ROS机器人程序设计(原书第2版)_源码
ROS机器人程序设计(原书第2版)_源码
ROS机器人程序设计(原书第2版)_源码
代码片段和文件信息
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
....... 118 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialschapter10_tutorialsCMakeLists.txt
....... 564 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialschapter10_tutorialspackage.xml
....... 146480 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialsimages
osbook_arm_moveit.png
....... 116044 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialsimages
osbook_arm_moveit_no_controllers.png
....... 1523 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialsLICENSE
....... 1798 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialsREADME.md
....... 251 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringupCMakeLists.txt
....... 213 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringupconfigapproach_planner.yaml
....... 832 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringupconfig
osbook_arm_motions.yaml
....... 366 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringuplaunchplay_motion.launch
....... 615 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringuplaunch
osbook_arm_bringup.launch
....... 657 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringuppackage.xml
....... 261 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configurationCMakeLists.txt
....... 366 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configurationlaunchdefault_controllers.launch
....... 585 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configurationpackage.xml
....... 268 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configuration_gazeboCMakeLists.txt
....... 933 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configuration_gazeboconfigjoint_trajectory_controllers.yaml
....... 569 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configuration_gazeboconfigpids.yaml
....... 462 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configuration_gazebopackage.xml
....... 274 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_descriptionCMakeLists.txt
....... 1373 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_descriptionconfigjoint_limits.yaml
....... 298 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_descriptiongazebogazebo.urdf.xacro
....... 407425 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_descriptionmeshessensorsxtion_pro_livextion_pro_live.dae
....... 325 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_descriptionmeshessensorsxtion_pro_livextion_pro_live.png
....... 378 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_descriptionpackage.xml
....... 815 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_description
obots
osbook_arm_base.urdf.xacro
....... 1185 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_description
obots
osbook_arm_rgbd.urdf.xacro
....... 366 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_description
obotsupload_rosbook_arm.launch
....... 2239 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_descriptionurdfarmarm.gazebo.xacro
....... 621 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_descriptionurdfarmarm.transmission.xacro
............此处省略388个文件信息
#include
#include
#include
#include
#include
#include
namespace rosbook_arm_hardware_gazebo
{
using namespace hardware_interface;
ROSBookArmHardwareGazebo::ROSBookArmHardwareGazebo()
: gazebo_ros_control::RobotHWSim()
{}
bool ROSBookArmHardwareGazebo::initSim(const std::string& robot_namespace
ros::NodeHandle nh
gazebo::physics::ModelPtr model
const urdf::Model* const urdf_model
std::vector transmissions)
{
using gazebo::physics::JointPtr;
// Cleanup
sim_joints_.clear();
jnt_pos_.clear();
jnt_vel_.clear();
jnt_eff_.clear();
jnt_pos_cmd_.clear();
// Simulation joints
sim_joints_ = model->GetJoints();
n_dof_ = sim_joints_.size();
std::vector jnt_names;
for (size_t i = 0; i < n_dof_; ++i)
{
jnt_names.push_back(sim_joints_[i]->GetName());
}
// Raw data
jnt_pos_.resize(n_dof_);
jnt_vel_.resize(n_dof_);
jnt_eff_.resize(n_dof_);
jnt_pos_cmd_.resize(n_dof_);
// Hardware interfaces
for (size_t i = 0; i < n_dof_; ++i)
{
jnt_state_interface_.registerHandle(
JointStateHandle(jnt_names[i] &jnt_pos_[i] &jnt_vel_[i] &jnt_eff_[i]));
jnt_pos_cmd_interface_.registerHandle(
JointHandle(jnt_state_interface_.getHandle(jnt_names[i]) &jnt_pos_cmd_[i]));
ROS_DEBUG_STREAM(“Registered joint ‘“ << jnt_names[i] << “‘ in the PositionJointInterface.“);
}
registerInterface(&jnt_state_interface_);
registerInterface(&jnt_pos_cmd_interface_);
// Position joint limits interface
std::vector cmd_handle_names = jnt_pos_cmd_interface_.getNames();
for (size_t i = 0; i < n_dof_; ++i)
{
const std::string name = cmd_handle_names[i];
JointHandle cmd_handle = jnt_pos_cmd_interface_.getHandle(name);
using namespace joint_limits_interface;
boost::shared_ptr urdf_joint = urdf_model->getJoint(name);
JointLimits limits;
SoftJointLimits soft_limits;
if (!getJointLimits(urdf_joint limits) || !getSoftJointLimits(urdf_joint soft_limits))
{
ROS_WARN_STREAM(“Joint limits won‘t be enforced for joint ‘“ << name << “‘.“);
}
else
{
jnt_limits_interface_.registerHandle(
PositionJointSoftLimitsHandle(cmd_handle limits soft_limits));
ROS_DEBUG_STREAM(“Joint limits will be enforced for joint ‘“ << name << “‘.“);
}
}
// PID controllers
pids_.resize(n_dof_);
for (size_t i = 0; i < n_dof_; ++i)
{
ros::NodeHandle joint_nh(nh “gains/“ + jnt_names[i]);
if (!pids_[i].init(joint_nh))
{
return false;
}
}
return
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
....... 118 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialschapter10_tutorialsCMakeLists.txt
....... 564 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialschapter10_tutorialspackage.xm
....... 146480 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialsimages
osbook_arm_moveit.png
....... 116044 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialsimages
osbook_arm_moveit_no_controllers.png
....... 1523 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialsLICENSE
....... 1798 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorialsREADME.md
....... 251 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringupCMakeLists.txt
....... 213 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringupconfigapproach_planner.yaml
....... 832 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringupconfig
osbook_arm_motions.yaml
....... 366 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringuplaunchplay_motion.launch
....... 615 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringuplaunch
osbook_arm_bringup.launch
....... 657 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_bringuppackage.xm
....... 261 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configurationCMakeLists.txt
....... 366 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configurationlaunchdefault_controllers.launch
....... 585 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configurationpackage.xm
....... 268 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configuration_gazeboCMakeLists.txt
....... 933 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configuration_gazeboconfigjoint_trajectory_controllers.yaml
....... 569 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configuration_gazeboconfigpids.yaml
....... 462 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_controller_configuration_gazebopackage.xm
....... 274 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
....... 1373 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
....... 298 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
....... 407425 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
....... 325 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
....... 378 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
....... 815 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
obots
osbook_arm_ba
....... 1185 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
obots
osbook_arm_rgbd.urdf.xacro
....... 366 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
obotsupload_rosbook_arm.launch
....... 2239 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
....... 621 2017-02-22 23:09 ROS机器人程序设计(原书第2版)chapter10_tutorials
osbook_arm_desc
............此处省略388个文件信息
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