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remove extra packages

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This commit is contained in:
Ilya Uraev 2024-02-08 17:40:55 +03:00
parent 12a1bfbfe8
commit ed6d163e5b
4 changed files with 0 additions and 106 deletions
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35
rbs_controllers/cartesian_impedance_controller/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(cartesian_impedance_controller)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
# add_executable(cartesian_impedance_controller src/cartesian_impedance_controller.cpp)
# target_include_directories(cartesian_impedance_controller PUBLIC
# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
# $<INSTALL_INTERFACE:include>)
# target_compile_features(cartesian_impedance_controller PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
# install(TARGETS cartesian_impedance_controller
# DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

39
rbs_controllers/cartesian_impedance_controller/include/cartesian_impedance_controller/cartesian_impedance_controller.hpp
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#include <cartesian_controller_base/cartesian_controller_base.h>
#include <cartesian_force_controller/cartesian_force_controller.h>
#include <cartesian_motion_controller/cartesian_motion_controller.h>
#include <controller_interface/controller_interface.hpp>
namespace cartesian_impedance_controller
{
class CartesianImpedanceController :
public cartesian_motion_controller::CartesianMotionController,
public cartesian_force_controller::CartesianForceController
{
public:
CartesianImpedanceController();
virtual LifecycleNodeInterface::CallbackReturn on_init() override;
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
const rclcpp_lifecycle::State & previous_state) override;
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
const rclcpp_lifecycle::State & previous_state) override;
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
const rclcpp_lifecycle::State & previous_state) override;
controller_interface::return_type update(const rclcpp::Time & time, const rclcpp::Duration & period) override;
using Base = cartesian_controller_base::CartesianControllerBase;
using MotionBase = cartesian_motion_controller::CartesianMotionController;
using ForceBase = cartesian_force_controller::CartesianForceController;
private:
ctrl::Vector6D computeImpedance();
ctrl::Matrix6D m_stiffness;
ctrl::Matrix6D m_damping;
std::string m_compliance_ref_link;
};
}

18
rbs_controllers/cartesian_impedance_controller/package.xml
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<?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>cartesian_impedance_controller</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

14
rbs_controllers/cartesian_impedance_controller/src/cartesian_impedance_controller.cpp
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#include "cartesian_controller_base/Utility.h"
#include "controller_interface/controller_interface.hpp"
#include <cartesian_impedance_controller/cartesian_impedance_controller.hpp>
namespace cartesian_impedance_controller
{
CartesianImpedanceController::CartesianImpedanceController()
: Base::CartesianControllerBase(),
MotionBase::CartesianMotionController(),
ForceBase::CartesianForceController()
{
}
}