diff --git a/mobile_manipulator/emergency_pkg/CMakeLists.txt b/mobile_manipulator/emergency_pkg/CMakeLists.txt new file mode 100644 index 0000000..b6f6c03 --- /dev/null +++ b/mobile_manipulator/emergency_pkg/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(emergency_pkg) + +## 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 + roscpp + sensor_msgs + std_msgs +) + +## 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 +# sensor_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 emergency_pkg +# CATKIN_DEPENDS roscpp sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(ir_emg_node src/ir_emg.cpp) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(ir_emg_node src/ir_emg.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +add_dependencies(ir_emg_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(ir_emg_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 +# catkin_install_python(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_emergency_pkg.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) diff --git a/mobile_manipulator/emergency_pkg/package.xml b/mobile_manipulator/emergency_pkg/package.xml new file mode 100644 index 0000000..0fced19 --- /dev/null +++ b/mobile_manipulator/emergency_pkg/package.xml @@ -0,0 +1,68 @@ + + + emergency_pkg + 0.0.0 + The emergency_pkg package + + + + + didem-focal + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + sensor_msgs + std_msgs + roscpp + sensor_msgs + std_msgs + roscpp + sensor_msgs + std_msgs + + + + + + + + diff --git a/mobile_manipulator/emergency_pkg/scripts/emergency_publisher.py b/mobile_manipulator/emergency_pkg/scripts/emergency_publisher.py new file mode 100755 index 0000000..dc0c18a --- /dev/null +++ b/mobile_manipulator/emergency_pkg/scripts/emergency_publisher.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python3 + +import numpy as np +import time + +import rospy +from std_msgs.msg import Int8, String + +class Emergency: + def __init__(self): + rospy.init_node("odom_combined") + # self.emg_publisher = rospy.Publisher("emg", Int8, queue_size=10) + self.light_curtain_publisher = rospy.Publisher("robot_rgb", String, queue_size=10) + # rospy.Subscriber("emg", Int8, self.emg_callback) + rospy.Subscriber("ui_emg", Int8, self.ui_emg_callback) + self.ui_emg = Int8() + self.ui_emg.data = 0 + self.main() + + def main(self): + rate = rospy.Rate(5) + while not rospy.is_shutdown(): + # self.emg_publisher.publish(self.ui_emg) + rate.sleep() + + def emg_callback(self, msg): + self.general_emg = msg.data + + def ui_emg_callback(self, msg): + self.ui_emg.data = msg.data + if self.ui_emg.data == 0: + self.light_curtain_publisher.publish("{\"ID\":44}") + +if __name__ == "__main__": + Emergency() + + + + + + diff --git a/mobile_manipulator/emergency_pkg/scripts/odom_combined.py b/mobile_manipulator/emergency_pkg/scripts/odom_combined.py new file mode 100755 index 0000000..32c4ec3 --- /dev/null +++ b/mobile_manipulator/emergency_pkg/scripts/odom_combined.py @@ -0,0 +1,174 @@ +#!/usr/bin/env python3 + +import numpy as np +import time + +import rospy +from sensor_msgs.msg import Range +from nav_msgs.msg import Odometry +from tf.transformations import euler_from_quaternion + +class Kalman: + def __init__(self): + rospy.init_node("odom_combined") + rospy.Subscriber("odom", Odometry, self.odom_callback) + rospy.Subscriber("ota_ir",Range, self.ir_callback) + self.ir_origin = 2.4988601207733154 + self.main() + + def main(self): + rate = rospy.Rate(5) + pre_time = time.time() + self.state = None + # Save the Initial States + vehicle_position_history = [[0,0]] + vehicle_velocity_history = [[0,0]] + measurement_history = [None] + estimated_error_history = [None] + self.ir_position = [0,0] + self.odom = [0,0,0,0,0] + #self.state = np.array([0,0,0,0]) + #self.covariance = np.diag(np.array([init_pos_std*init_pos_std, + # init_pos_std*init_pos_std, + # init_vel_std*init_vel_std, + # init_vel_std*init_vel_std])) + + # Setup the Model F Matrix + + # Set the Q Matrix + accel_std = 0.1 + + # Setup the Model H Matrix + self.H = np.array([[1,0,0,0],[0,1,0,0]]) + + # Set the R Matrix + meas_std = 10.0 + self.R = np.diag([meas_std*meas_std, meas_std*meas_std]) + + measurement_innovation_history = [None] + measurement_innovation_covariance_history = [None] + + while not rospy.is_shutdown(): + step = time.time() + dt = step - pre_time + print("delta_t",dt) + + # Create the Simulation Objects + + # Set Initial State and Covariance (COMMENT OUT FOR DELAYED INIT) + init_pos_std = 100 + init_vel_std = 100 + # KF Measurement + if self.ir_position != 0: + measurement = [self.ir_position[0],self.ir_position[1]] + + if self.state is not None and self.covariance is not None: + + # KF Prediction + # kalman_filter.prediction_step() + # Make Sure Filter is Initialised + x = self.state + P = self.covariance + H = self.H + R = self.R + self.Q = np.diag(np.array([(0.5*dt*dt),(0.5*dt*dt),dt,dt]) * (accel_std*accel_std)) + self.F = np.array([[1,0,dt,0], + [0,1,0,dt], + [0,0,1,0], + [0,0,0,1]]) + # Calculate Kalman Filter Prediction + x_predict = np.matmul(self.F, x) + P_predict = np.matmul(self.F, np.matmul(P, np.transpose(self.F))) + self.Q + + # Save Predicted State + self.state = x_predict + self.covariance = P_predict + + # kalman_filter.update_step(measurement) + + # Calculate Kalman Filter Update + z = np.array([measurement[0],measurement[1]]) # ir position + z_hat = np.matmul(H, x) + + y = z - z_hat + S = np.matmul(H,np.matmul(P,np.transpose(H))) + R + K = np.matmul(P,np.matmul(np.transpose(H),np.linalg.inv(S))) + + x_update = x + np.matmul(K, y) + P_update = np.matmul( (np.eye(4) - np.matmul(K,H)), P) + + print(x_update[0],x_update[1],x_update[2],x_update[3]) + + # Save Updated State + self.innovation = y + self.innovation_covariance = S + self.state = x_update + self.covariance = P_update + + measurement_innovation_history.append(self.innovation) + measurement_innovation_covariance_history.append(self.innovation_covariance) + + # Estimation Error + estimation_error = None + estimated_state = self.state + if estimated_state is not None: + estimation_error = [estimated_state[0] - measurement[0], + estimated_state[1] - measurement[1], + estimated_state[2] - self.odom[3], + estimated_state[3] - self.odom[4]] + + # Save Data + vehicle_position_history.append(measurement) + vehicle_velocity_history.append([self.odom[3],self.odom[4]]) + measurement_history.append(measurement) + estimated_error_history.append(estimation_error) + + # Calculate Stats + x_innov_std = np.std([v[0] for v in measurement_innovation_history if v is not None]) + y_innov_std = np.std([v[1] for v in measurement_innovation_history if v is not None]) + pos_mse = np.mean([(v[0]**2+v[1]**2) for v in estimated_error_history if v is not None]) + vel_mse = np.mean([(v[2]**2+v[3]**2) for v in estimated_error_history if v is not None]) + print('X Position Measurement Innovation Std: {} (m)'.format(x_innov_std)) + print('Y Position Measurement Innovation Std: {} (m)'.format(y_innov_std)) + print('Position Mean Squared Error: {} (m)^2'.format(pos_mse)) + print('Velocity Mean Squared Error: {} (m/s)^2'.format(vel_mse)) + + else: + self.state = np.array([measurement[0],measurement[1],0,0]) + # self.covariance = np.diag(np.array([self.R[0,0],self.R[1,1],init_vel_std*init_vel_std,init_vel_std*init_vel_std])) + self.covariance = np.diag(np.array([init_pos_std*init_pos_std, + init_pos_std*init_pos_std, + init_vel_std*init_vel_std, + init_vel_std*init_vel_std])) + print("else") + pre_time = step + rate.sleep() + + def odom_callback(self, msg): + position = msg.pose.pose.position + orientation = msg.pose.pose.orientation + _, _, yaw = euler_from_quaternion([orientation.x, + orientation.y, + orientation.z, + orientation.w]) + twist = msg.twist.twist + self.odom = [position.x, + position.y, + yaw, + twist.linear.x, + twist.angular.z] + # print(self.odom) + + def ir_callback(self, msg): + data = msg.range + self.ir_position[0] = self.ir_origin - data + self.ir_position[1] = 0 + +if __name__ == "__main__": + Kalman() + + + + + + diff --git a/mobile_manipulator/emergency_pkg/scripts/publisher_w_rate.py b/mobile_manipulator/emergency_pkg/scripts/publisher_w_rate.py new file mode 100755 index 0000000..1331119 --- /dev/null +++ b/mobile_manipulator/emergency_pkg/scripts/publisher_w_rate.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python3 + +import numpy as np +import time + +import rospy +from std_msgs.msg import Int8, String +from nav_msgs.msg import Odometry +from geometry_msgs.msg import Twist + + +class RatePublisher: + def __init__(self): + rospy.init_node("odom_combined") + self.cmd_pub = rospy.Publisher("cmd_vel", Twist, queue_size=10) + self.robot_status = rospy.Publisher("mobile_status", String, queue_size=10) + rospy.Subscriber("cmd_vel", Twist, self.cmd_callback) + rospy.Subscriber("odom", Odometry, self.odom_callback) + rospy.Subscriber("emg", Int8, self.emg_callback) + + self.odom_x = 0 + self.vx = 0 + self.cmd_vx = 0 + self.emg_data = 0 + + self.main() + + def main(self): + rate = rospy.Rate(20) + while not rospy.is_shutdown(): + if abs(self.vx) > 0.01: + data = "Moving" + else: + data = "Idle" + + if self.odom_x > 2.10: + data = "Max_limit" + elif self.odom_x < 0.02: + data = "Min_limit" + + if self.emg_data: + data = "Alert" + self.robot_status.publish(data) + rate.sleep() + + def odom_callback(self, msg): + self.odom_x = msg.pose.pose.position.x + self.vx = msg.twist.twist.linear.x + + def emg_callback(self, msg): + self.emg_data = msg.data + + def cmd_callback(self, msg): + self.cmd_vx = msg.linear.x + +if __name__ == "__main__": + RobotStatus() diff --git a/mobile_manipulator/emergency_pkg/scripts/robot_status_publisher.py b/mobile_manipulator/emergency_pkg/scripts/robot_status_publisher.py new file mode 100755 index 0000000..851a19f --- /dev/null +++ b/mobile_manipulator/emergency_pkg/scripts/robot_status_publisher.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python3 + +import numpy as np +import time + +import rospy +from std_msgs.msg import Int8, String +from nav_msgs.msg import Odometry +from geometry_msgs.msg import Twist + + +class RobotStatus: + def __init__(self): + rospy.init_node("odom_combined") + self.cmd_pub = rospy.Publisher("cmd_vel", Twist, queue_size=10) + self.robot_status = rospy.Publisher("mobile_status", String, queue_size=10) + rospy.Subscriber("cmd_vel", Twist, self.cmd_callback) + rospy.Subscriber("odom", Odometry, self.odom_callback) + rospy.Subscriber("emg", Int8, self.emg_callback) + + self.odom_x = 0 + self.vx = 0 + self.cmd_vx = 0 + self.emg_data = 0 + + self.main() + + def main(self): + rate = rospy.Rate(20) + while not rospy.is_shutdown(): + if abs(self.vx) > 0.01: + data = "Moving" + else: + data = "Idle" + + if self.odom_x > 2.08: + data = "Max_limit" + elif self.odom_x < 0.02: + data = "Min_limit" + + if self.emg_data: + data = "Alert" + self.robot_status.publish(data) + rate.sleep() + + def odom_callback(self, msg): + self.odom_x = msg.pose.pose.position.x + self.vx = msg.twist.twist.linear.x + + def emg_callback(self, msg): + self.emg_data = msg.data + + def cmd_callback(self, msg): + self.cmd_vx = msg.linear.x + +if __name__ == "__main__": + RobotStatus() diff --git a/mobile_manipulator/emergency_pkg/scripts/sendor_to_odom.py b/mobile_manipulator/emergency_pkg/scripts/sendor_to_odom.py new file mode 100755 index 0000000..e1e5419 --- /dev/null +++ b/mobile_manipulator/emergency_pkg/scripts/sendor_to_odom.py @@ -0,0 +1,73 @@ +#!/usr/bin/env python3 + +import numpy as np +import time +import json + +import rospy +from std_msgs.msg import String +from nav_msgs.msg import Odometry +from tf.transformations import euler_from_quaternion + +class SensorOdom: + def __init__(self): + rospy.init_node("odom_combined") + rospy.Subscriber("odom", Odometry, self.odom_callback) + rospy.Subscriber("low_laser", String, self.ir_callback) + self.ir_origin = 2.4988601207733154 + self.main() + + def main(self): + rate = rospy.Rate(5) + self.ir_position = None + self.odom = [0,0,0,0,0] + ir_vel = 0 + first_pose_flag = False + time_diff = 0 + + while not rospy.is_shutdown(): + if self.ir_position is not None: + if not first_pose_flag: + pre_pose = self.ir_position + pre_time = time.time() + first_pose_flag = True + pose_diff = self.ir_position - pre_pose + try: + ir_vel = pose_diff / (time.time() - pre_time) + print("vel",ir_vel, time.time() - pre_time) + except: + pass + pre_pose = self.ir_position + pre_time = time.time() + rate.sleep() + + def odom_callback(self, msg): + position = msg.pose.pose.position + orientation = msg.pose.pose.orientation + _, _, yaw = euler_from_quaternion([orientation.x, + orientation.y, + orientation.z, + orientation.w]) + twist = msg.twist.twist + self.odom = [position.x, + position.y, + yaw, + twist.linear.x, + twist.angular.z] + # print(self.odom) + + def ir_callback(self, msg): + data = json.loads(msg.data) + self.ir_position = float(data["Distance_MM"]) / 1000 + print("pose",self.ir_position) + + # self.ir_position = self.ir_origin - data + +if __name__ == "__main__": + SensorOdom() + + + + + + diff --git a/mobile_manipulator/emergency_pkg/src/ir_emg.cpp b/mobile_manipulator/emergency_pkg/src/ir_emg.cpp new file mode 100644 index 0000000..561f42d --- /dev/null +++ b/mobile_manipulator/emergency_pkg/src/ir_emg.cpp @@ -0,0 +1,88 @@ +#include +#include + +#include "ros/ros.h" +#include "sensor_msgs/Range.h" +#include "std_msgs/Bool.h" + + +std::vector ir_arr; +float min_ir; + +void irCallback(const sensor_msgs::Range::ConstPtr& msg) +{ + ir_arr.push_back(msg->range); +} +void ir1Callback(const sensor_msgs::Range::ConstPtr& msg) +{ + ir_arr.push_back(msg->range); +} +void ir2Callback(const sensor_msgs::Range::ConstPtr& msg) +{ + ir_arr.push_back(msg->range); +} +void ir3Callback(const sensor_msgs::Range::ConstPtr& msg) +{ + ir_arr.push_back(msg->range); +} +void ir4Callback(const sensor_msgs::Range::ConstPtr& msg) +{ + ir_arr.push_back(msg->range); +} +void ir5Callback(const sensor_msgs::Range::ConstPtr& msg) +{ + ir_arr.push_back(msg->range); +} +void ir6Callback(const sensor_msgs::Range::ConstPtr& msg) +{ + ir_arr.push_back(msg->range); +} +void ir7Callback(const sensor_msgs::Range::ConstPtr& msg) +{ + ir_arr.push_back(msg->range); +} +void ir8Callback(const sensor_msgs::Range::ConstPtr& msg) +{ + ir_arr.push_back(msg->range); +} + +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "listener"); + + ros::NodeHandle n; + ros::Publisher light_curtain_pub = n.advertise("light_curtain", 1000); + std_msgs::Bool bool_msg; + ros::Subscriber sub = n.subscribe("ir", 1000, irCallback); + ros::Subscriber sub1 = n.subscribe("ir1", 1000, ir1Callback); + ros::Subscriber sub2 = n.subscribe("ir2", 1000, ir2Callback); + ros::Subscriber sub3 = n.subscribe("ir3", 1000, ir3Callback); + ros::Subscriber sub4 = n.subscribe("ir4", 1000, ir4Callback); + ros::Subscriber sub5 = n.subscribe("ir5", 1000, ir5Callback); + ros::Subscriber sub6 = n.subscribe("ir6", 1000, ir6Callback); + ros::Subscriber sub7 = n.subscribe("ir7", 1000, ir7Callback); + ros::Subscriber sub8 = n.subscribe("ir8", 1000, ir8Callback); + ros::Rate loop_rate(10); + + while (ros::ok()) + { + if (ir_arr.size() > 8){ + min_ir = *std::min_element(ir_arr.begin(), ir_arr.end()); + ir_arr.clear(); + } + if (min_ir >= 1.213) + bool_msg.data = false; + else + bool_msg.data = true; + light_curtain_pub.publish(bool_msg); + ros::spinOnce(); + + loop_rate.sleep(); + + } + + + return 0; + return 0; +} \ No newline at end of file diff --git a/mobile_manipulator/ifarlab_web/css/bootstrap.min.css b/mobile_manipulator/ifarlab_web/css/bootstrap.min.css new file mode 100644 index 0000000..6990cee --- /dev/null +++ b/mobile_manipulator/ifarlab_web/css/bootstrap.min.css @@ -0,0 +1,6 @@ +/*! + * Bootstrap v3.4.1 (https://getbootstrap.com/) + * Copyright 2011-2019 Twitter, Inc. + * Licensed under MIT (https://github.com/twbs/bootstrap/blob/master/LICENSE) + *//*! normalize.css v3.0.3 | MIT License | github.com/necolas/normalize.css 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z-index: 100; + position: fixed; + transform: translateY(-100%); + transition: 0.5s; + flex-direction: column; + justify-content: space-between; + background-color: #fff; +} +.home-nav1 { + display: flex; + align-items: flex-start; + flex-direction: column; +} +.home-container01 { + width: 100%; + display: flex; + align-items: center; + margin-bottom: var(--dl-space-space-threeunits); + justify-content: space-between; +} +.home-image { + height: 2rem; +} +.home-menu-close { + display: flex; + align-items: center; + justify-content: center; +} +.home-icon02 { + width: var(--dl-size-size-xsmall); + height: var(--dl-size-size-xsmall); +} +.home-nav2 { + flex: 0 0 auto; + display: flex; + align-items: flex-start; + flex-direction: column; +} +.home-text06 { + margin-bottom: var(--dl-space-space-unit); +} +.home-text07 { + margin-bottom: var(--dl-space-space-unit); +} +.home-text08 { + margin-bottom: var(--dl-space-space-unit); +} +.home-text09 { + margin-bottom: var(--dl-space-space-unit); +} +.home-text10 { + margin-bottom: var(--dl-space-space-unit); +} +.home-container02 { + flex: 0 0 auto; + width: auto; + display: flex; + margin-top: var(--dl-space-space-unit); + align-items: center; + flex-direction: row; +} +.home-icon04 { + width: var(--dl-size-size-xsmall); + height: var(--dl-size-size-xsmall); + margin-right: var(--dl-space-space-twounits); +} +.home-icon06 { + width: var(--dl-size-size-xsmall); + height: var(--dl-size-size-xsmall); + margin-right: var(--dl-space-space-twounits); +} +.home-icon08 { + width: var(--dl-size-size-xsmall); + height: var(--dl-size-size-xsmall); +} +.home-container03 { + width: auto; + height: auto; + /* padding: 32px; */ + /* margin-left: -15px; */ + /*display: flex;*/ + /* padding: var(--dl-space-space-twounits); */ + /* position: relative; */ + /* align-items: flex-start; */ + /* flex-direction: row; */ + /* justify-content: flex-start; */ + /* border-color: #44b567; + border-style: groove; + border-width: 4px; */ +} +.home-text11 { + padding: 8px; + color: #204724; + font-size: 175%; + font-weight: bold; + text-align: center; + +} + +.apply-button{ + align-self: center; + box-shadow: 0px 2px 6px 0px #2b2626; + transition: 0.3s; + padding:12px 24px; + border-radius: 16px; + margin-top:16px; +} +.apply-button:active { + box-shadow: 0px 0px 0px 0px #2b2626; + background-color: #34ff2b; +} +/* Bootstrap borders*/ +.container{ + margin-top: 5%; +} + .col-border{ + padding: var(--dl-space-space-twounits); + border-color: #44b567; + border-style: groove; + border-width: 4px; + } + +.row-bottom-border{ + border-color: #44b567; + border-style: groove; + border-bottom: 4px; +} +.col-right-border{ + padding-left: 48px; + border-left:4px; + border-style: groove; + border-color: #44b567; +} +/* .col-sm-4{ + border-color: #44b567; + border-style: groove; + border-width: 4px; } */ +.config-text{ + text-size-adjust: auto; + text-align: center; + vertical-align:text-bottom; +} + + +/*-----*/ + +.home-container04 { + flex: 0 0 auto; + width: 100%; + height: auto; + display: flex; + align-items: center; + justify-content: flex-start; +} +.home-ul { + padding-left: 0; +} +.home-li { + list-style-type: none; + list-style-image: none; + list-style-position: outside; +} +.home-container05 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + padding: var(--dl-space-space-halfunit); + align-items: flex-start; + justify-content: flex-start; +} +.home-text16 { + align-self: center; + padding-right: 27px; +} +.home-textinput { + align-self: center; +} +.home-container06 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + padding: var(--dl-space-space-halfunit); + align-items: flex-start; + justify-content: flex-start; +} +.home-text17 { + align-self: center; + padding-right: 4px; + color: rgb(65, 147, 74); + text-size-adjust: 5%; + font-size: 16px; + font-weight: bold; +} +.home-textinput1 { + align-self: center; +} +.home-button { + width: 100%; + height: auto; + margin-left: 0px; + margin-right: 0px; + margin-top: var(--dl-space-space-unit); + margin-bottom: var(--dl-space-space-unit); + padding: var(--dl-space-space-twounits); + + transition: 0.3s; + + color: rgb(65, 147, 74); + font-size: 24px; + font-style: normal; + text-align: center; + font-weight: 700; + + border-color: #385623; + border-width: 1px; + border-radius: var(--dl-radius-radius-radius8); + background-color: rgb(237, 237, 237); + box-shadow: rgb(43, 38, 38) 0px 2px 10px 0px; + +} +.home-button:active { + color: #ffffff; + width: 100%; + align-self: center; + box-shadow: 0px 0px 0px 0px rgb(43, 38, 38); + background-color: #1fe53f; + cursor: pointer; +} +.home-button:hover { + color: #ffffff; + width: 100%; + align-self: center; + background-color: #1fe53f; + cursor: pointer; +} +.home-button1 { + width: 100%; + height: auto; + margin-left: 0px; + margin-right: 0px; + margin-top: var(--dl-space-space-unit); + margin-bottom: var(--dl-space-space-unit); + padding: var(--dl-space-space-twounits); + + transition: 0.3s; + + font-size: 24px; + color: rgb(65, 147, 74); + font-size: 24px; + font-style: normal; + text-align: center; + font-weight: 700; + + border-color: #385623; + border-width: 1px; + border-radius: var(--dl-radius-radius-radius8); + background-color: rgb(237, 237, 237); + box-shadow: 0px 2px 10px 0px #2b2626; +} +.home-button1:active { + color: #ffffff; + box-shadow: 0px 0px 0px 0px #2b2626; + border-color: rgba(0, 0, 0, 0.36); + background-color: #ff0000; +} +.home-button1:hover { + color: #ffffff; + border-color: rgba(0, 0, 0, 0.36); + background-color: #ff0000; + cursor: pointer; +} +.text-header{ + margin-top: 8px; + display: block; + position: inherit; + color: #ffffff; + font-size: 38px; + font-weight: bold; +} +.bottom-border{ + border-bottom: 4px; + border-style: groove; + border-color: #44b567; +} +.home-text18 { + font-size: 24px; + text-align: center; + padding-left: 0px; +} +.home-container07 { + flex: 0 0 auto; + width: 100%; + height: 100px; + display: flex; + align-items: center; + flex-direction: column; + justify-content: center; +} +.home-container08 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + justify-content: center; +} +.home-container09 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + justify-content: center; +} + +.config-label{ + padding: 2px; + font-weight: 700; + font-size: 18px; + color: rgb(65, 147, 74)}; + +.mr-echo{ + width: 100px; +} + +.icon-image{ + width: 100%; +} + +@media(max-width: 420px) { + .col-right-border { + margin-top: 15px; + padding-left: 0; + border-top:4px; + border-left: 0px; + border-style: groove; + border-color: #44b567; + } + .home-button1 { + font-size: 12px; + padding: 25px 0px; + } + .home-button { + font-size: 12px; + padding: 25px 0px; + } + .text-header{ + font-size: 24px; + } + .mr-echo{ + width: 80px; + } +} + +@media(max-width: 1200px) { + .home-logo-value3s { + height: 80px; + width: auto; + display: block; + margin-left: auto; + margin-right: auto; + margin-top: 12%; + } + .home-logo-ifarlab { + height: 80px; + width: auto; + display: block; + margin-left: auto; + margin-top: 12%; + } +} +/* +@media(max-width: 991px) { + .home-container { + animation-name: initial; + } +} +@media(max-width: 767px) { + .home-navbar-interactive { + flex: 0; + padding-left: var(--dl-space-space-twounits); + padding-right: var(--dl-space-space-twounits); + } + .home-text { + margin-left: var(--dl-space-space-unit); + } + .home-text01 { + margin-left: var(--dl-space-space-unit); + } + .home-text03 { + margin-left: var(--dl-space-space-unit); + } + .home-text04 { + margin-left: var(--dl-space-space-unit); + } + .home-text05 { + margin-left: var(--dl-space-space-unit); + } +} +@media(max-width: 479px) { + .home-navbar-interactive { + padding: var(--dl-space-space-unit); + } + .home-desktop-menu { + display: none; + } + .home-btn-group { + display: none; + } + .home-burger-menu { + display: flex; + } + .home-mobile-menu { + padding: 16px; + } +} +*/ \ No newline at end of file diff --git a/mobile_manipulator/ifarlab_web/css/home1.css b/mobile_manipulator/ifarlab_web/css/home1.css new file mode 100644 index 0000000..753f53e --- /dev/null +++ b/mobile_manipulator/ifarlab_web/css/home1.css @@ -0,0 +1,671 @@ +.home1-container { + width: 100%; + display: flex; + overflow: auto; + min-height: 100vh; + transition: 0.3s; + align-items: center; + border-color: #44b567; + border-style: groove; + border-width: 1px; + flex-direction: row; + justify-content: flex-start; +} + +.home1-container01 { + width: 100%; + display: flex; + align-items: center; + margin-bottom: var(--dl-space-space-threeunits); + justify-content: space-between; + border-color: #44b567; + border-style: groove; + border-width: 1px; +} + +.home1-container02 { + width: auto; + padding: 16px; + display: flex; + flex: 0 0 auto; + flex-direction: row; + margin-top: var(--dl-space-space-unit); + align-items: center; + position: relative; + /* border-color: #44b567; + border-style: groove; + border-width: 4px; */ +} + +.home1-container03 { + top: 85px; + flex: 0 0 auto; + left: -4px; + width: auto; + height: 258px; + display: flex; + position: absolute; + align-items: center; + justify-content: flex-start; + border-color: #44b567; + border-style: groove; + border-width: 1px; +} +.home1-container04 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-self: flex-start; + align-items: flex-start; + padding-top: var(--dl-space-space-oneandhalfunits); + padding-left: var(--dl-space-space-oneandhalfunits); + padding-right: var(--dl-space-space-oneandhalfunits); + flex-direction: column; + padding-bottom: var(--dl-space-space-oneandhalfunits); + justify-content: flex-start; + border-color: #44b567; + border-style: groove; + border-width: 1px; +} +.home1-text09 { + padding-top: var(--dl-space-space-halfunit); + padding-left: var(--dl-space-space-halfunit); + padding-right: var(--dl-space-space-halfunit); + padding-bottom: var(--dl-space-space-unit); +} +.home1-container05 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + flex-direction: column; + justify-content: center; + border-color: #44b567; + border-style: groove; + border-width: 1px; +} +.home1-container06 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-self: flex-start; + align-items: flex-start; + padding-top: var(--dl-space-space-oneandhalfunits); + padding-left: var(--dl-space-space-oneandhalfunits); + padding-right: var(--dl-space-space-oneandhalfunits); + flex-direction: column; + padding-bottom: var(--dl-space-space-oneandhalfunits); + justify-content: flex-start; + border-color: #221a97; + border-style: groove; + border-width: 4px; +} +.home1-text14 { + padding-top: var(--dl-space-space-halfunit); + padding-left: var(--dl-space-space-halfunit); + padding-right: var(--dl-space-space-halfunit); + padding-bottom: var(--dl-space-space-unit); + color: #204724; + font-size: 200%; + font-weight: bold; + text-align: center; +} +.home1-container07 { + flex: 0 0 auto; + width: 100%; + height: auto; + display: flex; + align-items: center; + padding-top: 0px; + padding: 1%; + flex-direction: row; + justify-content: flex-start; + border-color: #44b567; + border-style: groove; + border-width: 1px; +} +.home1-text15 { + padding-right: 56px; +} +.home1-textinput { + width: 100%; + height: 100%; +} +.home1-container08 { + flex: 0 0 auto; + width: 100%; + height: auto; + display: flex; + align-items: center; + padding-top: 8px; + flex-direction: row; + justify-content: flex-start; + border-color: #44b567; + border-style: groove; + border-width: 1px; +} +.home1-text16 { + padding-right: 30px; +} +.home1-textinput1 { + width: 100%; + height: 100%; +} +.home1-container09 { + flex: 0 0 auto; + width: 100%; + height: auto; + display: flex; + margin-top: 8px; + align-items: center; + flex-direction: row; + justify-content: flex-start; +} +.home1-text19 { + padding-right: 14px; +} +.home1-textinput2 { + width: 100%; + height: 100%; + padding-left: 1rem; +} +.home1-container10 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: center; + flex-direction: column; + border-color: #44b567; + border-style: groove; + border-width: 1px; +} +.home1-text20 { + padding: var(--dl-space-space-halfunit); +} +.home1-container11 { + flex: 0 0 auto; + width: 100%; + height: auto; + display: flex; + align-items: flex-start; + justify-content: flex-start; +} +.home1-container12 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + flex-direction: column; + justify-content: center; +} +.home1-text21 { + align-self: center; + text-align: center; + color: rgb(65, 147, 74); + font-weight: bold; +} +.home1-select { + cursor: pointer; + padding: var(--dl-space-space-halfunit); + z-index: 100; + align-self: center; + transition: 0.3s; + border-color: #bdbdbd; + border-width: 1px; + border-radius: var(--dl-radius-radius-radius4); +} + +.home1-select:active { + box-shadow: 0px 5px 10px 0px #d4d4d4; + cursor: pointer; +} +.home1-select:hover { + box-shadow: 0px 5px 10px 0px #d4d4d4; +} +.home1-textinput3 { + width: var(--dl-size-size-medium); + height: auto; + align-self: center; + transition: 0.3s; + display: none; +} +/*.home1-textinput3:active { + display: none; +} +.home1-textinput3:disabled { + display: none; +}*/ +.home1-button { + align-self: center; + box-shadow: 0px 2px 10px 0px #2b2626; + transition: 0.3s; +} +.home1-button:active { + box-shadow: 0px 0px 0px 0px #2b2626; + background-color: #34ff2b; +} +.home1-container13 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + flex-direction: column; + border-color: #44b567; + border-style: groove; + border-width: 1px; +} +.home1-container14 { + flex: 0 0 auto; + width: 200px; + height: auto; + display: flex; + align-items: center; + flex-direction: column; +} +.home1-text22 { + padding-bottom: var(--dl-space-space-halfunit); + text-align: center; + display: inline-block; +} + +.home1-container15 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: center; + justify-content: flex-start; +} +.home1-container16 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + flex-direction: row; + justify-content: flex-start; +} +.home1-container17 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + padding: var(--dl-space-space-unit); + align-items: flex-start; + padding-top: 16px; + flex-direction: column; + justify-content: center; +} +.home1-button1 { + width: 48px; + height: auto; + display: flex; + padding: var(--dl-space-space-halfunit); + align-self: center; + box-shadow: 0px 2px 10px 0px #2b2626; + transition: 0.3s; + align-items: center; + border-radius: var(--dl-radius-radius-round); + justify-content: center; +} +.home1-button1:active { + box-shadow: 0px 0px 0px 0px #2b2626; +} +.home1-icon10 { + width: auto; + align-self: stretch; +} +.home1-button2 { + width: 48px; + display: flex; + padding: var(--dl-space-space-halfunit); + box-shadow: 0px 2px 10px 0px #2b2626; + transition: 0.3s; + flex-direction: row; + background-color: #ff0000; +} +.home1-button2:active { + box-shadow: 0px 0px 0px 0px #2b2626; +} + +.home1-button4 { + width: 48px; + display: flex; + padding: var(--dl-space-space-halfunit); + box-shadow: 0px 2px 10px 0px #2b2626; + transition: 0.3s; + flex-direction: row; + background-color: #15ff00; +} +.home1-button4:active { + box-shadow: 0px 0px 0px 0px #2b2626; +} + +.home1-icon12 { + width: 100%; + height: 24px; +} +.home1-button3 { + width: 48px; + height: auto; + display: flex; + padding: 0px; + align-self: center; + box-shadow: 0px 2px 10px 0px #2b2626; + transition: 0.3s; + align-items: flex-end; + border-radius: var(--dl-radius-radius-round); + flex-direction: row; + justify-content: center; + border-top-left-radius: var(--dl-radius-radius-round); + border-top-right-radius: var(--dl-radius-radius-round); + border-bottom-left-radius: var(--dl-radius-radius-round); + border-bottom-right-radius: var(--dl-radius-radius-round); +} +.home1-button3:active { + box-shadow: 0px 0px 0px 0px #2b2626; +} +.home1-icon14 { + width: auto; + height: 100%; + padding: var(--dl-space-space-halfunit); + align-self: stretch; + transition: 0.3s; + border-radius: var(--dl-radius-radius-radius4); +} + +.home1-container18 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + flex-direction: column; +} +.home1-container19 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + flex-direction: column; +} +.home1-text23 { + padding: var(--dl-space-space-halfunit); +} +.home1-text24 { + padding: var(--dl-space-space-halfunit); +} +.home1-text25 { + padding: var(--dl-space-space-halfunit); +} +.home1-container20 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + flex-direction: column; +} +.home1-container21 { + flex: 0 0 auto; + width: auto; + height: auto; + display: flex; + align-items: flex-start; + flex-direction: column; +} + +/* The Modal (background) */ +.modal { + display: none; /* Hidden by default */ + position: fixed; /* Stay in place */ + z-index: 1; /* Sit on top */ + padding-top: 200px; /* Location of the box */ + left: 0; + top: 0; + width: 100%; /* Full width */ + height: 100%; /* Full height */ + overflow: auto; /* Enable scroll if needed */ + background-color: rgb(0,0,0); /* Fallback color */ + background-color: rgba(0,0,0,0.4); /* Black w/ opacity */ +} + +.modal-header { + padding: 16px 16px; + background-color: #a10707; + color: white; + text-align: center; + border-radius: 25px 25px 0px 0px; + font-size: 32px; +} + +.modal-body { + padding: 16px 16px; + +} + +.modal-button{ + border: 1px solid #888; + display: block; + margin-left: auto; + margin-right: auto; + box-shadow: 0px 2px 10px 0px #2b2626; + transition: 0.3s; + padding: 16px 16px; + +} +.modal-button:active { + box-shadow: 0px 0px 0px 0px #2b2626; + background-color: #34ff2b; +} + +.modal-footer { + padding: 16px; + border-top: 1px solid #888; +} +.emg-p { + padding: 8px; + font-size: 24px; +} +.modal-title{ + font-size: 38px; + font-weight: 700; +} +/* Modal Content */ +.modal-content { + position: relative; + background-color: #fefefe; + margin: auto; + padding: 0; + border: 1px solid #888; + border-radius: 25px; + width: 30%; + box-shadow: 0 4px 8px 0 rgba(0,0,0,0.2),0 6px 20px 0 rgba(0,0,0,0.19); + -webkit-animation-name: animatetop; + -webkit-animation-duration: 0.4s; + animation-name: animatetop; + animation-duration: 0.4s; + text-align: center; +} + +/* Add Animation */ +@-webkit-keyframes animatetop { + from {top:-300px; opacity:0} + to {top:0; opacity:1} +} + +@keyframes animatetop { + from {top:-300px; opacity:0} + to {top:0; opacity:1} +} + +/* The Close Button */ +.close { + color: black; + float: right; + font-size: 28px; + font-weight: bold; + cursor: pointer; + +} + +.robot_echo_data{ + padding: 16x; + color: #2b2626; + font-size: 16px; + width: 100%; +} + +/* @media(max-width: 991px) { + .home1-container { + animation-name: initial; + } + .home1-container03 { + height: auto; + } + .home1-container10 { + width: auto; + } + .home1-container12 { + align-items: flex-start; + flex-direction: column; + justify-content: center; + } + .home1-select { + margin: 1px; + align-self: center; + } + .home1-textinput3 { + width: var(--dl-size-size-medium); + height: auto; + margin: var(--dl-space-space-halfunit); + padding: 1px; + align-self: center; + } + .home1-button { + height: auto; + align-self: center; + } +} */ +/* @media(max-width: 767px) { + .home1-text { + margin-left: var(--dl-space-space-unit); + } + .home1-text01 { + margin-left: var(--dl-space-space-unit); + } + .home1-text02 { + margin-left: var(--dl-space-space-unit); + } + .home1-text03 { + margin-left: var(--dl-space-space-unit); + } +} +@media(max-width: 479px) { + .home1-desktop-menu { + display: none; + } + .home1-btn-group { + display: none; + } + .home1-burger-menu { + display: flex; + } + .home1-mobile-menu { + padding: 16px; + } + .home1-container03 { + width: auto; + } + .home1-container06 { + width: 100%; + } +} */ + +.switch { + position: relative; + display: inline-block; + width: 60px; + height: 34px; +} + +.switch input { + opacity: 0; + width: 0; + height: 0; +} + +.slider { + position: absolute; + cursor: pointer; + top: 0; + left: 0; + right: 0; + bottom: 0; + background-color: #ccc; + -webkit-transition: .4s; + transition: .4s; +} + +.slider:before { + position: absolute; + content: ""; + height: 26px; + width: 26px; + left: 4px; + bottom: 4px; + background-color: white; + -webkit-transition: .4s; + transition: .4s; +} + +input:checked + .slider { + background-color: #2196F3; +} + +input:focus + .slider { + box-shadow: 0 0 1px #2196F3; +} + +input:checked + .slider:before { + -webkit-transform: translateX(26px); + -ms-transform: translateX(26px); + transform: translateX(26px); +} + +/* Rounded sliders */ +.slider.round { + border-radius: 34px; +} + +.slider.round:before { + border-radius: 50%; +} + +@media(max-width: 1200px) { + .emg-p{ + padding: 4px; + text-align: center; + font-size: 18px; + } + .modal-title{ + font-size: 30px; + font-weight: 700; +} +} + +@media(max-width: 420px) { + .modal-content { + width: 70%; + } + .modal-title{ + font-size: 24px; + } +} diff --git a/mobile_manipulator/ifarlab_web/css/style.css b/mobile_manipulator/ifarlab_web/css/style.css new file mode 100644 index 0000000..38a3b09 --- /dev/null +++ b/mobile_manipulator/ifarlab_web/css/style.css @@ -0,0 +1,134 @@ +:root { + --dl-color-gray-500: #595959; + --dl-color-gray-700: #999999; + --dl-color-gray-900: #D9D9D9; + --dl-size-size-large: 144px; + --dl-size-size-small: 48px; + --dl-color-danger-300: #A22020; + --dl-color-danger-500: #BF2626; + --dl-color-danger-700: #E14747; + --dl-color-gray-black: #000000; + --dl-color-gray-white: #FFFFFF; + --dl-size-size-medium: 96px; + --dl-size-size-xlarge: 192px; + --dl-size-size-xsmall: 16px; + --dl-space-space-unit: 16px; + --dl-color-primary-100: #003EB3; + --dl-color-primary-300: #0074F0; + --dl-color-primary-500: #14A9FF; + --dl-color-primary-700: #85DCFF; + --dl-color-success-300: #199033; + --dl-color-success-500: #32A94C; + --dl-color-success-700: #4CC366; + --dl-size-size-xxlarge: 288px; + --dl-size-size-maxwidth: 1400px; + --dl-radius-radius-round: 50%; + --dl-space-space-halfunit: 8px; + --dl-space-space-sixunits: 96px; + --dl-space-space-twounits: 32px; + --dl-radius-radius-radius2: 2px; + --dl-radius-radius-radius4: 4px; + --dl-radius-radius-radius8: 8px; + --dl-space-space-fiveunits: 80px; + --dl-space-space-fourunits: 64px; + --dl-space-space-threeunits: 48px; + --dl-space-space-oneandhalfunits: 24px; +} +.button { + color: var(--dl-color-gray-black); + cursor: pointer; + display: inline-block; + padding: 0.5rem 1rem; + border-color: var(--dl-color-gray-black); + border-width: 1px; + border-radius: 4px; + background-color: var(--dl-color-gray-white); +} + + +.input { + color: var(--dl-color-gray-black); + cursor: auto; + padding: 0.5rem 1rem; + border-color: var(--dl-color-gray-black); + border-width: 1px; + border-radius: 4px; + background-color: var(--dl-color-gray-white); + width: 100%; +} +.textarea { + color: var(--dl-color-gray-black); + cursor: auto; + padding: 0.5rem; + border-color: var(--dl-color-gray-black); + border-width: 1px; + border-radius: 4px; + background-color: var(--dl-color-gray-white); +} +.list { + width: 100%; + margin: 1em 0px 1em 0px; + display: block; + padding: 0px 0px 0px 1.5rem; + list-style-type: none; + list-style-position: outside; +} +.list-item { + display: list-item; +} +.teleport-show { + display: flex !important; + transform: translateY(0%) !important; +} +.baslat { + color: var(--dl-color-primary-500); + transition: 0.3s; + font-family: Arial; + background-color: var(--dl-color-success-300); +} +.baslat:active { + color: #0b9bea; + z-index: 100; + align-self: center; + box-shadow: 5px 5px 10px 0px rgba(212, 212, 212, 0.86); + background-color: var(--dl-color-gray-black); +} +.navarea { + top: 1px; + left: 0px; + /* width: 100%; */ + display: block; + position: inherit; + align-self: flex-start; + flex-direction: cloumn; + background-color: #418f49; +} +.Content { + font-size: 16px; + font-family: Inter; + font-weight: 400; + line-height: 1.15; + text-transform: none; + text-decoration: none; +} +.Heading { + font-size: 32px; + font-family: Inter; + font-weight: 700; + line-height: 1.15; + text-transform: none; + text-decoration: none; +} + +/* @media(max-width: 767px) { + .navarea { + flex: 0; + padding-left: var(--dl-space-space-twounits); + padding-right: var(--dl-space-space-twounits); + } +} +@media(max-width: 479px) { + .navarea { + padding: var(--dl-space-space-unit); + } +}*/ diff --git a/mobile_manipulator/ifarlab_web/img/ifarlab_logo.jpeg b/mobile_manipulator/ifarlab_web/img/ifarlab_logo.jpeg new file mode 100644 index 0000000..ffec031 Binary files /dev/null and b/mobile_manipulator/ifarlab_web/img/ifarlab_logo.jpeg differ diff --git a/mobile_manipulator/ifarlab_web/img/ifarlab_logo.png b/mobile_manipulator/ifarlab_web/img/ifarlab_logo.png new file mode 100644 index 0000000..c41f464 Binary files /dev/null and b/mobile_manipulator/ifarlab_web/img/ifarlab_logo.png differ diff --git a/mobile_manipulator/ifarlab_web/img/industrial-robot.png b/mobile_manipulator/ifarlab_web/img/industrial-robot.png new file mode 100644 index 0000000..7814e50 Binary files /dev/null and b/mobile_manipulator/ifarlab_web/img/industrial-robot.png differ diff --git a/mobile_manipulator/ifarlab_web/img/value3s.png b/mobile_manipulator/ifarlab_web/img/value3s.png new file mode 100644 index 0000000..7a8102c Binary files /dev/null and b/mobile_manipulator/ifarlab_web/img/value3s.png differ diff --git a/mobile_manipulator/ifarlab_web/index_v2.html b/mobile_manipulator/ifarlab_web/index_v2.html new file mode 100644 index 0000000..09faea1 --- /dev/null +++ b/mobile_manipulator/ifarlab_web/index_v2.html @@ -0,0 +1,322 @@ + + + + Rokos Chasis Inspection + + + + + + + + + + + + + + + + + +
+ + + +
+
+
+ logo +
+
+ CHASSIS INSPECTION SYSTEM +
+
+ logo +
+
+
+
+
+
Robot Configuration
+
+
+ +
+
+
+ +
+
+ +
+
+
+
+
+ +
+
+
+
+ Chassis Inspection +
+
+ +
+
+ Manuel Movement +
+
+
+
+
+
+
+
Task Tracking
+
+
+
+
+ Task Status : +
+
+ +
+
+
+
+ Task List : +
+
+
    +
    +
    +
    +
    + Active Task ID : +
    +
    + +
    +
    +
    +
    +
    +
    +
    +
    +
    Manuel Controlling
    +
    +
    +
    + +
    +
    + Manipulator Stop +
    +
    + +
    +
    + Manipulator Home +
    +
    + +
    +
    +
    +
    + Manuel Drive +
    +
    +
    + +
    +
    + +
    +
    + +
    +
    +
    +
    +
    + Robot Data +
    +
    +
    + Robot Position +
    +
    + +
    +
    + Robot Velocity +
    +
    + +
    +
    + Robot Status +
    +
    + +
    +
    +
    +
    +
    + +
    +
    +
    + +
    + +
    +
    + +
    + +
    + +
    + +
    + + +
    +
    + + +
    +
    +
    + + + + + + + + diff --git a/mobile_manipulator/ifarlab_web/js/bootstrap.min.js b/mobile_manipulator/ifarlab_web/js/bootstrap.min.js new file mode 100644 index 0000000..125a419 --- /dev/null +++ b/mobile_manipulator/ifarlab_web/js/bootstrap.min.js @@ -0,0 +1,7 @@ +/*! + * Bootstrap v4.6.2 (https://getbootstrap.com/) + * Copyright 2011-2022 The Bootstrap Authors (https://github.com/twbs/bootstrap/graphs/contributors) + * Licensed under MIT (https://github.com/twbs/bootstrap/blob/main/LICENSE) + */ +!function(t,e){"object"==typeof exports&&"undefined"!=typeof module?e(exports,require("jquery"),require("popper.js")):"function"==typeof define&&define.amd?define(["exports","jquery","popper.js"],e):e((t="undefined"!=typeof globalThis?globalThis:t||self).bootstrap={},t.jQuery,t.Popper)}(this,(function(t,e,n){"use strict";function i(t){return t&&"object"==typeof t&&"default"in t?t:{default:t}}var o=i(e),a=i(n);function s(t,e){for(var n=0;n=4)throw new Error("Bootstrap's JavaScript requires 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"none"; + document.getElementById("mr_motion").style.opacity = 0.5; + document.getElementById("toggle-button").checked = false; + document.getElementById("tasktracking").style.pointerEvents = "auto"; + document.getElementById("tasktracking").style.opacity = 1.0; + ui_status_flag = false + } + } +}); + +ui_emg_stop.subscribe(function (message) { + console.log(message.data) + if (message.data == 1) { + emgmodal.style.display = "block"; + } + else { + emgmodal.style.display = "none"; + } +}); + +emg_sub.subscribe(function (message) { + if (message.data == 1) { + if (emgmodal.style.display == "none"){ + emgmodal.style.display = "block"; + } + } +}); + +mobile_status_topic.subscribe(function (message) { + document.getElementById("text_mr_status").value = message.data; +}); +// Calling a service +// ----------------- + +var addTwoIntsClient = new ROSLIB.Service({ + ros: ros, + name: '/right_rokos_task_service', + serviceType: 'srvt_moveit/TaskService' +}); + +addTwoIntsClient.callService(" ", function (result) { + var task_list = [] + let list = document.getElementById("tasklist"); + console.log('Result for service call on ' + + addTwoIntsClient.name + + ': ' + + result.response); + var myJSON = eval(eval(JSON.stringify(result.response))); + for (let x of myJSON) { + task_list.push(x[x.length - 1][0]) + let li = document.createElement("li"); + li.innerText = x[x.length - 1][0]; + list.appendChild(li); + } + console.log(task_list) + +}); + +var odom_sub = new ROSLIB.Topic({ + ros: ros, + name: '/odom', + messageType: 'nav_msgs/Odometry' +}); + +var cmdVel = new ROSLIB.Topic({ + ros: ros, + name: '/cmd_vel', + messageType: 'geometry_msgs/Twist' +}); + +var toggle_option = new ROSLIB.Topic({ + ros: ros, + name: '/toggle', + messageType: 'std_msgs/Int8' +}); + +var ui_params = new ROSLIB.Topic({ + ros: ros, + name: '/ui_parameters_topic', + messageType: 'std_msgs/String' +}); + +var ui_set_params = new ROSLIB.Topic({ + ros: ros, + name: '/ui_set_parameters', + messageType: 'std_msgs/String' +}); + +var ui_stop = new ROSLIB.Topic({ + ros: ros, + name: '/manuel_stop', + messageType: 'std_msgs/Int8' +}); + +var ui_vel = new ROSLIB.Topic({ + ros: ros, + name: '/manuel_vel', + messageType: 'std_msgs/Int8' +}); + + + +var twist = new ROSLIB.Message({ + linear: { + x: 0.0, + y: 0.0, + z: 0.0 + }, + angular: { + x: 0.0, + y: 0.0, + z: 0.0 + } +}); + +var ui_stop_data = new ROSLIB.Message({ + data: 1 +}); + +var ui_vel_data = new ROSLIB.Message({ + data: 0 +}); + +function manipulator_stop(){ + ui_vel_data.data = 1; + ui_stop.publish(ui_vel_data) +} + +function manipulator_release(){ + ui_vel_data.data = 2; + ui_stop.publish(ui_vel_data) +} + +function move_forward() { + + twist.linear.x = parseFloat(document.getElementById("mr_ui_velocity").value); + ui_vel_data.data = 1; + ui_vel.publish(ui_vel_data); + + // twist.angular.z = 0.0; + // cmdVel.publish(twist); +} + +function move_backward() { + ui_vel_data.data = -1; + ui_vel.publish(ui_vel_data); + + twist.linear.x = -1 * parseFloat(document.getElementById("mr_ui_velocity").value); + // twist.angular.z = 0.0; + // cmdVel.publish(twist); +} + +function move_stop() { + ui_vel_data.data = 0; + ui_vel.publish(ui_vel_data); + // twist.linear.x = 0.0; + // twist.angular.z = 0.0; + // cmdVel.publish(twist); +} + +odom_sub.subscribe(function (message) { + document.getElementById("text_mr_postion").value = (message.pose.pose.position.x).toFixed(2); + document.getElementById("text_mr_velocity").value = (message.twist.twist.linear.x).toFixed(2); +}); + +ui_params.subscribe(function (message) { + let text = (message.data).replace(/['"]+/g, '"'); + json_data = JSON.parse(text); + // document.getElementById("mr_ui_rate").value = json_data.topic_rate; + document.getElementById("mr_ui_velocity").value = json_data.robot_velocity; + // document.getElementById("mr_ui_origin").value = json_data.sensor_origin_set; + ui_params.unsubscribe(); + + +}); + +var light_curtain = new ROSLIB.Topic({ + ros: ros, + name: '/light_curtain', + messageType: 'std_msgs/Bool' +}); + +light_curtain.subscribe(function (message) { + if (message.data == true){ + var emg_stop_data = new ROSLIB.Message({ + data: 1 + }); + + ui_emg_stop.publish(emg_stop_data); + } +}); + + + + +var emg_continue_btn = document.getElementById("emergency_continue"); + +// When the user clicks the button, open the modal +emg_continue_btn.onclick = function () { + emgmodal.style.display = "none"; + var emg_stop_data = new ROSLIB.Message({ + data: 0 + }); + for (let i = 0; i < 5; i++) { + ui_emg_stop.publish(emg_stop_data); + } +} + +// document.getElementById("mr_ui_rate").value = 10; +// document.getElementById("mr_ui_velocity").value = 0.1; +// document.getElementById("mr_ui_origin").value = 2.5; + + +var config_btn = document.getElementById("config_button"); + +config_btn.onclick = function () { + // let rate = document.getElementById("mr_ui_rate").value; + let vel = document.getElementById("mr_ui_velocity").value; + // let origin = document.getElementById("mr_ui_origin").value; + str_data = "{\"topic_rate\":50" + ",\"robot_velocity\":" + vel + ",\"sensor_origin_set\":2.5}"; + + var config_data = new ROSLIB.Message({ + data: str_data + }); + ui_set_params.publish(config_data) +} + +function toggle() { + testBool = !testBool; + if (testBool == false){ + testBool = 0;} + else{ + testBool = 1; + } + var toggle_msg = new ROSLIB.Message({ + data: testBool + }); + toggle_option.publish(toggle_msg) + if(testBool){ + document.getElementById("tasktracking").style.pointerEvents = "none"; + document.getElementById("tasktracking").style.opacity = 0.5; + document.getElementById("mr_motion").style.pointerEvents = "auto"; + document.getElementById("mr_motion").style.opacity = 1.0; + } + else{ + document.getElementById("tasktracking").style.pointerEvents = "auto"; + document.getElementById("tasktracking").style.opacity = 1.0; + document.getElementById("mr_motion").style.pointerEvents = "none"; + 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    + + + +css + +.modal { + padding: 2rem; + border: 1px solid #eee; + width: max-content; + position: fixed; + right: 0; + bottom: 0; + max-width: 100%; +} + +.button-close-modal { + display: block; + font-size: 2rem; + font-weight: bold; + margin-left: auto; +} + +js + +document.addEventListener( + "click", + function (event) { + // If user either clicks X button OR clicks outside the modal window, then close modal by calling closeModal() + if ( + event.target.matches(".button-close-modal") || + !event.target.closest(".modal") + ) { + closeModal(); + } + }, + false +); + +function closeModal() { + document.querySelector(".modal").style.display = "none"; +} + diff --git a/mobile_manipulator/ifarlab_web/package.json b/mobile_manipulator/ifarlab_web/package.json new file mode 100644 index 0000000..361f859 --- /dev/null +++ b/mobile_manipulator/ifarlab_web/package.json @@ -0,0 +1,10 @@ +{ + "name": "rokos-chasis-inspection", + "version": "1.0.0", + "private": true, + "dependencies": { + "parcel-bundler": "^1.6.1" + }, + "scripts": {}, + "devDependencies": {} +} \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_action/CMakeLists.txt b/mobile_manipulator/mobile_manipulator_action/CMakeLists.txt new file mode 100644 index 0000000..ac3b7ff --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/CMakeLists.txt @@ -0,0 +1,238 @@ +cmake_minimum_required(VERSION 3.0.2) +project(mobile_manipulator_action) + +## 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 + actionlib + actionlib_msgs + message_generation + roscpp + rospy + std_msgs + geometry_msgs + sensor_msgs +) + +## 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 + MobilePlatform.srv + VelocityService.srv + AccelerationService.srv + ) + +## Generate actions in the 'action' folder +ADD_ACTION_FILES( + DIRECTORY action + FILES MobilePlatform.action +) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + actionlib_msgs + std_msgs + geometry_msgs + sensor_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 mobile_manipulator_action + CATKIN_DEPENDS actionlib actionlib_msgs message_generation roscpp rospy std_msgs + DEPENDS +) + +########### +## 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/${PROJECT_NAME}/mobile_manipulator_action.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/mobile_manipulator_action_node.cpp) +add_executable(mp_server src/action_server.cpp) +add_executable(mp_server2 src/action_server2.cpp) +add_executable(mp_client src/action_client.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}) +add_dependencies( + mp_server + ${mobile_manipulator_action_EXPORTED_TARGETS} +) +add_dependencies( + mp_server2 + ${mobile_manipulator_action_EXPORTED_TARGETS} +) +add_dependencies( + mp_client + ${mobile_manipulator_action_EXPORTED_TARGETS} +) +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) +target_link_libraries( + mp_server + ${catkin_LIBRARIES} +) +target_link_libraries( + mp_server2 + ${catkin_LIBRARIES} +) +target_link_libraries( + mp_client + ${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 +# catkin_install_python(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_mobile_manipulator_action.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) diff --git a/mobile_manipulator/mobile_manipulator_action/action/MobilePlatform.action b/mobile_manipulator/mobile_manipulator_action/action/MobilePlatform.action new file mode 100644 index 0000000..895e1f6 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/action/MobilePlatform.action @@ -0,0 +1,11 @@ +#goal definition +float32[] goal +float32[] manuel +int32 cancel + +--- +#result definition +float32 result +--- +#feedback +float32 status diff --git a/mobile_manipulator/mobile_manipulator_action/launch/start_service.launch b/mobile_manipulator/mobile_manipulator_action/launch/start_service.launch new file mode 100644 index 0000000..33b830c --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/launch/start_service.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_action/package.xml b/mobile_manipulator/mobile_manipulator_action/package.xml new file mode 100644 index 0000000..4d780f4 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/package.xml @@ -0,0 +1,77 @@ + + + mobile_manipulator_action + 0.0.0 + The mobile_manipulator_action package + + + + + didem-focal + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + actionlib + actionlib_msgs + message_generation + roscpp + rospy + std_msgs + actionlib + actionlib_msgs + roscpp + rospy + std_msgs + message_generation + message_runtime + actionlib + actionlib_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_action/scripts/acceleration_service.py b/mobile_manipulator/mobile_manipulator_action/scripts/acceleration_service.py new file mode 100755 index 0000000..822668a --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/scripts/acceleration_service.py @@ -0,0 +1,105 @@ +#!/usr/bin/env python3 +# coding=utf-8 + +""" +Service provider +Publishes acceleration depending cmd_vel command + +@Author: Furkan Edizkan +@Task: #IFARLAB +""" + + +import rospy +import numpy as np +from geometry_msgs.msg import Twist +from mobile_manipulator_action.srv import AccelerationService, AccelerationServiceResponse, AccelerationServiceRequest +from nav_msgs.msg import Odometry +from std_msgs.msg import Int8 + +ODOM_POSITION_X = None +cancel_data = 0 + +def ServiceCallback(req): + global ODOM_POSITION_X, cancel_data + rate_param = 20.0 + rospy.loginfo("acceleration_service::Received request == %s, %s", str(req.pos_x), str(req.vel_config)) + resp = AccelerationServiceResponse() + resp.response = 'Failed to get acceleration' + rospy.Subscriber("/mp_action/cancel", Int8, cancel_callback) + pub = rospy.Publisher('cmd_vel', Twist, queue_size=10) + cmd_msg = Twist() + + pos_x, vel_config = req.pos_x, abs(req.vel_config) + + if vel_config > 0.25: + vel_config = 0.25 + elif vel_config < 0.0: + vel_config = 0.0 + + if pos_x > 2.08: + pos_x = 2.08 + elif pos_x < 0.0: + pos_x = 0.0 + + try: + vel = 0 + pose_status = False + + while not rospy.is_shutdown(): + rospy.Rate(rate_param).sleep() + diff = pos_x - ODOM_POSITION_X + acc_param = np.sign(diff) * (vel_config/rate_param) + if cancel_data: + cmd_msg.linear.x = 0 + pub.publish(cmd_msg) + resp.response = 'Aborted' + cancel_data = 0 + break + else: + if abs(diff) > abs(vel_config)/2: + vel += acc_param + move_forward = True + if abs(vel) > abs(vel_config): + vel = np.sign(diff) * vel_config + else: + if not move_forward: + vel = np.sign(diff) * 0.08 + else: + vel = diff + + if abs(diff) < 0.005: + vel = 0 + pose_status = True + + cmd_msg.linear.x = vel + + pub.publish(cmd_msg) + + if pose_status: + resp.response = 'Succeeded' + rospy.loginfo("Succeeded") + break + + except Exception as err: + rospy.loginfo("acceleration_service::Error == %f", err) + resp.response = 'Aborted' + + return resp + + +def OdomCallback(msg): + """Odometry callback""" + global ODOM_POSITION_X + ODOM_POSITION_X = msg.pose.pose.position.x + +def cancel_callback(msg): + global cancel_data + cancel_data = msg.data + +if __name__ == '__main__': + rospy.init_node('acceleration_service') + rospy.Subscriber("/odom", Odometry, OdomCallback) + service = rospy.Service('acceleration_service', AccelerationService, ServiceCallback) + rospy.loginfo("acceleration_service service ready") + rospy.spin() \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_action/scripts/mobile_platform_service.py b/mobile_manipulator/mobile_manipulator_action/scripts/mobile_platform_service.py new file mode 100755 index 0000000..37b4675 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/scripts/mobile_platform_service.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 +import rospy +from nav_msgs.msg import * +from mobile_manipulator_action.srv import MobilePlatform,MobilePlatformResponse +import rospy + +class MobilePlatfromService: + def __init__(self): + rospy.init_node('moile_platform_server') + s = rospy.Service('mobile_platform_service', MobilePlatform, self.server_response) + rospy.Subscriber("odom", Odometry, self.odom_callback) + print("Ready to add two ints.") + rospy.spin() + + def odom_callback(self, msg): + self.odom_vel_x = msg.twist.twist.linear.x + self.odom_x = msg.pose.pose.position.x + + def server_response(self, req): + status = "{\"velocity: \"" + str(self.odom_vel_x) + "," + "\"pose\": " + str(self.odom_x) + "}" + return MobilePlatformResponse(status) + +if __name__ == "__main__": + MobilePlatfromService() \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_action/scripts/velocity_service.py b/mobile_manipulator/mobile_manipulator_action/scripts/velocity_service.py new file mode 100755 index 0000000..8125094 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/scripts/velocity_service.py @@ -0,0 +1,36 @@ +#!/usr/bin/env python3 +# coding=utf-8 + +""" +Service provider +Publishes given cmd_vel command + +@Author: Furkan Edizkan +@Task: #IFARLAB +""" + +import rospy +from geometry_msgs.msg import Twist +from mobile_manipulator_action.srv import VelocityService, VelocityServiceResponse, VelocityServiceRequest + +pub = rospy.Publisher('cmd_vel', Twist, queue_size=10) +cmd_msg = Twist() + +def ServiceCallback(req): + vel = req.cmd_msg.linear.x + if vel > 0.25: + vel = 0.25 + cmd_msg.linear.x = vel + cmd_msg = req.cmd_msg + rospy.loginfo("velocity_service::Received request == \n%s", str(cmd_msg)) + pub.publish(cmd_msg) + + resp = VelocityServiceResponse() + return resp + + +if __name__ == '__main__': + rospy.init_node('velocity_service') + service = rospy.Service('velocity_service', VelocityService, ServiceCallback) + rospy.loginfo("velocity_service service ready") + rospy.spin() \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_action/src/.action_server2.cpp.swp b/mobile_manipulator/mobile_manipulator_action/src/.action_server2.cpp.swp new file mode 100644 index 0000000..63b6a84 Binary files /dev/null and b/mobile_manipulator/mobile_manipulator_action/src/.action_server2.cpp.swp differ diff --git a/mobile_manipulator/mobile_manipulator_action/src/action_client.cpp b/mobile_manipulator/mobile_manipulator_action/src/action_client.cpp new file mode 100755 index 0000000..817d3eb --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/src/action_client.cpp @@ -0,0 +1,38 @@ +#include +#include +#include +#include + +int main (int argc, char **argv) +{ + ros::init(argc, argv, "test_fibonacci"); + + // create the action client + // true causes the client to spin its own thread + actionlib::SimpleActionClient ac("mobile_platform", true); + + ROS_INFO("Waiting for action server to start."); + // wait for the action server to start + ac.waitForServer(); //will wait for infinite time + + ROS_INFO("Action server started, sending goal."); + // send a goal to the action + mobile_manipulator_action::MobilePlatformGoal goal; + goal.goal = {0, 0.1}; + // goal.manuel = {0, 0.1}; + ac.sendGoal(goal); + + //wait for the action to return + bool finished_before_timeout = ac.waitForResult(ros::Duration(50000.0)); + + if (finished_before_timeout) + { + actionlib::SimpleClientGoalState state = ac.getState(); + ROS_INFO("Action finished: %s",state.toString().c_str()); + } + else + ROS_INFO("Action did not finish before the time out."); + + //exit + return 0; +} diff --git a/mobile_manipulator/mobile_manipulator_action/src/action_server.cpp b/mobile_manipulator/mobile_manipulator_action/src/action_server.cpp new file mode 100755 index 0000000..c46dae4 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/src/action_server.cpp @@ -0,0 +1,164 @@ +#include +#include +#include +#include +#include +#include +#include + + +double signnum_c(double x) { + if (x > 0.0) return 1.0; + if (x < 0.0) return -1.0; + return x; +} + +class MobilePlatformAction +{ +protected: + float odom_pos_x; + float odom_lin_x; + int cancel; + + ros::NodeHandle nh_; + actionlib::SimpleActionServer as_; +// NodeHandle instance must be created before this line. Otherwise strange error occurs. + std::string action_name_; + // create messages that are used to published feedback/result + mobile_manipulator_action::MobilePlatformFeedback feedback_; + mobile_manipulator_action::MobilePlatformResult result_; + ros::Publisher cmd_pub = nh_.advertise("cmd_vel", 1000); + geometry_msgs::Twist cmd_msg; + ros::Subscriber sub_ = nh_.subscribe("odom", 1000, &MobilePlatformAction::odomCallback, this); + ros::Subscriber sub_cancel_ = nh_.subscribe("mp_action/cancel", 1000, &MobilePlatformAction::actionCancelCallback, this); + +public: + + MobilePlatformAction(std::string name) : + as_(nh_, name, boost::bind(&MobilePlatformAction::executeCB, this, _1), false), + action_name_(name) + { + as_.start(); + } + + ~MobilePlatformAction(void) + { + } + + void executeCB(const mobile_manipulator_action::MobilePlatformGoalConstPtr &goal) + { + // helper variables + float rate_param = 20.0; + ros::Rate r(rate_param); + bool success = false; + float vel, acc_param; + float diff = 0; + bool pose_status = false; + bool move_forward = true; + success = false; + cancel = 0; + // publish info to the console for the user + ROS_INFO("Executing, creating fibonacci sequence of order"); + + // start executing the action + + if (goal->manuel.size() > 0){ + + float manuel_dir = goal->manuel[0]; + float manuel_vel = goal->manuel[1]; + cmd_msg.linear.x = manuel_dir * manuel_vel; + cmd_pub.publish(cmd_msg); + success = true; + feedback_.status = 1; + result_.result = 1; + } + + if (goal->goal.size()>0){ + float goal_vel = std::abs(goal->goal[0]); + float goal_pose = goal->goal[1]; + if (goal_vel > 0.25){ + goal_vel = 0; + } + while (!success){ + if (cancel == 1){ + cmd_msg.linear.x = 0; + cmd_pub.publish(cmd_msg); + feedback_.status = 0; + result_.result = 0; + success = true; + } + if (odom_pos_x) + { + std::cout<<"pose"< std::abs(goal_vel)){ + vel += acc_param; + move_forward = true; + if (std::abs(vel) > std::abs(goal_vel)){ + vel = signnum_c(diff) * goal_vel; + } + } + else{ + if (!move_forward){ + vel = signnum_c(diff) * 0.05; + } + else{ + vel = diff; + } + } + if (std::abs(diff) < 0.005){ + vel = 0; + pose_status = true; + success = true; + feedback_.status = 1; + result_.result = 1; + } + cmd_msg.linear.x = vel; + cmd_pub.publish(cmd_msg); + } + ros::spinOnce(); + + r.sleep(); + } + + } + + if(success) + { + ROS_INFO("%s: Succeeded", action_name_.c_str()); + // set the action state to succeeded + as_.setSucceeded(result_); + } + ros::spinOnce(); + + r.sleep(); + } + + void odomCallback(const nav_msgs::Odometry::ConstPtr& msg) + { + //std::cout<pose.pose.position.x<twist.twist.linear.x<pose.pose.position.x; + odom_lin_x = msg->twist.twist.linear.x; + + } + + void actionCancelCallback(const std_msgs::Int8::ConstPtr& msg) + { + cancel = msg->data; + } +}; + + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "mobile_platform"); + + MobilePlatformAction mobile_platform("mobile_platform"); + ros::spin(); + + return 0; +} diff --git a/mobile_manipulator/mobile_manipulator_action/src/action_server2.cpp b/mobile_manipulator/mobile_manipulator_action/src/action_server2.cpp new file mode 100755 index 0000000..fe73500 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/src/action_server2.cpp @@ -0,0 +1,178 @@ +#include +#include +#include +#include +#include +#include +#include + + +double signnum_c(double x){ + if (x > 0.0) + return 1.0; + if (x < 0.0) + return -1.0; + return x; +} + +class MobilePlatformAction +{ +protected: + float odom_pos_x; + float odom_lin_x; + int cancel; + + ros::NodeHandle nh_; + actionlib::SimpleActionServer as_; +// NodeHandle instance must be created before this line. Otherwise strange error occurs. + std::string action_name_; + // create messages that are used to published feedback/result + mobile_manipulator_action::MobilePlatformFeedback feedback_; + mobile_manipulator_action::MobilePlatformResult result_; + ros::Publisher cmd_pub = nh_.advertise("cmd_vel", 1000); + geometry_msgs::Twist cmd_msg; + ros::Subscriber sub_ = nh_.subscribe("odom", 1000, &MobilePlatformAction::odomCallback, this); + ros::Subscriber sub_cancel_ = nh_.subscribe("mp_action/cancel", 1000, &MobilePlatformAction::actionCancelCallback, this); + +public: + + MobilePlatformAction(std::string name) : + as_(nh_, name, boost::bind(&MobilePlatformAction::executeCB, this, _1), false), + action_name_(name) + { + as_.start(); + } + + ~MobilePlatformAction(void) + { + } + + void executeCB(const mobile_manipulator_action::MobilePlatformGoalConstPtr &goal) + { + // helper variables + float rate_param = 10.0; + ros::Rate r(10); + bool success = false; + float vel, acc_param; + float diff = 0; + bool pose_status = false; + bool move_forward = true; + success = false; + cancel = 0; + // publish info to the console for the user + ROS_INFO("Executing, creating fibonacci sequence of order"); + + // start executing the action + + if (goal->manuel.size() > 0){ + + float manuel_dir = goal->manuel[0]; + float manuel_vel = goal->manuel[1]; + cmd_msg.linear.x = manuel_dir * manuel_vel; + cmd_pub.publish(cmd_msg); + success = true; + feedback_.status = 1; + result_.result = 1; + } + + if (goal->goal.size()>0){ + float goal_vel = goal->goal[0]; + float goal_pose = goal->goal[1]; + + if (goal_vel > 0.25){ + goal_vel = 0.25; + } + else if (goal_vel < 0.0){ + goal_vel = 0.0; + } + + if (goal_pose > 2.08){ + goal_pose = 2.08; + } + else if (goal_pose < 0.0){ + goal_pose = 0.0; + } + + while (!success){ + if (cancel == 1){ + feedback_.status = 0; + result_.result = 0; + success = true; + } + if (odom_pos_x) + { + std::cout<<"pose"< std::abs(goal_vel)){ + vel += acc_param; + } + else if (std::abs(diff) <= std::abs(goal_vel)){ + vel = diff * 0.8; + } + + if (std::abs(vel) > std::abs(goal_vel)){ + vel = signnum_c(diff) * goal_vel; + } + + if (std::abs(vel) < std::abs(acc_param)){ + vel = 0; + } + + if (std::abs(diff) < (std::abs(goal_vel) * 0.2)){ + vel = 0; + pose_status = true; + success = true; + feedback_.status = 1; + result_.result = 1; + } + + cmd_msg.linear.x = vel; + cmd_pub.publish(cmd_msg); + } + ros::spinOnce(); + + r.sleep(); + } + + } + + if(success) + { + ROS_INFO("%s: Succeeded", action_name_.c_str()); + // set the action state to succeeded + as_.setSucceeded(result_); + } + ros::spinOnce(); + + r.sleep(); + } + + void odomCallback(const nav_msgs::Odometry::ConstPtr& msg) + { + //std::cout<pose.pose.position.x<twist.twist.linear.x<pose.pose.position.x; + odom_lin_x = msg->twist.twist.linear.x; + + } + + void actionCancelCallback(const std_msgs::Int8::ConstPtr& msg) + { + cancel = msg->data; + } +}; + + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "mobile_platform"); + + MobilePlatformAction mobile_platform("mobile_platform"); + ros::spin(); + + return 0; +} diff --git a/mobile_manipulator/mobile_manipulator_action/srv/AccelerationService.srv b/mobile_manipulator/mobile_manipulator_action/srv/AccelerationService.srv new file mode 100644 index 0000000..40f47a0 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/srv/AccelerationService.srv @@ -0,0 +1,4 @@ +float64 pos_x +float64 vel_config +--- +string response \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_action/srv/MobilePlatform.srv b/mobile_manipulator/mobile_manipulator_action/srv/MobilePlatform.srv new file mode 100644 index 0000000..c2279af --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/srv/MobilePlatform.srv @@ -0,0 +1,2 @@ +--- +string status diff --git a/mobile_manipulator/mobile_manipulator_action/srv/VelocityService.srv b/mobile_manipulator/mobile_manipulator_action/srv/VelocityService.srv new file mode 100644 index 0000000..97f73fc --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_action/srv/VelocityService.srv @@ -0,0 +1,2 @@ +geometry_msgs/Twist cmd_msg +--- \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_config_v1/.setup_assistant b/mobile_manipulator/mobile_manipulator_config_v1/.setup_assistant new file mode 100644 index 0000000..4556528 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: mobile_manipulator_description + relative_path: urdf/mobile_manipulator.urdf.xacro + xacro_args: "" + SRDF: + relative_path: config/robot.srdf + CONFIG: + author_name: didem + author_email: didem@didem.com + generated_timestamp: 1671461756 \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_config_v1/CMakeLists.txt b/mobile_manipulator/mobile_manipulator_config_v1/CMakeLists.txt new file mode 100644 index 0000000..54a3f79 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.1.3) +project(mobile_manipulator_config_v1) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/cartesian_limits.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/cartesian_limits.yaml new file mode 100644 index 0000000..7df72f6 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/cartesian_limits.yaml @@ -0,0 +1,5 @@ +cartesian_limits: + max_trans_vel: 1 + max_trans_acc: 2.25 + max_trans_dec: -5 + max_rot_vel: 1.57 diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/chomp_planning.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/chomp_planning.yaml new file mode 100644 index 0000000..eb9c912 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.0 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearance: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: false +max_recovery_attempts: 5 diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/fake_controllers.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/fake_controllers.yaml new file mode 100644 index 0000000..00ce021 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/fake_controllers.yaml @@ -0,0 +1,13 @@ +controller_list: + - name: fake_manipulator_controller + type: $(arg fake_execution_type) + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 +initial: # Define initial robot poses per group + - group: manipulator + pose: home \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/gazebo_controllers.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/gazebo_controllers.yaml new file mode 100644 index 0000000..e4d2eb0 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/gazebo_controllers.yaml @@ -0,0 +1,4 @@ +# Publish joint_states +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/joint_limits.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/joint_limits.yaml new file mode 100644 index 0000000..9d01bfa --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/joint_limits.yaml @@ -0,0 +1,40 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.1 +default_acceleration_scaling_factor: 0.1 + +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint1: + has_velocity_limits: true + max_velocity: 5.235987755982989 + has_acceleration_limits: false + max_acceleration: 0 + joint2: + has_velocity_limits: true + max_velocity: 5.235987755982989 + has_acceleration_limits: false + max_acceleration: 0 + joint3: + has_velocity_limits: true + max_velocity: 5.235987755982989 + has_acceleration_limits: false + max_acceleration: 0 + joint4: + has_velocity_limits: true + max_velocity: 8.028514559173916 + has_acceleration_limits: false + max_acceleration: 0 + joint5: + has_velocity_limits: true + max_velocity: 8.028514559173916 + has_acceleration_limits: false + max_acceleration: 0 + joint6: + has_velocity_limits: true + max_velocity: 12.91543646475804 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/kinematics.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/kinematics.yaml new file mode 100644 index 0000000..ad478ed --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/kinematics.yaml @@ -0,0 +1,4 @@ +manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/ompl_planning.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/ompl_planning.yaml new file mode 100644 index 0000000..1659ede --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/ompl_planning.yaml @@ -0,0 +1,158 @@ +planner_configs: + AnytimePathShortening: + type: geometric::AnytimePathShortening + shortcut: true # Attempt to shortcut all new solution paths + hybridize: true # Compute hybrid solution trajectories + max_hybrid_paths: 24 # Number of hybrid paths generated per iteration + num_planners: 4 # The number of default planners to use for planning + planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 +manipulator: + default_planner_config: RRTstar + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + projection_evaluator: joints(joint1,joint2) + longest_valid_segment_fraction: 0.005 diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/robot.srdf b/mobile_manipulator/mobile_manipulator_config_v1/config/robot.srdf new file mode 100644 index 0000000..fdeb790 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/robot.srdf @@ -0,0 +1,177 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/ros_controllers.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/ros_controllers.yaml new file mode 100644 index 0000000..230bcbb --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/ros_controllers.yaml @@ -0,0 +1,40 @@ +manipulator_controller: + type: position_controllers/JointTrajectoryController + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 + gains: + joint1: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint2: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint3: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint4: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint5: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint6: + p: 100 + d: 1 + i: 1 + i_clamp: 1 \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/sensors_3d.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/sensors_3d.yaml new file mode 100644 index 0000000..c0062e1 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/sensors_3d.yaml @@ -0,0 +1,26 @@ +sensors: + - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera1/points + max_range: 5.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera1/filtered_cloud + - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera2/points + max_range: 5.0 + point_subsample: 1 + padding_offset: 0.1 + padding_scale: 1.0 + max_update_rate: 1.0 + filtered_cloud_topic: /camera2/filtered_cloud +# - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater +# point_cloud_topic: depthcam2/points +# max_range: 5.0 +# point_subsample: 1 +# padding_offset: 0.1 +# padding_scale: 1.0 +# max_update_rate: 1.0 +# filtered_cloud_topic: filtered_cloud2 +# [] diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/simple_moveit_controllers.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/simple_moveit_controllers.yaml new file mode 100644 index 0000000..3e0113c --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/simple_moveit_controllers.yaml @@ -0,0 +1,12 @@ +controller_list: + - name: manipulator_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: True + joints: + - joint1 + - joint2 + - joint3 + - joint4 + - joint5 + - joint6 \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_config_v1/config/stomp_planning.yaml b/mobile_manipulator/mobile_manipulator_config_v1/config/stomp_planning.yaml new file mode 100644 index 0000000..5484a97 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/config/stomp_planning.yaml @@ -0,0 +1,39 @@ +stomp/manipulator: + group_name: manipulator + optimization: + num_timesteps: 60 + num_iterations: 40 + num_iterations_after_valid: 0 + num_rollouts: 30 + max_rollouts: 30 + initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST] + control_cost_weight: 0.0 + task: + noise_generator: + - class: stomp_moveit/NormalDistributionSampling + stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05] + cost_functions: + - class: stomp_moveit/CollisionCheck + collision_penalty: 1.0 + cost_weight: 1.0 + kernel_window_percentage: 0.2 + longest_valid_joint_move: 0.05 + noisy_filters: + - class: stomp_moveit/JointLimits + lock_start: True + lock_goal: True + - class: stomp_moveit/MultiTrajectoryVisualization + line_width: 0.02 + rgb: [255, 255, 0] + marker_array_topic: stomp_trajectories + marker_namespace: noisy + update_filters: + - class: stomp_moveit/PolynomialSmoother + poly_order: 6 + - class: stomp_moveit/TrajectoryVisualization + line_width: 0.05 + rgb: [0, 191, 255] + error_rgb: [255, 0, 0] + publish_intermediate: True + marker_topic: stomp_trajectory + marker_namespace: optimized \ No newline at end of file diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/chomp_planning_pipeline.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..7c9b794 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/default_warehouse_db.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/default_warehouse_db.launch new file mode 100644 index 0000000..cb2b8d9 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/demo.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/demo.launch new file mode 100644 index 0000000..967380b --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/demo.launch @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/demo_gazebo.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/demo_gazebo.launch new file mode 100644 index 0000000..a9f320c --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/demo_gazebo.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/fake_moveit_controller_manager.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..cddb173 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/gazebo.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/gazebo.launch new file mode 100644 index 0000000..4c478cc --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/gazebo.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/joystick_control.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/joystick_control.launch new file mode 100644 index 0000000..9411f6e --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/move_group.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/move_group.launch new file mode 100644 index 0000000..76443a4 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/move_group.launch @@ -0,0 +1,101 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/moveit.rviz b/mobile_manipulator/mobile_manipulator_config_v1/launch/moveit.rviz new file mode 100644 index 0000000..2530b2d --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/moveit.rviz @@ -0,0 +1,177 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + Splitter Ratio: 0.5 + Tree Height: 226 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +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 + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: false + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: "" + Loop Animation: true + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Use Sim Time: false + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: "" + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: "" + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 0.1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: ota_base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.75 + Focal Point: + X: -0.10000000149011612 + Y: 0.25 + Z: 0.30000001192092896 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5 + Target Frame: ota_base_link + Yaw: -0.6232355833053589 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 848 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1291 + X: 454 + Y: 27 diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/moveit_rviz.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/moveit_rviz.launch new file mode 100644 index 0000000..a4605c0 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/ompl-chomp_planning_pipeline.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/ompl-chomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..b078992 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/ompl-chomp_planning_pipeline.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/ompl_planning_pipeline.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 0000000..2306900 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml new file mode 100644 index 0000000..c7c4cf5 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/planning_context.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/planning_context.launch new file mode 100644 index 0000000..1b42262 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/planning_context.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/planning_pipeline.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/planning_pipeline.launch.xml new file mode 100644 index 0000000..4b4d0d6 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/robot_description.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/robot_description.launch new file mode 100644 index 0000000..a12df9c --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/robot_description.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/robot_moveit_sensor_manager.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/robot_moveit_sensor_manager.launch.xml new file mode 100644 index 0000000..5d02698 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/robot_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/ros_control_moveit_controller_manager.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/ros_control_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..9ebc91c --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/ros_control_moveit_controller_manager.launch.xml @@ -0,0 +1,4 @@ + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/ros_controllers.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/ros_controllers.launch new file mode 100644 index 0000000..80b8b8a --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/run_benchmark_ompl.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..febde2a --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/run_benchmark_ompl.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/sensor_manager.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/sensor_manager.launch.xml new file mode 100644 index 0000000..0e291bb --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/setup_assistant.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/setup_assistant.launch new file mode 100644 index 0000000..d598725 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/setup_assistant.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/simple_moveit_controller_manager.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/simple_moveit_controller_manager.launch.xml new file mode 100644 index 0000000..9d35646 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/simple_moveit_controller_manager.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/stomp_planning_pipeline.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/stomp_planning_pipeline.launch.xml new file mode 100644 index 0000000..b9f72b0 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/stomp_planning_pipeline.launch.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/trajectory_execution.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/trajectory_execution.launch.xml new file mode 100644 index 0000000..20c3dfc --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/trajectory_execution.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/warehouse.launch b/mobile_manipulator/mobile_manipulator_config_v1/launch/warehouse.launch new file mode 100644 index 0000000..0712e67 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/launch/warehouse_settings.launch.xml b/mobile_manipulator/mobile_manipulator_config_v1/launch/warehouse_settings.launch.xml new file mode 100644 index 0000000..e473b08 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mobile_manipulator/mobile_manipulator_config_v1/package.xml b/mobile_manipulator/mobile_manipulator_config_v1/package.xml new file mode 100644 index 0000000..cf9e581 --- /dev/null +++ b/mobile_manipulator/mobile_manipulator_config_v1/package.xml @@ -0,0 +1,41 @@ + + + mobile_manipulator_config_v1 + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the robot with the MoveIt Motion Planning Framework + + didem + didem + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners_ompl + moveit_ros_visualization + moveit_setup_assistant + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz + tf2_ros + xacro + + + + + + mobile_manipulator_description + + + diff --git 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