchurl, xacro, geometry-msgs, urdf, eigen-conversions, pluginlib, tf, eigen, cob-srvs, nav-msgs, kdl-parser, sensor-msgs, dynamic-reconfigure, robot-state-publisher, cmake-modules, orocos-kdl, cob-control-msgs, std-msgs, catkin, roscpp, topic-tools, rospy, cob-frame-tracker, kdl-conversions, trajectory-msgs, boost, roslint, rviz, visualization-msgs, tf-conversions }:
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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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2019-12-09 05:16:46 +00:00
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version = "0.8.1-r1";
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2019-08-30 00:06:28 -04:00
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src = fetchurl {
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2019-12-09 05:16:46 +00:00
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url = "https://github.com/ipa320/cob_control-release/archive/release/melodic/cob_twist_controller/0.8.1-1.tar.gz";
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name = "0.8.1-1.tar.gz";
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sha256 = "a36acbaa6a924ea2a8987a59b4408f345a13373653e62ac4bcc0f011cdcb4fc1";
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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 05:16:46 +00:00
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buildInputs = [ geometry-msgs urdf eigen-conversions pluginlib tf eigen cob-srvs nav-msgs kdl-parser sensor-msgs dynamic-reconfigure cmake-modules orocos-kdl cob-control-msgs std-msgs roscpp kdl-conversions trajectory-msgs boost roslint visualization-msgs tf-conversions ];
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propagatedBuildInputs = [ xacro geometry-msgs urdf eigen-conversions pluginlib tf eigen cob-srvs nav-msgs kdl-parser sensor-msgs dynamic-reconfigure robot-state-publisher cmake-modules orocos-kdl cob-control-msgs std-msgs roscpp topic-tools cob-frame-tracker rospy kdl-conversions trajectory-msgs boost rviz visualization-msgs tf-conversions ];
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2019-08-30 00:06:28 -04:00
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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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