🔖 renaming robot

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(<dependency> 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})

rasms_description/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>roboasm_sgonov</name>
+  <name>rasms_description</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="bill-finger@todo.todo">bill-finger</maintainer>

rasms_description/urdf/rasms.gazebo.xacro

@@ -5,7 +5,7 @@
         <!-- ros_control-plugin -->
         <gazebo>
             <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-                <parameters>$(find roboasm_moveit_config)/config/roboasm_controllers.yml</parameters>
+                <parameters>$(find rasms_moveit_config)/config/rasms_controllers.yml</parameters>
                 <robotNamespace>/rasms</robotNamespace>
             </plugin>
         </gazebo>

rasms_description/urdf/rasms_description.urdf.xacro

@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
-<robot name="roboasm_sgonov" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="rasms" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
 
-  <xacro:include filename="$(find roboasm_sgonov)/urdf/rasms.gazebo.xacro"/>
+  <xacro:include filename="$(find rasms_description)/urdf/rasms.gazebo.xacro"/>
-  <xacro:include filename="$(find roboasm_sgonov)/urdf/rasms.control.xacro"/>
+  <xacro:include filename="$(find rasms_description)/urdf/rasms.control.xacro"/>
   <link name="world"/>
   <joint name="to_world" type="fixed">
     <parent link="world"/>
@@ -32,7 +32,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/base.stl" />
+          filename="package://rasms_description/meshes/base.stl" />
       </geometry>
       <material
         name="">
@@ -46,7 +46,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/base.stl" />
+          filename="package://rasms_description/meshes/base.stl" />
       </geometry>
     </collision>
   </link>
@@ -72,7 +72,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link1.stl" />
+          filename="package://rasms_description/meshes/link1.stl" />
       </geometry>
       <material
         name="">
@@ -86,7 +86,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link1.stl" />
+          filename="package://rasms_description/meshes/link1.stl" />
       </geometry>
     </collision>
   </link>
@@ -125,7 +125,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link2.stl" />
+          filename="package://rasms_description/meshes/link2.stl" />
       </geometry>
       <material
         name="">
@@ -139,7 +139,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link2.stl" />
+          filename="package://rasms_description/meshes/link2.stl" />
       </geometry>
     </collision>
   </link>
@@ -178,7 +178,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link3.stl" />
+          filename="package://rasms_description/meshes/link3.stl" />
       </geometry>
       <material
         name="">
@@ -192,7 +192,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link3.stl" />
+          filename="package://rasms_description/meshes/link3.stl" />
       </geometry>
     </collision>
   </link>
@@ -231,7 +231,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link4.stl" />
+          filename="package://rasms_description/meshes/link4.stl" />
       </geometry>
       <material
         name="">
@@ -245,7 +245,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link4.stl" />
+          filename="package://rasms_description/meshes/link4.stl" />
       </geometry>
     </collision>
   </link>
@@ -284,7 +284,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link5.stl" />
+          filename="package://rasms_description/meshes/link5.stl" />
       </geometry>
       <material
         name="">
@@ -298,7 +298,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link5.stl" />
+          filename="package://rasms_description/meshes/link5.stl" />
       </geometry>
     </collision>
   </link>
@@ -337,7 +337,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link6.stl" />
+          filename="package://rasms_description/meshes/link6.stl" />
       </geometry>
       <material
         name="">
@@ -351,7 +351,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://roboasm_sgonov/meshes/link6.stl" />
+          filename="package://rasms_description/meshes/link6.stl" />
       </geometry>
     </collision>
   </link>

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)

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")
+    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 roboasm_sgonov doesnt exist"+str(xacro_file)
+    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."
         )
     )

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."
         )
     )

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."
         )
     )

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."
     ))
 

rasms_moveit_config/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>roboasm_moveit_config</name>
+  <name>rasms_moveit_config</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="bill-finger@todo.todo">bill-finger</maintainer>

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
 -->
-<robot name="roboasm_sgonov">
+<robot name="rasms_description">
     <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
     <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="roboasm_sgonov_arm">
+    <group name="rasms_description_arm">
         <chain base_link="base" tip_link="link6"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="pose1" group="roboasm_sgonov_arm">
+    <group_state name="pose1" group="rasms_description_arm">
         <joint name="joint1" value="0"/>
         <joint name="joint2" value="0"/>
         <joint name="joint3" value="0.4339"/>
@@ -21,7 +21,7 @@
         <joint name="joint5" value="0.9199"/>
         <joint name="joint6" value="0"/>
     </group_state>
-    <group_state name="zero_pose" group="roboasm_sgonov_arm">
+    <group_state name="zero_pose" group="rasms_description_arm">
         <joint name="joint1" value="0"/>
         <joint name="joint2" value="0"/>
         <joint name="joint3" value="0"/>