From 9ad9e6c03144fb68dcf61b6c8958cc4bbb750cbd Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Tue, 19 Oct 2021 23:26:26 +0400 Subject: [PATCH] :bookmark: renaming robot --- .../CMakeLists.txt | 6 +-- .../config/joint_names_roboarm.yaml | 0 .../config/robasm_sgonov.rviz | 0 .../meshes/base.stl | Bin .../meshes/link1.stl | Bin .../meshes/link2.stl | Bin .../meshes/link3.stl | Bin .../meshes/link4.stl | Bin .../meshes/link5.stl | Bin .../meshes/link6.stl | Bin .../package.xml | 2 +- .../rasms_description.dsv | 0 .../urdf/rasms.control.xacro | 0 .../urdf/rasms.gazebo.xacro | 2 +- .../urdf/rasms_description.urdf.xacro | 34 +++++++-------- .../world/rasms.world.sdf | 0 .../CMakeLists.txt | 2 +- .../config/joint_limits.yml | 0 .../config/kinematics.yml | 0 .../config/ompl_planning.yml | 0 .../config/rasms.rviz | 0 .../config/rasms_controllers.yml | 0 .../config/rasms_moveit_controllers.yml | 0 .../config/robasm_sgonov.rviz | 0 .../launch/rasms_bringup.launch.py | 39 ++++++------------ .../launch/rasms_control.launch.py | 4 +- .../launch/rasms_moveit_interface.launch.py | 16 +++---- .../launch/rasms_simulation.launch.py | 2 +- .../package.xml | 2 +- .../srdf/rasms_description.srdf | 8 ++-- 30 files changed, 50 insertions(+), 67 deletions(-) rename {roboasm_sgonov => rasms_description}/CMakeLists.txt (89%) rename {roboasm_sgonov => rasms_description}/config/joint_names_roboarm.yaml (100%) rename {roboasm_moveit_config => rasms_description}/config/robasm_sgonov.rviz (100%) rename {roboasm_sgonov => rasms_description}/meshes/base.stl (100%) rename {roboasm_sgonov => rasms_description}/meshes/link1.stl (100%) rename {roboasm_sgonov => rasms_description}/meshes/link2.stl (100%) rename {roboasm_sgonov => rasms_description}/meshes/link3.stl (100%) rename {roboasm_sgonov => rasms_description}/meshes/link4.stl (100%) rename {roboasm_sgonov => rasms_description}/meshes/link5.stl (100%) rename {roboasm_sgonov => rasms_description}/meshes/link6.stl (100%) rename {roboasm_sgonov => rasms_description}/package.xml (95%) rename roboasm_sgonov/roboasm_sgonov.dsv => rasms_description/rasms_description.dsv (100%) rename {roboasm_sgonov => rasms_description}/urdf/rasms.control.xacro (100%) rename {roboasm_sgonov => rasms_description}/urdf/rasms.gazebo.xacro (94%) rename roboasm_sgonov/urdf/roboasm_sgonov.urdf.xacro => rasms_description/urdf/rasms_description.urdf.xacro (82%) rename roboasm_sgonov/world/roboasm.sdf => rasms_description/world/rasms.world.sdf (100%) rename {roboasm_moveit_config => rasms_moveit_config}/CMakeLists.txt (97%) rename {roboasm_moveit_config => rasms_moveit_config}/config/joint_limits.yml (100%) rename {roboasm_moveit_config => rasms_moveit_config}/config/kinematics.yml (100%) rename {roboasm_moveit_config => rasms_moveit_config}/config/ompl_planning.yml (100%) rename {roboasm_moveit_config => rasms_moveit_config}/config/rasms.rviz (100%) rename roboasm_moveit_config/config/roboasm_controllers.yml => rasms_moveit_config/config/rasms_controllers.yml (100%) rename roboasm_moveit_config/config/roboasm_moveit_controllers.yml => rasms_moveit_config/config/rasms_moveit_controllers.yml (100%) rename {roboasm_sgonov => rasms_moveit_config}/config/robasm_sgonov.rviz (100%) rename roboasm_moveit_config/launch/roboasm_bringup.launch.py => rasms_moveit_config/launch/rasms_bringup.launch.py (78%) rename roboasm_moveit_config/launch/roboasm_control.launch.py => rasms_moveit_config/launch/rasms_control.launch.py (96%) rename roboasm_moveit_config/launch/roboasm_moveit_interface.launch.py => rasms_moveit_config/launch/rasms_moveit_interface.launch.py (90%) rename roboasm_moveit_config/launch/roboasm_simulation.launch.py => rasms_moveit_config/launch/rasms_simulation.launch.py (97%) rename {roboasm_moveit_config => rasms_moveit_config}/package.xml (96%) rename roboasm_moveit_config/srdf/roboasm_sgonov.srdf => rasms_moveit_config/srdf/rasms_description.srdf (93%) diff --git a/roboasm_sgonov/CMakeLists.txt b/rasms_description/CMakeLists.txt similarity index 89% rename from roboasm_sgonov/CMakeLists.txt rename to rasms_description/CMakeLists.txt index 8a2cf7a..657d36e 100644 --- a/roboasm_sgonov/CMakeLists.txt +++ b/rasms_description/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(roboasm_sgonov) +project(rasms_description) # Default to C99 if(NOT CMAKE_C_STANDARD) @@ -22,10 +22,6 @@ find_package(ament_cmake REQUIRED) # find_package( REQUIRED) # Install launch files. -install(DIRECTORY - launch - DESTINATION share/${PROJECT_NAME}/ -) install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME}) install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME}) diff --git a/roboasm_sgonov/config/joint_names_roboarm.yaml b/rasms_description/config/joint_names_roboarm.yaml similarity index 100% rename from roboasm_sgonov/config/joint_names_roboarm.yaml rename to rasms_description/config/joint_names_roboarm.yaml diff --git a/roboasm_moveit_config/config/robasm_sgonov.rviz b/rasms_description/config/robasm_sgonov.rviz similarity index 100% rename from roboasm_moveit_config/config/robasm_sgonov.rviz rename to rasms_description/config/robasm_sgonov.rviz diff --git a/roboasm_sgonov/meshes/base.stl b/rasms_description/meshes/base.stl similarity index 100% rename from roboasm_sgonov/meshes/base.stl rename to rasms_description/meshes/base.stl diff --git a/roboasm_sgonov/meshes/link1.stl b/rasms_description/meshes/link1.stl similarity index 100% rename from roboasm_sgonov/meshes/link1.stl rename to rasms_description/meshes/link1.stl diff --git a/roboasm_sgonov/meshes/link2.stl b/rasms_description/meshes/link2.stl similarity index 100% rename from roboasm_sgonov/meshes/link2.stl rename to rasms_description/meshes/link2.stl diff --git a/roboasm_sgonov/meshes/link3.stl b/rasms_description/meshes/link3.stl similarity index 100% rename from roboasm_sgonov/meshes/link3.stl rename to rasms_description/meshes/link3.stl diff --git a/roboasm_sgonov/meshes/link4.stl b/rasms_description/meshes/link4.stl similarity index 100% rename from roboasm_sgonov/meshes/link4.stl rename to rasms_description/meshes/link4.stl diff --git a/roboasm_sgonov/meshes/link5.stl b/rasms_description/meshes/link5.stl similarity index 100% rename from roboasm_sgonov/meshes/link5.stl rename to rasms_description/meshes/link5.stl diff --git a/roboasm_sgonov/meshes/link6.stl b/rasms_description/meshes/link6.stl similarity index 100% rename from roboasm_sgonov/meshes/link6.stl rename to rasms_description/meshes/link6.stl diff --git a/roboasm_sgonov/package.xml b/rasms_description/package.xml similarity index 95% rename from roboasm_sgonov/package.xml rename to rasms_description/package.xml index 8ea5779..d002a92 100644 --- a/roboasm_sgonov/package.xml +++ b/rasms_description/package.xml @@ -1,7 +1,7 @@ - roboasm_sgonov + rasms_description 0.0.0 TODO: Package description bill-finger diff --git a/roboasm_sgonov/roboasm_sgonov.dsv b/rasms_description/rasms_description.dsv similarity index 100% rename from roboasm_sgonov/roboasm_sgonov.dsv rename to rasms_description/rasms_description.dsv diff --git a/roboasm_sgonov/urdf/rasms.control.xacro b/rasms_description/urdf/rasms.control.xacro similarity index 100% rename from roboasm_sgonov/urdf/rasms.control.xacro rename to rasms_description/urdf/rasms.control.xacro diff --git a/roboasm_sgonov/urdf/rasms.gazebo.xacro b/rasms_description/urdf/rasms.gazebo.xacro similarity index 94% rename from roboasm_sgonov/urdf/rasms.gazebo.xacro rename to rasms_description/urdf/rasms.gazebo.xacro index e160683..ef92991 100644 --- a/roboasm_sgonov/urdf/rasms.gazebo.xacro +++ b/rasms_description/urdf/rasms.gazebo.xacro @@ -5,7 +5,7 @@ - $(find roboasm_moveit_config)/config/roboasm_controllers.yml + $(find rasms_moveit_config)/config/rasms_controllers.yml /rasms diff --git a/roboasm_sgonov/urdf/roboasm_sgonov.urdf.xacro b/rasms_description/urdf/rasms_description.urdf.xacro similarity index 82% rename from roboasm_sgonov/urdf/roboasm_sgonov.urdf.xacro rename to rasms_description/urdf/rasms_description.urdf.xacro index 915eb60..5e0ada1 100755 --- a/roboasm_sgonov/urdf/roboasm_sgonov.urdf.xacro +++ b/rasms_description/urdf/rasms_description.urdf.xacro @@ -1,9 +1,9 @@ - + - - + + @@ -32,7 +32,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/base.stl" /> @@ -46,7 +46,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/base.stl" /> @@ -72,7 +72,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link1.stl" /> @@ -86,7 +86,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link1.stl" /> @@ -125,7 +125,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link2.stl" /> @@ -139,7 +139,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link2.stl" /> @@ -178,7 +178,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link3.stl" /> @@ -192,7 +192,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link3.stl" /> @@ -231,7 +231,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link4.stl" /> @@ -245,7 +245,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link4.stl" /> @@ -284,7 +284,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link5.stl" /> @@ -298,7 +298,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link5.stl" /> @@ -337,7 +337,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link6.stl" /> @@ -351,7 +351,7 @@ rpy="0 0 0" /> + filename="package://rasms_description/meshes/link6.stl" /> diff --git a/roboasm_sgonov/world/roboasm.sdf b/rasms_description/world/rasms.world.sdf similarity index 100% rename from roboasm_sgonov/world/roboasm.sdf rename to rasms_description/world/rasms.world.sdf diff --git a/roboasm_moveit_config/CMakeLists.txt b/rasms_moveit_config/CMakeLists.txt similarity index 97% rename from roboasm_moveit_config/CMakeLists.txt rename to rasms_moveit_config/CMakeLists.txt index 60ac370..0f35ad1 100644 --- a/roboasm_moveit_config/CMakeLists.txt +++ b/rasms_moveit_config/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(roboasm_moveit_config) +project(rasms_moveit_config) # Default to C99 if(NOT CMAKE_C_STANDARD) diff --git a/roboasm_moveit_config/config/joint_limits.yml b/rasms_moveit_config/config/joint_limits.yml similarity index 100% rename from roboasm_moveit_config/config/joint_limits.yml rename to rasms_moveit_config/config/joint_limits.yml diff --git a/roboasm_moveit_config/config/kinematics.yml b/rasms_moveit_config/config/kinematics.yml similarity index 100% rename from roboasm_moveit_config/config/kinematics.yml rename to rasms_moveit_config/config/kinematics.yml diff --git a/roboasm_moveit_config/config/ompl_planning.yml b/rasms_moveit_config/config/ompl_planning.yml similarity index 100% rename from roboasm_moveit_config/config/ompl_planning.yml rename to rasms_moveit_config/config/ompl_planning.yml diff --git a/roboasm_moveit_config/config/rasms.rviz b/rasms_moveit_config/config/rasms.rviz similarity index 100% rename from roboasm_moveit_config/config/rasms.rviz rename to rasms_moveit_config/config/rasms.rviz diff --git a/roboasm_moveit_config/config/roboasm_controllers.yml b/rasms_moveit_config/config/rasms_controllers.yml similarity index 100% rename from roboasm_moveit_config/config/roboasm_controllers.yml rename to rasms_moveit_config/config/rasms_controllers.yml diff --git a/roboasm_moveit_config/config/roboasm_moveit_controllers.yml b/rasms_moveit_config/config/rasms_moveit_controllers.yml similarity index 100% rename from roboasm_moveit_config/config/roboasm_moveit_controllers.yml rename to rasms_moveit_config/config/rasms_moveit_controllers.yml diff --git a/roboasm_sgonov/config/robasm_sgonov.rviz b/rasms_moveit_config/config/robasm_sgonov.rviz similarity index 100% rename from roboasm_sgonov/config/robasm_sgonov.rviz rename to rasms_moveit_config/config/robasm_sgonov.rviz diff --git a/roboasm_moveit_config/launch/roboasm_bringup.launch.py b/rasms_moveit_config/launch/rasms_bringup.launch.py similarity index 78% rename from roboasm_moveit_config/launch/roboasm_bringup.launch.py rename to rasms_moveit_config/launch/rasms_bringup.launch.py index 0bb670f..930d240 100644 --- a/roboasm_moveit_config/launch/roboasm_bringup.launch.py +++ b/rasms_moveit_config/launch/rasms_bringup.launch.py @@ -16,32 +16,19 @@ def launch_setup(context, *args, **kwargs): # Evaluate frequently used variables model = LaunchConfiguration("model").perform(context) - xacro_file = os.path.join(get_package_share_directory("roboasm_sgonov"),"urdf/","roboasm_sgonov.urdf.xacro") - assert os.path.exists(xacro_file), "The xacro file of roboasm_sgonov doesnt exist"+str(xacro_file) + xacro_file = os.path.join(get_package_share_directory("rasms_description"),"urdf/","rasms_description.urdf.xacro") + assert os.path.exists(xacro_file), "The xacro file of rasms_description doesnt exist"+str(xacro_file) robot_description = xacro.process_file(xacro_file) robot_description_content = robot_description.toxml() #print(robot_description_content) - - # Load robot description - #robot_description_content = Command( - # [ - # FindExecutable(name="xacro"), " ", - # PathJoinSubstitution( - # [FindPackageShare("roboasm_sgonov"), "urdf/{}.urdf.xacro".format(model)] - # ), " " - # "robot_name:=", LaunchConfiguration("robot_name"), " ", - # "sim:=", LaunchConfiguration("sim") - # ] - #) - # Load controls control = IncludeLaunchDescription( PythonLaunchDescriptionSource( PathJoinSubstitution([ - FindPackageShare("roboasm_moveit_config"), + FindPackageShare("rasms_moveit_config"), "launch", - "roboasm_control.launch.py" + "rasms_control.launch.py" ]) ), launch_arguments=[ ("robot_description", robot_description_content), @@ -56,9 +43,9 @@ def launch_setup(context, *args, **kwargs): simulation = IncludeLaunchDescription( PythonLaunchDescriptionSource( PathJoinSubstitution([ - FindPackageShare("roboasm_moveit_config"), + FindPackageShare("rasms_moveit_config"), "launch", - "roboasm_simulation.launch.py" + "rasms_simulation.launch.py" ]) ), launch_arguments=[ @@ -71,9 +58,9 @@ def launch_setup(context, *args, **kwargs): move_group = IncludeLaunchDescription( PythonLaunchDescriptionSource( PathJoinSubstitution([ - FindPackageShare("roboasm_moveit_config"), + FindPackageShare("rasms_moveit_config"), "launch", - "roboasm_moveit_interface.launch.py" + "rasms_moveit_interface.launch.py" ]) ), launch_arguments=[ @@ -99,7 +86,7 @@ def generate_launch_description(): launch_args.append(DeclareLaunchArgument( name="model", - default_value="roboasm_sgonov", + default_value="rasms_description", description="Desired LBR model. Use model:=iiwa7/iiwa14/med7/med14." )) @@ -118,7 +105,7 @@ def generate_launch_description(): launch_args.append( DeclareLaunchArgument( name="controller_configurations_package", - default_value="roboasm_moveit_config", + default_value="rasms_moveit_config", description="Package that contains controller configurations." ) ) @@ -126,7 +113,7 @@ def generate_launch_description(): launch_args.append( DeclareLaunchArgument( name="controller_configurations", - default_value="config/roboasm_controllers.yml", + default_value="config/rasms_controllers.yml", description="Relative path to controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name." ) ) @@ -142,7 +129,7 @@ def generate_launch_description(): launch_args.append( DeclareLaunchArgument( name="moveit_controller_configurations_package", - default_value="roboasm_moveit_config", + default_value="rasms_moveit_config", description="Package that contains MoveIt! controller configurations." ) ) @@ -150,7 +137,7 @@ def generate_launch_description(): launch_args.append( DeclareLaunchArgument( name="moveit_controller_configurations", - default_value="config/roboasm_moveit_controllers.yml", + default_value="config/rasms_moveit_controllers.yml", description="Relative path to MoveIt! controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name. This file lists controllers that are loaded through the controller_configurations file." ) ) diff --git a/roboasm_moveit_config/launch/roboasm_control.launch.py b/rasms_moveit_config/launch/rasms_control.launch.py similarity index 96% rename from roboasm_moveit_config/launch/roboasm_control.launch.py rename to rasms_moveit_config/launch/rasms_control.launch.py index 7bc8e23..2044a7e 100644 --- a/roboasm_moveit_config/launch/roboasm_control.launch.py +++ b/rasms_moveit_config/launch/rasms_control.launch.py @@ -14,7 +14,7 @@ def generate_launch_description(): launch_args.append( DeclareLaunchArgument( name="controller_configurations_package", - default_value="roboasm_moveit_config", + default_value="rasms_moveit_config", description="Package that contains controller configurations." ) ) @@ -22,7 +22,7 @@ def generate_launch_description(): launch_args.append( DeclareLaunchArgument( name="controller_configurations", - default_value="config/roboasm_controllers.yml", + default_value="config/rasms_controllers.yml", description="Relative path to controller configurations YAML file." ) ) diff --git a/roboasm_moveit_config/launch/roboasm_moveit_interface.launch.py b/rasms_moveit_config/launch/rasms_moveit_interface.launch.py similarity index 90% rename from roboasm_moveit_config/launch/roboasm_moveit_interface.launch.py rename to rasms_moveit_config/launch/rasms_moveit_interface.launch.py index 6da426b..352419b 100644 --- a/roboasm_moveit_config/launch/roboasm_moveit_interface.launch.py +++ b/rasms_moveit_config/launch/rasms_moveit_interface.launch.py @@ -42,11 +42,11 @@ def launch_setup(context, *args, **kwargs): # Robot semantics SRDF robot_description_semantic = { - "robot_description_semantic": load_file("roboasm_moveit_config", "srdf/{}.srdf".format(model)) + "robot_description_semantic": load_file("rasms_moveit_config", "srdf/{}.srdf".format(model)) } # Kinematics - kinematics_yaml = load_yaml("roboasm_moveit_config", "config/kinematics.yml") + kinematics_yaml = load_yaml("rasms_moveit_config", "config/kinematics.yml") # Update group name kinematics_yaml["{}_arm".format(model)] = kinematics_yaml["group_name"] @@ -56,14 +56,14 @@ def launch_setup(context, *args, **kwargs): robot_description_planning = { "robot_description_planning": PathJoinSubstitution( [ - FindPackageShare("roboasm_moveit_config"), + FindPackageShare("rasms_moveit_config"), "config/joint_limits.yml" ] ) } # Planning - ompl_yaml = load_yaml("roboasm_moveit_config", "config/ompl_planning.yml") + ompl_yaml = load_yaml("rasms_moveit_config", "config/ompl_planning.yml") planning = { "move_group": { @@ -130,7 +130,7 @@ def launch_setup(context, *args, **kwargs): ) # RViz - rviz_config = PathJoinSubstitution([FindPackageShare("roboasm_moveit_config"), "config/robasm_sgonov.rviz"]) + rviz_config = PathJoinSubstitution([FindPackageShare("rasms_moveit_config"), "config/robasm_sgonov.rviz"]) rviz = Node( package="rviz2", @@ -169,7 +169,7 @@ def generate_launch_description(): launch_args.append( DeclareLaunchArgument( name="model", - default_value="roboasm_sgonov", + default_value="rasms_description", description="Desired LBR model. Use model:=iiwa7/iiwa14/med7/med14." ) ) @@ -177,7 +177,7 @@ def generate_launch_description(): launch_args.append( DeclareLaunchArgument( name="moveit_controller_configurations_package", - default_value="roboasm_moveit_config", + default_value="rasms_moveit_config", description="Package that contains MoveIt! controller configurations." ) ) @@ -185,7 +185,7 @@ def generate_launch_description(): launch_args.append( DeclareLaunchArgument( name="moveit_controller_configurations", - default_value="config/roboasm_moveit_controllers.yml", + default_value="config/rasms_moveit_controllers.yml", description="Relative path to MoveIt! controller configurations YAML file. Note that the joints in the controllers must be named according to the robot_name." ) ) diff --git a/roboasm_moveit_config/launch/roboasm_simulation.launch.py b/rasms_moveit_config/launch/rasms_simulation.launch.py similarity index 97% rename from roboasm_moveit_config/launch/roboasm_simulation.launch.py rename to rasms_moveit_config/launch/rasms_simulation.launch.py index 71929c9..52ce089 100644 --- a/roboasm_moveit_config/launch/roboasm_simulation.launch.py +++ b/rasms_moveit_config/launch/rasms_simulation.launch.py @@ -13,7 +13,7 @@ def generate_launch_description(): launch_args.append(DeclareLaunchArgument( name="robot_name", - default_value="roboasm_sgonov", + default_value="rasms_description", description="Set robot name." )) diff --git a/roboasm_moveit_config/package.xml b/rasms_moveit_config/package.xml similarity index 96% rename from roboasm_moveit_config/package.xml rename to rasms_moveit_config/package.xml index 6f94e61..195436b 100644 --- a/roboasm_moveit_config/package.xml +++ b/rasms_moveit_config/package.xml @@ -1,7 +1,7 @@ - roboasm_moveit_config + rasms_moveit_config 0.0.0 TODO: Package description bill-finger diff --git a/roboasm_moveit_config/srdf/roboasm_sgonov.srdf b/rasms_moveit_config/srdf/rasms_description.srdf similarity index 93% rename from roboasm_moveit_config/srdf/roboasm_sgonov.srdf rename to rasms_moveit_config/srdf/rasms_description.srdf index 66d3849..ecd601c 100644 --- a/roboasm_moveit_config/srdf/roboasm_sgonov.srdf +++ b/rasms_moveit_config/srdf/rasms_description.srdf @@ -3,17 +3,17 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + - + - + @@ -21,7 +21,7 @@ - +