add cartesian controllers
This commit is contained in:
parent
5cfa3c6b99
commit
1f30a2d9cd
9 changed files with 172 additions and 1 deletions
24
cartesian-compliance-controller.nix
Normal file
24
cartesian-compliance-controller.nix
Normal file
|
|
@ -0,0 +1,24 @@
|
|||
# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
|
||||
{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-common, cartesian-controller-base, cartesian-force-controller, cartesian-motion-controller, controller-interface, hardware-interface, pluginlib, rclcpp }:
|
||||
buildRosPackage rec {
|
||||
pname = "ros-jazzy-cartesian-compliance-controller";
|
||||
version = "0.0.0";
|
||||
|
||||
src = fetchgit {
|
||||
url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
|
||||
rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
|
||||
sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
|
||||
};
|
||||
|
||||
buildType = "ament_cmake";
|
||||
sourceRoot = "${src.name}/cartesian_compliance_controller/";
|
||||
buildInputs = [ ament-cmake ];
|
||||
checkInputs = [ ament-lint-common ];
|
||||
propagatedBuildInputs = [ cartesian-controller-base cartesian-force-controller cartesian-motion-controller controller-interface hardware-interface pluginlib rclcpp ];
|
||||
nativeBuildInputs = [ ament-cmake ];
|
||||
|
||||
meta = {
|
||||
description = "Control your robot through Cartesian target poses and target wrenches";
|
||||
license = with lib.licenses; [ bsd3 ];
|
||||
};
|
||||
}
|
||||
23
cartesian-controller-base.nix
Normal file
23
cartesian-controller-base.nix
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
|
||||
{ lib, buildRosPackage, fetchgit, ament-cmake, controller-interface, kdl-parser, pluginlib, rclcpp, realtime-tools, trajectory-msgs, ros-environment }:
|
||||
buildRosPackage rec {
|
||||
pname = "ros-jazzy-cartesian-controller-base";
|
||||
version = "0.0.0";
|
||||
|
||||
src = fetchgit {
|
||||
url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
|
||||
rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
|
||||
sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
|
||||
};
|
||||
|
||||
buildType = "ament_cmake";
|
||||
sourceRoot = "${src.name}/cartesian_controller_base/";
|
||||
buildInputs = [ ament-cmake ];
|
||||
propagatedBuildInputs = [ controller-interface kdl-parser pluginlib rclcpp realtime-tools trajectory-msgs ros-environment ];
|
||||
nativeBuildInputs = [ ament-cmake ];
|
||||
|
||||
meta = {
|
||||
description = "The cartesian_controller_base package";
|
||||
license = with lib.licenses; [ bsd3 ];
|
||||
};
|
||||
}
|
||||
23
cartesian-controller-handles.nix
Normal file
23
cartesian-controller-handles.nix
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
|
||||
{ lib, buildRosPackage, fetchgit, ament-cmake, cartesian-controller-base, controller-interface, geometry-msgs, interactive-markers, kdl-parser, pluginlib, rclcpp, urdf }:
|
||||
buildRosPackage rec {
|
||||
pname = "ros-jazzy-cartesian-controller-handles";
|
||||
version = "0.0.0";
|
||||
|
||||
src = fetchgit {
|
||||
url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
|
||||
rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
|
||||
sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
|
||||
};
|
||||
|
||||
buildType = "ament_cmake";
|
||||
sourceRoot = "${src.name}/cartesian_controller_handles/";
|
||||
buildInputs = [ ament-cmake ];
|
||||
propagatedBuildInputs = [ cartesian-controller-base controller-interface geometry-msgs interactive-markers kdl-parser pluginlib rclcpp urdf ];
|
||||
nativeBuildInputs = [ ament-cmake ];
|
||||
|
||||
meta = {
|
||||
description = "The cartesian_controller_handles package";
|
||||
license = with lib.licenses; [ bsd3 ];
|
||||
};
|
||||
}
|
||||
23
cartesian-controller-utilities.nix
Normal file
23
cartesian-controller-utilities.nix
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
|
||||
{ lib, buildRosPackage, fetchgit, ament-cmake, geometry-msgs, launch, launch-ros, rclcpp, sensor-msgs }:
|
||||
buildRosPackage rec {
|
||||
pname = "ros-jazzy-cartesian-controller-utilities";
|
||||
version = "0.1.0";
|
||||
|
||||
src = fetchgit {
|
||||
url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
|
||||
rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
|
||||
sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
|
||||
};
|
||||
|
||||
buildType = "ament_cmake";
|
||||
sourceRoot = "${src.name}/cartesian_controller_utilities/";
|
||||
buildInputs = [ ament-cmake ];
|
||||
propagatedBuildInputs = [ geometry-msgs launch launch-ros rclcpp sensor-msgs ];
|
||||
nativeBuildInputs = [ ament-cmake ];
|
||||
|
||||
meta = {
|
||||
description = "Make the spacemouse a teach device for contact-based teleoperation";
|
||||
license = with lib.licenses; [ bsd3 ];
|
||||
};
|
||||
}
|
||||
23
cartesian-force-controller.nix
Normal file
23
cartesian-force-controller.nix
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
|
||||
{ lib, buildRosPackage, fetchgit, ament-cmake, cartesian-controller-base, controller-interface, rclcpp }:
|
||||
buildRosPackage rec {
|
||||
pname = "ros-jazzy-cartesian-force-controller";
|
||||
version = "0.0.0";
|
||||
|
||||
src = fetchgit {
|
||||
url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
|
||||
rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
|
||||
sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
|
||||
};
|
||||
|
||||
buildType = "ament_cmake";
|
||||
sourceRoot = "${src.name}/cartesian_force_controller/";
|
||||
buildInputs = [ ament-cmake ];
|
||||
propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ];
|
||||
nativeBuildInputs = [ ament-cmake ];
|
||||
|
||||
meta = {
|
||||
description = "The cartesian_force_controller package";
|
||||
license = with lib.licenses; [ bsd3 ];
|
||||
};
|
||||
}
|
||||
21
cartesian-motion-controller.nix
Normal file
21
cartesian-motion-controller.nix
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
|
||||
{ lib, buildRosPackage, fetchgit, cartesian-controller-base, controller-interface, rclcpp }:
|
||||
buildRosPackage rec {
|
||||
pname = "ros-jazzy-cartesian-motion-controller";
|
||||
version = "0.0.0";
|
||||
|
||||
src = fetchgit {
|
||||
url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
|
||||
rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
|
||||
sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
|
||||
};
|
||||
|
||||
buildType = "ament_cmake";
|
||||
sourceRoot = "${src.name}/cartesian_motion_controller/";
|
||||
propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ];
|
||||
|
||||
meta = {
|
||||
description = "The cartesian_motion_controller package";
|
||||
license = with lib.licenses; [ bsd3 ];
|
||||
};
|
||||
}
|
||||
21
cartesian-twist-controller.nix
Normal file
21
cartesian-twist-controller.nix
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
|
||||
{ lib, buildRosPackage, fetchgit, cartesian-controller-base, controller-interface, rclcpp }:
|
||||
buildRosPackage rec {
|
||||
pname = "ros-jazzy-cartesian-twist-controller";
|
||||
version = "0.0.0";
|
||||
|
||||
src = fetchgit {
|
||||
url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
|
||||
rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
|
||||
sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
|
||||
};
|
||||
|
||||
buildType = "ament_cmake";
|
||||
sourceRoot = "${src.name}/cartesian_twist_controller/";
|
||||
propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ];
|
||||
|
||||
meta = {
|
||||
description = "The cartesian_twist_controller package";
|
||||
license = with lib.licenses; [ bsd3 ];
|
||||
};
|
||||
}
|
||||
|
|
@ -52,7 +52,7 @@
|
|||
'';
|
||||
packages = [
|
||||
pkgs.colcon
|
||||
(pkgs.python3.withPackages (p: with p; [ dacite scipy loguru rbs-assets-library ]))
|
||||
(pkgs.python3.withPackages (p: with p; [ dacite scipy loguru rbs-assets-library mujoco ]))
|
||||
# ... other non-ROS packages
|
||||
(with pkgs.rosPackages.${rosDistro}; buildEnv {
|
||||
paths = [
|
||||
|
|
@ -84,6 +84,12 @@
|
|||
robot-builder
|
||||
rviz2
|
||||
# ... other ROS packages
|
||||
cartesian-compliance-controller
|
||||
cartesian-controller-handles
|
||||
cartesian-force-controller
|
||||
cartesian-controller-base
|
||||
cartesian-controller-utilities
|
||||
cartesian-motion-controller
|
||||
] ++ [
|
||||
ament-cmake-core
|
||||
python-cmake-module
|
||||
|
|
|
|||
|
|
@ -27,4 +27,11 @@ self: super:
|
|||
robonomics = super.callPackage ./robonomics.nix {};
|
||||
robot-builder = super.callPackage ./robot-builder.nix {};
|
||||
test-dynmsg = super.callPackage ./test-dynmsg.nix {};
|
||||
cartesian-compliance-controller = super.callPackage ./cartesian-compliance-controller.nix {};
|
||||
cartesian-controller-handles = super.callPackage ./cartesian-controller-handles.nix {};
|
||||
cartesian-force-controller = super.callPackage ./cartesian-force-controller.nix {};
|
||||
cartesian-controller-base = super.callPackage ./cartesian-controller-base.nix {};
|
||||
cartesian-controller-utilities = super.callPackage ./cartesian-controller-utilities.nix {};
|
||||
cartesian-motion-controller = super.callPackage ./cartesian-motion-controller.nix {};
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue