Arm and entry

assemble.py

@@ -165,7 +165,7 @@ def __init__(self, pkg_name):
         self.pkg_name = pkg_name
 
     def execute(self, root_dir: str, dep_dir: str, args: List[str]):
-        if not BuildApt.install_list:
+        if not hasattr(BuildApt,'install_list'):
             print_subsec('Caching dpkg install list...')
             BuildApt.install_list = set()
             with open('/var/lib/dpkg/status') as dpkg_status:

project.json

@@ -20,6 +20,20 @@
       "build": {
         "provider": "pip"
       }
+    },
+    {
+      "name": "wresponsecontrol",
+      "repo": "ssh://git@github.com/WisconsinRobotics/wresponsecontrol.git",
+      "build": {
+        "provider": "noop"
+      }
+    },
+    {
+      "name": "moveit",
+      "build": {
+        "package": "ros-noetic-moveit",
+        "provider": "apt"
+      }
     }
   ]
 }

reconfig_arm_urdf.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+gnome-terminal -- roslaunch wroboarm_21 demo_test.launch

src/arm_assembly/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(arm_assembly)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

src/arm_assembly/config/joint_names_arm_assembly.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'turntable', 'shoulder', 'elbow', 'forearm_roll', 'wrist_pitch', 'wrist_roll', ]

src/arm_assembly/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find arm_assembly)/urdf/arm_assembly.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find arm_assembly)/urdf.rviz" />
+</launch>

src/arm_assembly/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find arm_assembly)/urdf/arm_assembly.urdf -urdf -model arm_assembly"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

src/arm_assembly/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>arm_assembly</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for arm_assembly</p>
+    <p>This package contains configuration data, 3D models and launch files
+for arm_assembly robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

src/arm_assembly/urdf/arm_assembly.csv

@@ -0,0 +1,8 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,1.03582841131364E-18,0.015606490089144,1.93574980271696E-18,0,0,0,0.93972387307473,0.00251429022255044,8.65861551705636E-21,-7.37485241366082E-20,0.0044229329573873,2.27711298016934E-20,0.0021336882069818,0,0,0,0,0,0,package://arm_assembly/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://arm_assembly/meshes/base_link.STL,,base-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+shoulderBase_link,-0.0122586821821901,0.128577249577976,-0.00370544350042927,0,0,0,0.996366805002727,0.00652370094208947,0.0010646616036529,0.000283127005277364,0.0050231810993567,6.82113719161566E-05,0.0086334538259584,0,0,0,0,0,0,package://arm_assembly/meshes/shoulderBase_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://arm_assembly/meshes/shoulderBase_link.STL,,Shoulder-1,Origin_turntable,Axis_turntable,turntable,continuous,0,0,0.035865,1.5708,0,-0.25129,base_link,0,1,0,,,,,,,,,,,,
+upperArm_link,0.0143973999054565,-3.20061625687929E-05,0.279348384794928,0,0,0,0.985210343915811,0.0237982224738339,-8.87977733299251E-07,-0.00388532856230119,0.0293594722597602,-7.12944369971275E-06,0.00625034839320104,0,0,0,0,0,0,package://arm_assembly/meshes/upperArm_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://arm_assembly/meshes/upperArm_link.STL,,UpperArm-1,Origin_shoulder,Axis_shoulder,shoulder,continuous,0,0.18098,0.043071,-1.1021,0,0,shoulderBase_link,1,0,0,,,,,,,,,,,,
+forarm_link,1.84574577843932E-15,0.0550154986611603,0.120152803034247,0,0,0,0.517796101730459,0.00404850874710771,2.11419423634673E-18,-1.54871504075976E-17,0.00375548329392274,-0.000377385363706529,0.000788327838226562,0,0,0,0,0,0,package://arm_assembly/meshes/forarm_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://arm_assembly/meshes/forarm_link.STL,,Forarm-1,Origin_elbow,Axis_elbow,elbow,continuous,0,0,0.46634,2.4936,0,0,upperArm_link,1,0,0,,,,,,,,,,,,
+wirstBase_link,-1.94289029309402E-16,-1.66533453693773E-15,0.0987034845564234,0,0,0,0.301763082175337,0.00210344289702837,-2.71050543121376E-19,-2.24971950790742E-18,0.00305016250706558,1.85669622038143E-18,0.00107609106501786,0,0,0,0,0,0,package://arm_assembly/meshes/wirstBase_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://arm_assembly/meshes/wirstBase_link.STL,,WristStructure-1,Origin_forearm_roll,Axis_forearm_roll,forearm_roll,continuous,0,0.04445,0.2285,0,0,0,forarm_link,0,0,1,,,,,,,,,,,,
+wrist_link,4.30211422042248E-16,-2.77555756156289E-17,0,0,0,0,0.447707117943176,0.000367702266904795,1.79994501291539E-19,-7.45388993583784E-19,0.000843427086265753,-1.35525271560688E-20,0.00084474612356066,0,0,0,0,0,0,package://arm_assembly/meshes/wrist_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://arm_assembly/meshes/wrist_link.STL,,Wrist-1,Origin_wrist_pitch,Axis_wrist_pitch,wrist_pitch,continuous,0,0,0.23716,-1.333,0,0,wirstBase_link,1,0,0,,,,,,,,,,,,
+manipulator_link,-0.000730323740460503,-0.000899365669252,0.0490560099953423,0,0,0,0.397420225554811,0.00159684305263878,-3.07243227891656E-06,2.53235579936151E-05,0.0016343224414688,5.00292290874635E-05,0.000256322563994287,0,0,0,0,0,0,package://arm_assembly/meshes/manipulator_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://arm_assembly/meshes/manipulator_link.STL,,Manipulator-1,Origin_wrist_roll,Axis_wrist_roll,wrist_roll,continuous,0,0,0,0,0,0.096862,wrist_link,0,0,1,,,,,,,,,,,,