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Henrik Andreasson
harvest-automation
Commits
2b0b18ab
Commit
2b0b18ab
authored
Jul 02, 2020
by
Nicholas Shindler
Browse files
migrate project to gitsvn-nt.oru.se
parents
Changes
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.gitignore
.gitignore
+50
-0
.save_for_later/controllers/drive/CMakeLists.txt
.save_for_later/controllers/drive/CMakeLists.txt
+206
-0
.save_for_later/controllers/drive/package.xml
.save_for_later/controllers/drive/package.xml
+68
-0
.save_for_later/controllers/drive/scripts/drive_node.py
.save_for_later/controllers/drive/scripts/drive_node.py
+50
-0
.save_for_later/controllers/gripper_arm/CMakeLists.txt
.save_for_later/controllers/gripper_arm/CMakeLists.txt
+207
-0
.save_for_later/controllers/gripper_arm/package.xml
.save_for_later/controllers/gripper_arm/package.xml
+71
-0
.save_for_later/controllers/gripper_arm/scripts/arm_node.py
.save_for_later/controllers/gripper_arm/scripts/arm_node.py
+43
-0
.save_for_later/controllers/gripper_arm/scripts/gripper_node.py
...for_later/controllers/gripper_arm/scripts/gripper_node.py
+43
-0
.save_for_later/main/CMakeLists.txt
.save_for_later/main/CMakeLists.txt
+207
-0
.save_for_later/main/package.xml
.save_for_later/main/package.xml
+71
-0
.save_for_later/main/scripts/main_node.py
.save_for_later/main/scripts/main_node.py
+98
-0
.save_for_later/scripts/__init__.py
.save_for_later/scripts/__init__.py
+4
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.save_for_later/scripts/getter.py
.save_for_later/scripts/getter.py
+0
-0
.save_for_later/scripts/init.py
.save_for_later/scripts/init.py
+21
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.save_for_later/scripts/mp-test.py
.save_for_later/scripts/mp-test.py
+158
-0
.save_for_later/scripts/mp.py
.save_for_later/scripts/mp.py
+388
-0
.save_for_later/scripts/mpclient
.save_for_later/scripts/mpclient
+45
-0
.save_for_later/scripts/mpclient.py
.save_for_later/scripts/mpclient.py
+413
-0
.save_for_later/scripts/resources.py
.save_for_later/scripts/resources.py
+9
-0
.save_for_later/scripts/script-compile
.save_for_later/scripts/script-compile
+366
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No files found.
.gitignore
0 → 100644
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2b0b18ab
devel/
logs/
build/
bin/
msg_gen/
srv_gen/
msg/*Action.msg
msg/*ActionFeedback.msg
msg/*ActionGoal.msg
msg/*ActionResult.msg
msg/*Feedback.msg
msg/*Goal.msg
msg/*Result.msg
msg/_*.py
build_isolated/
devel_isolated/
# Generated by dynamic reconfigure
*.cfgc
/cfg/cpp/
/cfg/*.py
# Ignore generated docs
*.dox
*.wikidoc
# eclipse stuff
.project
.cproject
# qcreator stuff
CMakeLists.txt.user
srv/_*.py
*.pcd
*.pyc
qtcreator-*
*.user
/planning/cfg
/planning/docs
/planning/src
*~
# Emacs
.#*
# Catkin custom files
CATKIN_IGNORE
.save_for_later/controllers/drive/CMakeLists.txt
0 → 100644
View file @
2b0b18ab
cmake_minimum_required
(
VERSION 2.8.3
)
project
(
drive
)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package
(
catkin REQUIRED COMPONENTS
geometry_msgs
rospy
tf
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# geometry_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package
(
# INCLUDE_DIRS include
# LIBRARIES drive
# CATKIN_DEPENDS geometry_msgs rospy tf
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories
(
# include
${
catkin_INCLUDE_DIRS
}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/drive.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/drive_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
#install(PROGRAMS
#../../scripts/setter.py
#DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#)
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_drive.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
.save_for_later/controllers/drive/package.xml
0 → 100644
View file @
2b0b18ab
<?xml version="1.0"?>
<package
format=
"2"
>
<name>
drive
</name>
<version>
0.0.0
</version>
<description>
The drive package
</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer
email=
"usernamix@todo.todo"
>
usernamix
</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>
TODO
</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/drive</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>
catkin
</buildtool_depend>
<build_depend>
geometry_msgs
</build_depend>
<build_depend>
rospy
</build_depend>
<build_depend>
tf
</build_depend>
<build_export_depend>
geometry_msgs
</build_export_depend>
<build_export_depend>
rospy
</build_export_depend>
<build_export_depend>
tf
</build_export_depend>
<exec_depend>
geometry_msgs
</exec_depend>
<exec_depend>
rospy
</exec_depend>
<exec_depend>
tf
</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
.save_for_later/controllers/drive/scripts/drive_node.py
0 → 100755
View file @
2b0b18ab
#!/usr/bin/env python
import
rospy
from
geometry_msgs.msg
import
Twist
from
std_msgs.msg
import
Float64
#from tf.transformations import euler_from_quaternion
#import tf
import
sys
,
os
SCRIPTS_PATH
=
os
.
path
.
abspath
(
os
.
path
.
join
(
sys
.
path
[
0
]
,
"../../../scripts"
))
sys
.
path
.
append
(
SCRIPTS_PATH
)
from
setter
import
Setter
from
utils
import
*
# Global variables
host_name
=
"hai-1095.local"
class
Controller
(
Setter
):
def
init
(
self
):
Setter
.
init
(
self
,(
1206
,
1207
))
def
callback
(
self
,
cmd_msg
):
vel
=
twist_to_vel
(
cmd_msg
)
Setter
.
callback
(
self
,
vel
)
def
set_left
(
self
,
cmd_msg
):
vel
=
cmd_msg
.
data
Setter
.
callback
(
self
,[
vel
,
0
])
def
set_right
(
self
,
cmd_msg
):
vel
=
cmd_msg
.
data
Setter
.
callback
(
self
,[
0
,
vel
])
# main fn
if
__name__
==
'__main__'
:
try
:
# Init the connection with the ROS system
rospy
.
init_node
(
"drive_node"
,
anonymous
=
True
)
controller
=
Controller
()
controller
.
init
()
rospy
.
Subscriber
(
'/'
+
resource_name
(
host_name
)
+
'/cmd_vel'
,
Twist
,
controller
.
callback
)
rospy
.
Subscriber
(
'/'
+
resource_name
(
host_name
)
+
'/cmd_vel_left'
,
Float64
,
controller
.
set_left
)
rospy
.
Subscriber
(
'/'
+
resource_name
(
host_name
)
+
'/cmd_vel_right'
,
Float64
,
controller
.
set_right
)
# Start the ROS main loop
rate
=
rospy
.
Rate
(
100
)
# 100hz
while
not
rospy
.
is_shutdown
():
rate
.
sleep
()
except
rospy
.
ROSInterruptException
:
pass
.save_for_later/controllers/gripper_arm/CMakeLists.txt
0 → 100644
View file @
2b0b18ab
cmake_minimum_required
(
VERSION 2.8.3
)
project
(
gripper_arm
)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package
(
catkin REQUIRED COMPONENTS
geometry_msgs
rospy
std_msgs
tf
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# geometry_msgs# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package
(
# INCLUDE_DIRS include
# LIBRARIES gripper_arm
# CATKIN_DEPENDS geometry_msgs rospy std_msgs tf
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories
(
# include
${
catkin_INCLUDE_DIRS
}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/gripper_arm.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/gripper_arm_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_gripper_arm.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
.save_for_later/controllers/gripper_arm/package.xml
0 → 100644
View file @
2b0b18ab
<?xml version="1.0"?>
<package
format=
"2"
>
<name>
gripper_arm
</name>
<version>
0.0.0
</version>
<description>
The gripper_arm package
</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer
email=
"usernamix@todo.todo"
>
usernamix
</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>
TODO
</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/gripper_arm</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->