From d5347ac132bd517661bfb67766a9bb8717d8d8da Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Manuel=20La=C3=B1as?= Date: Thu, 11 Mar 2021 17:12:55 +0100 Subject: [PATCH 01/11] InitExoforce service --- roboy_middleware_msgs/CMakeLists.txt | 1 + roboy_middleware_msgs/srv/InitExoforce.srv | 11 +++++++++++ 2 files changed, 12 insertions(+) create mode 100644 roboy_middleware_msgs/srv/InitExoforce.srv diff --git a/roboy_middleware_msgs/CMakeLists.txt b/roboy_middleware_msgs/CMakeLists.txt index 6274470..5714097 100644 --- a/roboy_middleware_msgs/CMakeLists.txt +++ b/roboy_middleware_msgs/CMakeLists.txt @@ -51,6 +51,7 @@ set(srv_files "srv/DanceTrajectory.srv" "srv/EmergencyStop.srv" "srv/FrameIK.srv" + "srv/InitExoforce.srv" "srv/ForwardKinematics.srv" "srv/InverseKinematics.srv" "srv/JointController.srv" diff --git a/roboy_middleware_msgs/srv/InitExoforce.srv b/roboy_middleware_msgs/srv/InitExoforce.srv new file mode 100644 index 0000000..46b834a --- /dev/null +++ b/roboy_middleware_msgs/srv/InitExoforce.srv @@ -0,0 +1,11 @@ +# The index of the following lists correspond to one end effector, example: +# ef_name[0] name of the first ef +# ef_enabled[0] enabled flag of the first ef +# ef_init_pose[0] init pose of the first ef +string[] ef_name # posible values ('left_hand'/'right_hand') +bool[] ef_enabled +geometry_msgs/Pose[] ef_init_pose + +--- +bool success +string message \ No newline at end of file From 8a8188aa93ca536054840bb140fbe5eda954ea36 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Manuel=20La=C3=B1as?= Date: Thu, 11 Mar 2021 17:16:09 +0100 Subject: [PATCH 02/11] services as topics --- roboy_middleware_msgs/CMakeLists.txt | 2 ++ roboy_middleware_msgs/msg/ExoforceResponse.msg | 2 ++ roboy_middleware_msgs/msg/InitExoforceRequest.msg | 7 +++++++ 3 files changed, 11 insertions(+) create mode 100644 roboy_middleware_msgs/msg/ExoforceResponse.msg create mode 100644 roboy_middleware_msgs/msg/InitExoforceRequest.msg diff --git a/roboy_middleware_msgs/CMakeLists.txt b/roboy_middleware_msgs/CMakeLists.txt index 5714097..0a1628b 100644 --- a/roboy_middleware_msgs/CMakeLists.txt +++ b/roboy_middleware_msgs/CMakeLists.txt @@ -43,6 +43,8 @@ set(msg_files "msg/MotorState.msg" "msg/MotorInfo.msg" "msg/Neopixel.msg" + "msg/InitExoforceRequest.msg" + "msg/ExoforceResponse.msg" ) diff --git a/roboy_middleware_msgs/msg/ExoforceResponse.msg b/roboy_middleware_msgs/msg/ExoforceResponse.msg new file mode 100644 index 0000000..4916ffd --- /dev/null +++ b/roboy_middleware_msgs/msg/ExoforceResponse.msg @@ -0,0 +1,2 @@ +bool success +string message \ No newline at end of file diff --git a/roboy_middleware_msgs/msg/InitExoforceRequest.msg b/roboy_middleware_msgs/msg/InitExoforceRequest.msg new file mode 100644 index 0000000..0d4922b --- /dev/null +++ b/roboy_middleware_msgs/msg/InitExoforceRequest.msg @@ -0,0 +1,7 @@ +# The index of the following lists correspond to one end effector, example: +# ef_name[0] name of the first ef +# ef_enabled[0] enabled flag of the first ef +# ef_init_pose[0] init pose of the first ef +string[] ef_name # posible values ('left_hand'/'right_hand') +bool[] ef_enabled +geometry_msgs/Pose[] ef_init_pose \ No newline at end of file From ee156c0cf1c81034b3ebc95c8ed9842c2ef5b5fd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Manuel=20La=C3=B1as?= Date: Fri, 12 Mar 2021 10:43:22 +0100 Subject: [PATCH 03/11] operator height in init msg --- roboy_middleware_msgs/msg/InitExoforceRequest.msg | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/roboy_middleware_msgs/msg/InitExoforceRequest.msg b/roboy_middleware_msgs/msg/InitExoforceRequest.msg index 0d4922b..2d8cec6 100644 --- a/roboy_middleware_msgs/msg/InitExoforceRequest.msg +++ b/roboy_middleware_msgs/msg/InitExoforceRequest.msg @@ -4,4 +4,6 @@ # ef_init_pose[0] init pose of the first ef string[] ef_name # posible values ('left_hand'/'right_hand') bool[] ef_enabled -geometry_msgs/Pose[] ef_init_pose \ No newline at end of file +geometry_msgs/Pose[] ef_init_pose + +float32 operator_height \ No newline at end of file From b43a7536bfdd20fe827f4534d8b8a14a7e109b79 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Manuel=20La=C3=B1as?= Date: Fri, 12 Mar 2021 15:33:49 +0100 Subject: [PATCH 04/11] operator height in init services --- roboy_middleware_msgs/srv/InitExoforce.srv | 1 + 1 file changed, 1 insertion(+) diff --git a/roboy_middleware_msgs/srv/InitExoforce.srv b/roboy_middleware_msgs/srv/InitExoforce.srv index 46b834a..893e2cf 100644 --- a/roboy_middleware_msgs/srv/InitExoforce.srv +++ b/roboy_middleware_msgs/srv/InitExoforce.srv @@ -6,6 +6,7 @@ string[] ef_name # posible values ('left_hand'/'right_hand') bool[] ef_enabled geometry_msgs/Pose[] ef_init_pose +float32 operator_height --- bool success string message \ No newline at end of file From f0e6d8e1b90d5d9af5815fa3cc65ef90b477f2e2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Manuel=20La=C3=B1as?= Date: Fri, 12 Mar 2021 18:58:04 +0100 Subject: [PATCH 05/11] EF pose msg --- roboy_middleware_msgs/CMakeLists.txt | 1 + roboy_middleware_msgs/msg/EFPose.msg | 2 ++ 2 files changed, 3 insertions(+) create mode 100644 roboy_middleware_msgs/msg/EFPose.msg diff --git a/roboy_middleware_msgs/CMakeLists.txt b/roboy_middleware_msgs/CMakeLists.txt index 0a1628b..613eab4 100644 --- a/roboy_middleware_msgs/CMakeLists.txt +++ b/roboy_middleware_msgs/CMakeLists.txt @@ -45,6 +45,7 @@ set(msg_files "msg/Neopixel.msg" "msg/InitExoforceRequest.msg" "msg/ExoforceResponse.msg" + "msg/EFPose.msg" ) diff --git a/roboy_middleware_msgs/msg/EFPose.msg b/roboy_middleware_msgs/msg/EFPose.msg new file mode 100644 index 0000000..ee18329 --- /dev/null +++ b/roboy_middleware_msgs/msg/EFPose.msg @@ -0,0 +1,2 @@ +string ef_name +geometry_msgs/Pose ef_pose \ No newline at end of file From 13a2a44bf58f2d0f49024d1e3638248bd5cbefac Mon Sep 17 00:00:00 2001 From: NadaChatti Date: Fri, 12 Mar 2021 20:33:45 +0100 Subject: [PATCH 06/11] added body info srv --- roboy_simulation_msgs/CMakeLists.txt | 2 ++ roboy_simulation_msgs/msg/BodyInformation.msg | 2 ++ roboy_simulation_msgs/msg/LinkInformation.msg | 8 ++++++++ 3 files changed, 12 insertions(+) create mode 100644 roboy_simulation_msgs/msg/BodyInformation.msg create mode 100644 roboy_simulation_msgs/msg/LinkInformation.msg diff --git a/roboy_simulation_msgs/CMakeLists.txt b/roboy_simulation_msgs/CMakeLists.txt index f63ad17..ae521d9 100644 --- a/roboy_simulation_msgs/CMakeLists.txt +++ b/roboy_simulation_msgs/CMakeLists.txt @@ -30,6 +30,8 @@ set(msg_files "msg/TendonUpdate.msg" "msg/VisualizationControl.msg" "msg/Collision.msg" + "msg/LinkInformation.msg" + "msg/BodyInformation.msg" ) set(srv_files diff --git a/roboy_simulation_msgs/msg/BodyInformation.msg b/roboy_simulation_msgs/msg/BodyInformation.msg new file mode 100644 index 0000000..571a1c6 --- /dev/null +++ b/roboy_simulation_msgs/msg/BodyInformation.msg @@ -0,0 +1,2 @@ +# list containing all links and some information like name, dimensions etc. +roboy_simulation_msgs/LinkInformation[] link_information \ No newline at end of file diff --git a/roboy_simulation_msgs/msg/LinkInformation.msg b/roboy_simulation_msgs/msg/LinkInformation.msg new file mode 100644 index 0000000..e8cf7d6 --- /dev/null +++ b/roboy_simulation_msgs/msg/LinkInformation.msg @@ -0,0 +1,8 @@ +# id of the link in the simulation +int32 id +# name of the link in the simulation +string name +# dimentions of the link +geometry_msgs/Vector3 dimensions +# initial pose of the link +geometry_msgs/Pose init_pose \ No newline at end of file From 819936d1de38f44033d94cf9b3a334fb30832ffd Mon Sep 17 00:00:00 2001 From: NadaChatti Date: Fri, 12 Mar 2021 21:00:09 +0100 Subject: [PATCH 07/11] added list of LinkInformation to InitExoforce srv --- roboy_middleware_msgs/CMakeLists.txt | 3 ++- roboy_middleware_msgs/msg/InitExoforceRequest.msg | 2 +- roboy_simulation_msgs/CMakeLists.txt | 1 - roboy_simulation_msgs/msg/BodyInformation.msg | 2 -- 4 files changed, 3 insertions(+), 5 deletions(-) delete mode 100644 roboy_simulation_msgs/msg/BodyInformation.msg diff --git a/roboy_middleware_msgs/CMakeLists.txt b/roboy_middleware_msgs/CMakeLists.txt index 613eab4..bca1eeb 100644 --- a/roboy_middleware_msgs/CMakeLists.txt +++ b/roboy_middleware_msgs/CMakeLists.txt @@ -14,6 +14,7 @@ find_package(ament_cmake REQUIRED) find_package(rosidl_default_generators REQUIRED) find_package(std_msgs REQUIRED) find_package(geometry_msgs REQUIRED) +find_package(roboy_simulation_msgs REQUIRED) #include_directories( # /home/missxa/intel/embedded//ip/altera/hps/altera_hps/hwlib/${ALT_DEVICE_FAMILY} @@ -72,7 +73,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} ${srv_files} DEPENDENCIES - std_msgs geometry_msgs + std_msgs geometry_msgs roboy_simulation_msgs ) diff --git a/roboy_middleware_msgs/msg/InitExoforceRequest.msg b/roboy_middleware_msgs/msg/InitExoforceRequest.msg index 2d8cec6..cc720df 100644 --- a/roboy_middleware_msgs/msg/InitExoforceRequest.msg +++ b/roboy_middleware_msgs/msg/InitExoforceRequest.msg @@ -5,5 +5,5 @@ string[] ef_name # posible values ('left_hand'/'right_hand') bool[] ef_enabled geometry_msgs/Pose[] ef_init_pose - +roboy_simulation_msgs/LinkInformation[] roboy_link_information float32 operator_height \ No newline at end of file diff --git a/roboy_simulation_msgs/CMakeLists.txt b/roboy_simulation_msgs/CMakeLists.txt index ae521d9..e51ed92 100644 --- a/roboy_simulation_msgs/CMakeLists.txt +++ b/roboy_simulation_msgs/CMakeLists.txt @@ -31,7 +31,6 @@ set(msg_files "msg/VisualizationControl.msg" "msg/Collision.msg" "msg/LinkInformation.msg" - "msg/BodyInformation.msg" ) set(srv_files diff --git a/roboy_simulation_msgs/msg/BodyInformation.msg b/roboy_simulation_msgs/msg/BodyInformation.msg deleted file mode 100644 index 571a1c6..0000000 --- a/roboy_simulation_msgs/msg/BodyInformation.msg +++ /dev/null @@ -1,2 +0,0 @@ -# list containing all links and some information like name, dimensions etc. -roboy_simulation_msgs/LinkInformation[] link_information \ No newline at end of file From 38e40ebeecea9615760afb839c88a1384a886419 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Manuel=20La=C3=B1as?= Date: Sat, 13 Mar 2021 17:18:30 +0100 Subject: [PATCH 08/11] missing dependency --- roboy_middleware_msgs/msg/InitExoforceRequest.msg | 5 +++-- roboy_middleware_msgs/package.xml | 1 + 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/roboy_middleware_msgs/msg/InitExoforceRequest.msg b/roboy_middleware_msgs/msg/InitExoforceRequest.msg index cc720df..ffded13 100644 --- a/roboy_middleware_msgs/msg/InitExoforceRequest.msg +++ b/roboy_middleware_msgs/msg/InitExoforceRequest.msg @@ -5,5 +5,6 @@ string[] ef_name # posible values ('left_hand'/'right_hand') bool[] ef_enabled geometry_msgs/Pose[] ef_init_pose -roboy_simulation_msgs/LinkInformation[] roboy_link_information -float32 operator_height \ No newline at end of file + +float32 operator_height +roboy_simulation_msgs/LinkInformation[] roboy_link_information \ No newline at end of file diff --git a/roboy_middleware_msgs/package.xml b/roboy_middleware_msgs/package.xml index 98382ff..2802e56 100644 --- a/roboy_middleware_msgs/package.xml +++ b/roboy_middleware_msgs/package.xml @@ -10,6 +10,7 @@ rosidl_default_runtime std_msgs geometry_msgs + roboy_simulation_msgs rosidl_interface_packages ament_cmake From 8cd3824d250b037f3f14f218ba69976e24965a48 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Manuel=20La=C3=B1as?= Date: Fri, 19 Mar 2021 22:33:45 +0100 Subject: [PATCH 09/11] state mapper init --- roboy_middleware_msgs/CMakeLists.txt | 1 + roboy_middleware_msgs/srv/InitExoforce.srv | 1 + roboy_middleware_msgs/srv/InitStateMapper.srv | 5 +++++ 3 files changed, 7 insertions(+) create mode 100644 roboy_middleware_msgs/srv/InitStateMapper.srv diff --git a/roboy_middleware_msgs/CMakeLists.txt b/roboy_middleware_msgs/CMakeLists.txt index bca1eeb..6d2ca4a 100644 --- a/roboy_middleware_msgs/CMakeLists.txt +++ b/roboy_middleware_msgs/CMakeLists.txt @@ -56,6 +56,7 @@ set(srv_files "srv/EmergencyStop.srv" "srv/FrameIK.srv" "srv/InitExoforce.srv" + "srv/InitStateMapper.srv" "srv/ForwardKinematics.srv" "srv/InverseKinematics.srv" "srv/JointController.srv" diff --git a/roboy_middleware_msgs/srv/InitExoforce.srv b/roboy_middleware_msgs/srv/InitExoforce.srv index 893e2cf..0f8626a 100644 --- a/roboy_middleware_msgs/srv/InitExoforce.srv +++ b/roboy_middleware_msgs/srv/InitExoforce.srv @@ -7,6 +7,7 @@ bool[] ef_enabled geometry_msgs/Pose[] ef_init_pose float32 operator_height +roboy_simulation_msgs/LinkInformation[] roboy_link_information --- bool success string message \ No newline at end of file diff --git a/roboy_middleware_msgs/srv/InitStateMapper.srv b/roboy_middleware_msgs/srv/InitStateMapper.srv new file mode 100644 index 0000000..8c76bdc --- /dev/null +++ b/roboy_middleware_msgs/srv/InitStateMapper.srv @@ -0,0 +1,5 @@ +roboy_simulation_msgs/LinkInformation[] operator_link_information +roboy_simulation_msgs/LinkInformation[] roboy_link_information +--- +bool success +string message \ No newline at end of file From 97a59f14a7546f30142bfd1586b8e2961a3df1c7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Manuel=20La=C3=B1as?= Date: Tue, 13 Apr 2021 21:28:40 +0200 Subject: [PATCH 10/11] EFPose moved to control msgs --- roboy_control_msgs/CMakeLists.txt | 1 + {roboy_middleware_msgs => roboy_control_msgs}/msg/EFPose.msg | 0 roboy_middleware_msgs/CMakeLists.txt | 1 - 3 files changed, 1 insertion(+), 1 deletion(-) rename {roboy_middleware_msgs => roboy_control_msgs}/msg/EFPose.msg (100%) diff --git a/roboy_control_msgs/CMakeLists.txt b/roboy_control_msgs/CMakeLists.txt index 298263e..50e56e3 100644 --- a/roboy_control_msgs/CMakeLists.txt +++ b/roboy_control_msgs/CMakeLists.txt @@ -25,6 +25,7 @@ set(msg_files "msg/ViaPoint.msg" "msg/EndEffector.msg" "msg/Strings.msg" + "msg/EFPose.msg" # PerformMovementActionFeedback.msg # PerformMovementActionGoal.msg # PerformMovementAction.msg diff --git a/roboy_middleware_msgs/msg/EFPose.msg b/roboy_control_msgs/msg/EFPose.msg similarity index 100% rename from roboy_middleware_msgs/msg/EFPose.msg rename to roboy_control_msgs/msg/EFPose.msg diff --git a/roboy_middleware_msgs/CMakeLists.txt b/roboy_middleware_msgs/CMakeLists.txt index 6d2ca4a..5ec6f31 100644 --- a/roboy_middleware_msgs/CMakeLists.txt +++ b/roboy_middleware_msgs/CMakeLists.txt @@ -46,7 +46,6 @@ set(msg_files "msg/Neopixel.msg" "msg/InitExoforceRequest.msg" "msg/ExoforceResponse.msg" - "msg/EFPose.msg" ) From 74daa9c48b1a0a4ed214cab681adf282da58e427 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Manuel=20La=C3=B1as?= Date: Sun, 18 Apr 2021 10:50:50 +0200 Subject: [PATCH 11/11] LinkInformation in middleware msgs --- roboy_middleware_msgs/CMakeLists.txt | 1 + .../msg/LinkInformation.msg | 0 roboy_middleware_msgs/package.xml | 1 - roboy_simulation_msgs/CMakeLists.txt | 1 - 4 files changed, 1 insertion(+), 2 deletions(-) rename {roboy_simulation_msgs => roboy_middleware_msgs}/msg/LinkInformation.msg (100%) diff --git a/roboy_middleware_msgs/CMakeLists.txt b/roboy_middleware_msgs/CMakeLists.txt index 5ec6f31..f060659 100644 --- a/roboy_middleware_msgs/CMakeLists.txt +++ b/roboy_middleware_msgs/CMakeLists.txt @@ -46,6 +46,7 @@ set(msg_files "msg/Neopixel.msg" "msg/InitExoforceRequest.msg" "msg/ExoforceResponse.msg" + "msg/LinkInformation.msg" ) diff --git a/roboy_simulation_msgs/msg/LinkInformation.msg b/roboy_middleware_msgs/msg/LinkInformation.msg similarity index 100% rename from roboy_simulation_msgs/msg/LinkInformation.msg rename to roboy_middleware_msgs/msg/LinkInformation.msg diff --git a/roboy_middleware_msgs/package.xml b/roboy_middleware_msgs/package.xml index 2802e56..98382ff 100644 --- a/roboy_middleware_msgs/package.xml +++ b/roboy_middleware_msgs/package.xml @@ -10,7 +10,6 @@ rosidl_default_runtime std_msgs geometry_msgs - roboy_simulation_msgs rosidl_interface_packages ament_cmake diff --git a/roboy_simulation_msgs/CMakeLists.txt b/roboy_simulation_msgs/CMakeLists.txt index f8423c1..d3678a2 100644 --- a/roboy_simulation_msgs/CMakeLists.txt +++ b/roboy_simulation_msgs/CMakeLists.txt @@ -30,7 +30,6 @@ set(msg_files "msg/TendonUpdate.msg" "msg/VisualizationControl.msg" "msg/Collision.msg" - "msg/LinkInformation.msg" "msg/ContactPoint.msg" )