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antoan · Oct 23, 2021 · 2af3166 · 2af3166
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diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,8 @@
+*~
+
+# Catkin custom files
+CATKIN_IGNORE
+
+*.pyc
+
+.ccls-cache
diff --git a/.travis.yml b/.travis.yml
@@ -0,0 +1,29 @@
+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
+sudo: required 
+dist: trusty 
+services:
+  - docker
+language: generic 
+cache:
+  - apt
+compiler:
+  - gcc
+notifications:
+  email:
+    recipients:
+      - [email protected]
+env:
+  matrix:
+    - ROS_DISTRO="kinetic"  ROS_PARALLEL_JOBS='-j8 -l8' ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu NOT_TEST_INSTALL=true
+    - ROS_DISTRO="kinetic"  ROS_PARALLEL_JOBS='-j8 -l8' ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu NOT_TEST_INSTALL=true
+    - ROS_DISTRO="kinetic"  ROS_PARALLEL_JOBS='-j8 -l8'  PRERELEASE=true
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO="kinetic"  PRERELEASE=true
+install:
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+script:
+  - source .ci_config/travis.sh
+#  - source ./travis.sh  # Enable this when you have a package-local script 
+
diff --git a/README.md b/README.md
@@ -0,0 +1,20 @@
+nemesis
+=====
+
+Forked from: https://github.com/husky/husky/tree/kinetic-devel commit [2d368cf32530401238cb45f31e54f40080dd6dc1](https://github.com/husky/husky/commit/2d368cf32530401238cb45f31e54f40080dd6dc1)
+
+This project is an adaptation of the [Husky ROS stack from Clearpath Robotics](http://wiki.ros.org/Robots/Husky), to integrate and control the [PiBorg Monsterborg robot platform](https://www.piborg.org/robots-1/monsterborg) with ROS.
+
+It provides a ROS RobotHW interface implementation using a cythonized version of the original python [ThunderBorg](https://www.piborg.org/motor-control-1135/thunderborg) motor controller driver from PiBorg, for the purpose of reducing performance overhead in the main ROS control loop.
+
+ - nemesis_control : Control configuration
+ - nemesis_description : Robot description (URDF)
+ - nemesis_msgs : Message definitions
+ - nemesis_viz : Visualization (rviz) configuration and bringup
+
+
+
+
+
+
+
diff --git a/nemesis_description/CMakeLists.txt b/nemesis_description/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(nemesis_description)
+
+find_package(catkin REQUIRED COMPONENTS roslaunch)
+
+catkin_package()
+
+roslaunch_add_file_check(launch)
+
+install(
+  DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/nemesis_description/launch/description.launch b/nemesis_description/launch/description.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<!--
+Software License Agreement (BSD)
+
+\file      description.launch
+\authors   Paul Bovbel <[email protected]>, Devon Ash <[email protected]>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<launch>
+
+  <arg name="robot_namespace" default="/"/>
+  <arg name="realsense_enabled" default="false"/>
+
+  <param name="robot_description" command="$(find xacro)/xacro '$(find nemesis_description)/urdf/nemesis.urdf.xacro'
+    robot_namespace:=$(arg robot_namespace)
+    realsense_enabled:=$(arg realsense_enabled)
+    " />
+  </launch>
diff --git a/nemesis_description/meshes/base_link.dae b/nemesis_description/meshes/base_link.dae
diff --git a/nemesis_description/meshes/base_link.stl b/nemesis_description/meshes/base_link.stl
diff --git a/nemesis_description/meshes/wheel.dae b/nemesis_description/meshes/wheel.dae
diff --git a/nemesis_description/meshes/wheel.stl b/nemesis_description/meshes/wheel.stl
diff --git a/nemesis_description/package.xml b/nemesis_description/package.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<package>
+  <name>nemesis_description</name>
+  <version>0.1.0</version>
+  <description>Nemesis URDF description</description>
+
+  <author email="[email protected]">Ryan Gariepy</author>
+  <author email="[email protected]">Prasenjit Mukherjee</author>
+  <author email="[email protected]">Mike Purvis</author>
+  <author email="[email protected]">Paul Bovbel</author>
+  <author email="[email protected]">Devon Ash</author>
+
+  <maintainer email="[email protected]">Tony Baltovski</maintainer>
+
+  <url type="website">http://ros.org/wiki/husky_description</url>
+  <url type="bugtracker">https://github.com/husky/husky/issues</url>
+  <url type="repository">https://github.com/husky/husky</url>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <!--<run_depend>realsense2_description</run_depend> -->
+  <run_depend>urdf</run_depend>
+  <run_depend>xacro</run_depend>
+
+
+  <export>
+  </export>
+</package>
diff --git a/nemesis_description/urdf/empty.urdf b/nemesis_description/urdf/empty.urdf
@@ -0,0 +1,6 @@
+<robot>
+  <!-- This file is a placeholder which is included by default from
+       husky.urdf.xacro. If a robot is being customized and requires
+       additional URDF, set the HUSKY_URDF_EXTRAS environment variable
+       to the full path of the file you would like included. -->
+</robot>
diff --git a/nemesis_description/urdf/nemesis.urdf.xacro b/nemesis_description/urdf/nemesis.urdf.xacro
@@ -0,0 +1,218 @@
+<?xml version="1.0"?>
+<!--
+Software License Agreement (BSD)
+
+\file      husky.urdf.xacro
+\authors   Paul Bovbel <[email protected]>, Devon Ash <[email protected]>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+
+<robot name="nemesis" xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--
+  <xacro:arg name="realsense_enabled" default="$(optenv NEMESIS_REALSENSE_ENABLED 0)" />
+  <xacro:arg name="realsense_xyz" default="$(optenv NEMESIS_REALSENSE_XYZ 0 0 0)" />
+  <xacro:arg name="realsense_rpy" default="$(optenv NEMESIS_REALSENSE_RPY 0 0 0)" />
+  <xacro:arg name="realsense_mount" default="$(optenv NEMESIS_REALSENSE_MOUNT_FRAME sensor_arch_mount_link)" />
+ 
+  <xacro:arg name="urdf_extras" default="empty.urdf" />
+ -->
+
+  <xacro:arg name="robot_namespace" default="/" />
+
+  <!-- Included URDF/XACRO Files -->
+  <xacro:include filename="$(find nemesis_description)/urdf/wheel.urdf.xacro" />
+
+
+   <xacro:property name="M_PI" value="3.14159"/>
+
+  <material name="blue">
+        <color rgba="0 0 0.8 1"/>
+  </material>
+
+   <material name="white">
+        <color rgba="1 1 1 1"/>
+   </material>
+
+  <!-- Base Size -->
+  <xacro:property name="base_height" value="0.043" />
+  <xacro:property name="base_width" value="0.143" />
+  <xacro:property name="base_length" value="0.154" />
+
+   <!-- Foundation Size -->
+  <xacro:property name="foundation_height" value="0.045" />
+  <xacro:property name="foundation_width" value="0.134" />
+  <xacro:property name="foundation_length" value="0.154" />
+
+   <!-- Top Chassis Size -->
+  <xacro:property name="chassis_height" value="0.052" />
+  <xacro:property name="chassis_width" value="0.235" />
+  <xacro:property name="chassis_length" value="0.335" />
+
+
+  <!-- Wheel Mounting Positions -->
+  <xacro:property name="x_joint_offset" value="0.0165" />
+  <xacro:property name="y_joint_offset" value="0.0235" />
+  <xacro:property name="z_joint_offset" value="0.021" />
+
+  <!-- Wheel Properties -->
+  <xacro:property name="wheel_length" value="0.05" />
+  <xacro:property name="wheel_radius" value="0.0525" />
+
+  <!-- Base link is the center of the robot's bottom plate -->
+  <link name="base_link">
+    <visual>
+      <origin xyz="${base_length*1/2} ${-base_width*1/2} ${-base_height*1/2} " rpy="0 0 0" />
+      <geometry>
+         <box size="${base_length} ${base_width} ${base_height}"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin xyz="${base_length*1/2} ${-base_width*1/2} ${-base_height*1/2} " rpy="0 0 0" />
+      <geometry>
+        <box size="${base_length} ${base_width} ${base_height}"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0" />
+      <origin xyz="0.0 0.0 0.0" />
+      <inertia ixx="0.16666700" ixy="0.00" ixz="0.00" iyy="0.16666700" iyz="0.00" izz="0.16666700" />
+    </inertial>
+  </link>
+
+   <link name="foundation_link">
+    <visual>
+      <origin xyz="${1/2* foundation_length} ${-1/2* foundation_width}  ${1/2* foundation_height}" rpy="0 0 0" />
+      <geometry>
+         <box size="${foundation_length} ${foundation_width} ${foundation_height}"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+       <origin xyz="${1/2* foundation_length} ${-1/2* foundation_width}  ${1/2* foundation_height}" rpy="0 0 0" />
+      <geometry>
+         <box size="${foundation_length} ${foundation_width} ${foundation_height}"/>
+      </geometry>
+    </collision>
+      <!--  <inertial> -->
+    <!--   <mass value="1.0" /> -->
+    <!--   <origin xyz="0.0 0.0 0.0" /> -->
+    <!--   <inertia ixx="0.16666700" ixy="0.00" ixz="0.00" iyy="0.16666700" iyz="0.00" izz="0.16666700" /> -->
+    <!-- </inertial> -->
+   </link>
+
+    <joint name="foundation_joint" type="fixed">
+    <origin xyz="0 -0.0045 0.002" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="foundation_link" />
+    </joint>
+
+     <link name="chassis_link">
+    <visual>
+      <origin xyz="${1/2* chassis_length} ${-1/2* chassis_width}  ${-1/2* chassis_height}" rpy="0 0 0" />
+      <geometry>
+         <box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+       <origin xyz="${1/2* foundation_length} ${-1/2* foundation_width}  ${-1/2* foundation_height}" rpy="0 0 0" />
+      <geometry>
+        <box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
+      </geometry>
+    </collision>
+      <!--  <inertial> -->
+    <!--   <mass value="1.0" /> -->
+    <!--   <origin xyz="0.0 0.0 0.0" /> -->
+    <!--   <inertia ixx="0.16666700" ixy="0.00" ixz="0.00" iyy="0.16666700" iyz="0.00" izz="0.16666700" /> -->
+    <!-- </inertial> -->
+   </link>
+
+    <joint name="chassis_joint" type="fixed">
+    <origin xyz="-0.0905 0.0505 0.099" rpy="0 0 0" />
+    <parent link="foundation_link" />
+    <child link="chassis_link" />
+    </joint>
+  <!-- Base footprint is on the ground under the robot -->
+  <link name="base_footprint"/>
+
+  <joint name="base_footprint_joint" type="fixed">
+    <origin xyz="${1/2*base_length} ${-1/2* base_width} ${ - z_joint_offset  - wheel_radius}" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="base_footprint" />
+  </joint>
+
+  <!-- Inertial link stores the robot's inertial information -->
+
+  <!-- <link name="inertial_link"> -->
+  <!--   <inertial> -->
+  <!--     <mass value="1.0" /> -->
+  <!--     <origin xyz="0.0 0.0 0.0" /> -->
+  <!--     <inertia ixx="0.16666700" ixy="0.00" ixz="0.00" iyy="0.16666700" iyz="0.00" izz="0.16666700" /> -->
+  <!--   </inertial> -->
+  <!-- </link> -->
+
+  <!-- <joint name="inertial_joint" type="fixed"> -->
+  <!--   <origin xyz="0 0 0" rpy="0 0 0" /> -->
+  <!--   <parent link="base_link" /> -->
+  <!--   <child link="inertial_link" /> -->
+  <!-- </joint> -->
+
+
+  <!-- Nemesis wheel macros -->
+  <xacro:nemesis_wheel wheel_prefix="front_left">
+    <origin xyz="${base_length - x_joint_offset} ${y_joint_offset} ${-z_joint_offset}" rpy="0 0 0" />
+  </xacro:nemesis_wheel>
+  <xacro:nemesis_wheel wheel_prefix="front_right">
+    <origin xyz="${base_length - x_joint_offset} ${-base_width - y_joint_offset} ${-z_joint_offset}" rpy="0 0 0" />
+  </xacro:nemesis_wheel>
+  <xacro:nemesis_wheel wheel_prefix="rear_left">
+    <origin xyz="${x_joint_offset} ${y_joint_offset} ${-z_joint_offset}" rpy="0 0 0" />
+  </xacro:nemesis_wheel>
+  <xacro:nemesis_wheel wheel_prefix="rear_right">
+    <origin xyz="${x_joint_offset} ${-base_width - y_joint_offset} ${-z_joint_offset}" rpy="0 0 0" />
+  </xacro:nemesis_wheel>
+
+   <!-- add the intel realsense to the sensor arch if needed
+  <xacro:if value="$(arg realsense_enabled)">
+    <link name="realsense_mountpoint"/>
+    <joint name="realsense_mountpoint_joint" type="fixed">
+      <origin xyz="$(arg realsense_xyz)" rpy="$(arg realsense_rpy)" />
+      <parent link="$(arg realsense_mount)"/>
+      <child link="realsense_mountpoint" />
+    </joint>
+    <xacro:intel_realsense_mount prefix="camera" topic="realsense" parent_link="realsense_mountpoint"/>
+  </xacro:if>
+
+  -->
+
+   <!--
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+      <robotNamespace>$(arg robot_namespace)</robotNamespace>
+      <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+  -->
+
+
+
+</robot>