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https://github.com/lopsided98/nix-ros-overlay.git
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27 lines
2 KiB
Nix
27 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, dynamic-reconfigure, tf, geometry-msgs, boost, roslint, 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, kdl-parser, cmake-modules, pluginlib, sensor-msgs, cob-srvs, eigen, topic-tools }:
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buildRosPackage {
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pname = "ros-kinetic-cob-twist-controller";
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version = "0.7.4";
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src = fetchurl {
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url = https://github.com/ipa320/cob_control-release/archive/release/kinetic/cob_twist_controller/0.7.4-0.tar.gz;
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sha256 = "5bfaa5c0056828ca7a552269e723a1e46d57529a0d5317650e19397449469373";
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};
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propagatedBuildInputs = [ kdl-conversions orocos-kdl cob-control-msgs trajectory-msgs nav-msgs urdf rospy tf-conversions std-msgs cob-frame-tracker tf roscpp visualization-msgs geometry-msgs eigen kdl-parser cmake-modules boost pluginlib sensor-msgs cob-srvs rviz robot-state-publisher dynamic-reconfigure topic-tools eigen-conversions xacro ];
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nativeBuildInputs = [ kdl-conversions orocos-kdl cob-control-msgs trajectory-msgs catkin nav-msgs urdf tf-conversions std-msgs roscpp tf visualization-msgs geometry-msgs eigen kdl-parser cmake-modules roslint boost pluginlib sensor-msgs cob-srvs dynamic-reconfigure eigen-conversions ];
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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 = lib.licenses.Apache 2.0;
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};
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}
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