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