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IanTheEngineerIanTheEngineer
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Merge remote-tracking branch 'origin/release-1.1.0'
2 parents 69249c2 + e5fc06e commit 990bb65

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+1010
-338
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‎.gitignore

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cmake_install.cmake
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.pydevproject
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*.swp
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*.swo
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CATKIN_IGNORE
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catkin
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catkin_generated

‎CHANGELOG.rst

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1.1.0 (2015-1-2)
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---------------------------------
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- Updates baxter_interface to ROS Indigo
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- Upgrades to the Indigo robot required a reworking of how cameras power **on** / **off** - Three cameras can no longer be powered at the same time, and closing cameras turns power **off** to the specified camera and **on** to the other two
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- Updates joint trajectory action server to use new Inverse Dynamics Feed Forward Commands and configurations for smoother & more accurate MoveIt trajectory execution
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- Updates joint trajectory action server default control mode from *position* to *position_w_id* which uses 'raw' joint position control
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- Updates joint trajectory action server to replace linear, cubic, and quintic spline fitting with *Cubic Bezier Spline* interpolation. These splines can use Position, Velocity, and/or Acceleration to more accurately interpolate supplied trajectories
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- Adds head trajectory action server interface for controlling Baxter's head pan joint (thanks to @aginika for contributing this)
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- Updates verification of Gripper software versions to check firmware Build Date instead of Build Version (SDK gripper version 1.1 conflicted with Manufacturing versions)
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1.0.0 (2014-5-1)
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---------------------------------
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- Adds new 'raw' joint position control mode

‎CMakeLists.txt

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@@ -19,9 +19,13 @@ catkin_python_setup()
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generate_dynamic_reconfigure_options(
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cfg/PositionJointTrajectoryActionServer.cfg
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cfg/VelocityJointTrajectoryActionServer.cfg
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cfg/PositionFFJointTrajectoryActionServer.cfg
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cfg/GripperActionServer.cfg
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cfg/HeadActionServer.cfg
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)
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add_dependencies(${PROJECT_NAME}_gencfg baxter_core_msgs_generate_messages_py)
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catkin_package(
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CATKIN_DEPENDS
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rospy

‎LICENSE

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Copyright (c) 2013-2014, Rethink Robotics
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Copyright (c) 2013-2015, Rethink Robotics
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All rights reserved.
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Redistribution and use in source and binary forms, with or without

‎README.rst

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@@ -38,10 +38,12 @@ baxter_interface Repository Overview
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| +-- baxter_dataflow/ timing/program flow utilities
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| +-- joint_trajectory_action/ joint trajectory action implementation
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| +-- gripper_action/ gripper action implementation
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| +-- head_action/ head action implementation
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|
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+-- scripts/ action server executables
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| +-- joint_trajectory_action_server.py
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| +-- gripper_action_server.py
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| +-- head_action_server.py
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|
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+-- cfg/ dynamic reconfigure action configs
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‎cfg/GripperActionServer.cfg

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#!/usr/bin/env python
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# Copyright (c) 2013-2014, Rethink Robotics
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# Copyright (c) 2013-2015, Rethink Robotics
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without

‎cfg/HeadActionServer.cfg

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#!/usr/bin/env python
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# Copyright (c) 2013-2015, Rethink Robotics
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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# 3. Neither the name of the Rethink Robotics nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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from dynamic_reconfigure.parameter_generator_catkin import (
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ParameterGenerator,
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double_t,
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)
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from baxter_interface import settings
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gen = ParameterGenerator()
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params = (
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'timeout', 'goal'
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)
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msg = (
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" - Timeout (Seconds) to achieve command",
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" - Maximum final error",
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)
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min = (-1.0, 0.0)
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default = (5.0, settings.HEAD_PAN_ANGLE_TOLERANCE)
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max = (20.0, 1.57)
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for idx, param in enumerate(params):
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gen.add(
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param, double_t, 0, msg[idx],
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default[idx], min[idx], max[idx]
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)
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exit(gen.generate('baxter_interface', '', 'HeadActionServer'))

‎cfg/PositionFFJointTrajectoryActionServer.cfg

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#!/usr/bin/env python
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# Copyright (c) 2013-2015, Rethink Robotics
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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# 3. Neither the name of the Rethink Robotics nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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from dynamic_reconfigure.parameter_generator_catkin import (
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ParameterGenerator,
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double_t,
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)
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gen = ParameterGenerator()
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gen.add(
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'goal_time', double_t, 0,
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"Amount of time (s) controller is permitted to be late achieving goal",
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0.1, 0.0, 120.0,
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)
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gen.add(
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'stopped_velocity_tolerance', double_t, 0,
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"Maximum velocity (m/s) at end of trajectory to be considered stopped",
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0.20, -1.0, 1.0,
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)
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joints = (
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'left_s0', 'left_s1', 'left_e0', 'left_e1', 'left_w0', 'left_w1',
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'left_w2', 'right_s0', 'right_s1', 'right_e0', 'right_e1', 'right_w0',
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'right_w1', 'right_w2',
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)
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params = ('_goal', '_trajectory',)
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msg = (
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" - maximum final error",
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" - maximum error during trajectory execution",
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)
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min = (-1.0, -1.0,)
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default = (-1.0, 0.35,)
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max = (1.0, 1.0,)
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for idx, param in enumerate(params):
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for joint in joints:
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gen.add(
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joint + param, double_t, 0, joint + msg[idx],
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default[idx], min[idx], max[idx]
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)
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exit(gen.generate('baxter_interface', '', 'PositionFFJointTrajectoryActionServer'))

‎cfg/PositionJointTrajectoryActionServer.cfg

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#!/usr/bin/env python
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# Copyright (c) 2013-2014, Rethink Robotics
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# Copyright (c) 2013-2015, Rethink Robotics
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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gen.add(
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'goal_time', double_t, 0,
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"Amount of time (s) controller is permitted to be late achieving goal",
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0.0, 0.0, 120.0,
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0.1, 0.0, 120.0,
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)
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gen.add(
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'stopped_velocity_tolerance', double_t, 0,

‎cfg/VelocityJointTrajectoryActionServer.cfg

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#!/usr/bin/env python
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# Copyright (c) 2013-2014, Rethink Robotics
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# Copyright (c) 2013-2015, Rethink Robotics
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without

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