diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..e05d665 --- /dev/null +++ b/.gitignore @@ -0,0 +1,8 @@ +*~ + +# Catkin custom files +CATKIN_IGNORE + +*.pyc + +.ccls-cache diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..41796f7 --- /dev/null +++ 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: + - dash@clearpathrobotics.com +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 new file mode 100644 index 0000000..0fb060d --- /dev/null +++ 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 new file mode 100644 index 0000000..e73f6ca --- /dev/null +++ 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 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+ + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/nemesis_description/meshes/wheel.stl b/nemesis_description/meshes/wheel.stl new file mode 100755 index 0000000..3a3074e Binary files /dev/null and b/nemesis_description/meshes/wheel.stl differ diff --git a/nemesis_description/package.xml b/nemesis_description/package.xml new file mode 100644 index 0000000..35e7c12 --- /dev/null +++ b/nemesis_description/package.xml @@ -0,0 +1,30 @@ + + + nemesis_description + 0.1.0 + Nemesis URDF description + + Ryan Gariepy + Prasenjit Mukherjee + Mike Purvis + Paul Bovbel + Devon Ash + + Tony Baltovski + + http://ros.org/wiki/husky_description + https://github.com/husky/husky/issues + https://github.com/husky/husky + + BSD + + catkin + roslaunch + + urdf + xacro + + + + + diff --git a/nemesis_description/urdf/empty.urdf b/nemesis_description/urdf/empty.urdf new file mode 100644 index 0000000..7cedc97 --- /dev/null +++ b/nemesis_description/urdf/empty.urdf @@ -0,0 +1,6 @@ + + + diff --git a/nemesis_description/urdf/nemesis.urdf.xacro b/nemesis_description/urdf/nemesis.urdf.xacro new file mode 100644 index 0000000..5415c52 --- /dev/null +++ b/nemesis_description/urdf/nemesis.urdf.xacro @@ -0,0 +1,218 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/nemesis_description/urdf/wheel.urdf.xacro b/nemesis_description/urdf/wheel.urdf.xacro new file mode 100644 index 0000000..5197a6f --- /dev/null +++ b/nemesis_description/urdf/wheel.urdf.xacro @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + 1 + + + hardware_interface/VelocityJointInterface + + + + + diff --git a/nemesis_gazebo/CMakeLists.txt b/nemesis_gazebo/CMakeLists.txt new file mode 100644 index 0000000..b29068a --- /dev/null +++ b/nemesis_gazebo/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(nemesis_gazebo) + +find_package(catkin REQUIRED COMPONENTS roslaunch) + +catkin_package() + +roslaunch_add_file_check(launch) + +install( + DIRECTORY launch worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/nemesis_gazebo/launch/nemesis_empty_world.launch b/nemesis_gazebo/launch/nemesis_empty_world.launch new file mode 100644 index 0000000..59321e1 --- /dev/null +++ b/nemesis_gazebo/launch/nemesis_empty_world.launch @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/nemesis_gazebo/launch/nemesis_playpen.launch b/nemesis_gazebo/launch/nemesis_playpen.launch new file mode 100644 index 0000000..cdfd47e --- /dev/null +++ b/nemesis_gazebo/launch/nemesis_playpen.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + diff --git a/nemesis_gazebo/launch/playpen.launch b/nemesis_gazebo/launch/playpen.launch new file mode 100644 index 0000000..521639a --- /dev/null +++ b/nemesis_gazebo/launch/playpen.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + diff --git a/nemesis_gazebo/launch/realsense.launch b/nemesis_gazebo/launch/realsense.launch new file mode 100644 index 0000000..05a1fb5 --- /dev/null +++ b/nemesis_gazebo/launch/realsense.launch @@ -0,0 +1,29 @@ + + + + + + + + + target_frame: base_link # Leave empty to output scan in the pointcloud frame + tolerance: 1.0 + min_height: 0.05 + max_height: 1.0 + + angle_min: -0.7592182246175333 # -(87/2))*M_PI/180.0 + angle_max: 0.7592182246175333 # (87/2))*M_PI/180.0 + angle_increment: 0.005 # M_PI/360.0 + scan_time: 0.3333 + range_min: 0.105 + range_max: 8.0 + use_inf: true + + # Concurrency level, affects number of pointclouds queued for processing and number of threads used + # 0 : Detect number of cores + # 1 : Single threaded + # 2->inf : Parallelism level + concurrency_level: 1 + + + diff --git a/nemesis_gazebo/launch/spawn_nemesis.launch b/nemesis_gazebo/launch/spawn_nemesis.launch new file mode 100644 index 0000000..c6f838b --- /dev/null +++ b/nemesis_gazebo/launch/spawn_nemesis.launch @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/nemesis_gazebo/package.xml b/nemesis_gazebo/package.xml new file mode 100644 index 0000000..34b0bdf --- /dev/null +++ b/nemesis_gazebo/package.xml @@ -0,0 +1,40 @@ + + + nemesis_gazebo + 0.0.1 + Nemesis Simulator bringup + + Ryan Gariepy + Prasenjit Mukherjee + Paul Bovbel + Devon Ash + + Tony Baltovski + + BSD + + http://ros.org/wiki/husky_gazebo + https://github.com/husky/husky_simulator/issues + https://github.com/husky/husky_simulator + + catkin + roslaunch + nemesis_description + + + + + + + diff --git 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+roslaunch_add_file_check(launch) + +install( + DIRECTORY launch rviz + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + diff --git a/nemesis_viz/launch/view_model.launch b/nemesis_viz/launch/view_model.launch new file mode 100644 index 0000000..abb5398 --- /dev/null +++ b/nemesis_viz/launch/view_model.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/nemesis_viz/package.xml b/nemesis_viz/package.xml new file mode 100644 index 0000000..173cdd0 --- /dev/null +++ b/nemesis_viz/package.xml @@ -0,0 +1,33 @@ + + + nemesis_viz + 0.0.1 + Visualization configuration for nemesis + + Ryan Gariepy + Mike Purvis + + Tony Baltovski + + BSD + + http://ros.org/wiki/husky_viz + https://github.com/husky/husky_desktop/issues + https://github.com/husky/husky_desktop + + catkin + + roslaunch + + nemesis_description + joint_state_publisher + robot_state_publisher + joint_state_publisher_gui + rviz + + + + + diff --git a/nemesis_viz/rviz/model.rviz b/nemesis_viz/rviz/model.rviz new file mode 100644 index 0000000..39094ef --- /dev/null +++ b/nemesis_viz/rviz/model.rviz @@ -0,0 +1,171 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /RobotModel1/Links1 + Splitter Ratio: 0.5 + Tree Height: 416 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + inertial_link: + Alpha: 1 + Show Axes: false + Show Trail: false + rear_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.1381654739379883 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: -0.13460160791873932 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.2635884284973145 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 713 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1299 + X: 67 + Y: 27