Merge pull request #1 from a2s-institute/harley/robot_description

Harley/robot description
HBRS-SDP · Oct 24, 2023 · 591c906 · 591c906
2 parents 2ff2669 + 89eb587
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diff --git a/README.md b/README.md
@@ -1,2 +1,3 @@
 # solo12_robot
+
 Base code for Nala robot (SOLO12 robot from Open Dynamic Robot Initiative)
diff --git a/solo12_bringup/CMakeLists.txt b/solo12_bringup/CMakeLists.txt
@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(solo12_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # comment the line when a copyright and license is added to all source files
+ set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # comment the line when this package is in a git repo and when
+ # a copyright and license is added to all source files
+ set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/solo12_bringup/launch/robot.launch.py b/solo12_bringup/launch/robot.launch.py
@@ -0,0 +1,56 @@
+import os
+import xacro
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+ rviz_config_file = PathJoinSubstitution([FindPackageShare("solo12_description"), "rviz", "solo12.rviz"])
+
+ # Get URDF path
+ urdf_path = os.path.join(get_package_share_directory("solo12_description"), 'urdf', 'solo12.urdf.xacro')
+
+ robot_description = {"robot_description": xacro.process_file(urdf_path).toxml()}
+
+ gazebo = IncludeLaunchDescription(os.path.join(get_package_share_directory("gazebo_ros"), "launch", "gazebo.launch.py"))
+
+ spawn = Node(
+ package="gazebo_ros",
+ executable="spawn_entity.py",
+ name="spawn_entity",
+ arguments=['-topic', "robot_description", "-entity", "solo12"]
+ )
+
+ joint_state_publisher_node = Node(
+ package="joint_state_publisher",
+ executable="joint_state_publisher",
+ )
+
+ robot_state_publisher_node = Node(
+ package="robot_state_publisher",
+ executable="robot_state_publisher",
+ output="both",
+ parameters=[robot_description, {"use_sim_time": True}],
+ )
+
+ rviz_node = Node(
+ package="rviz2",
+ executable="rviz2",
+ name="rviz2",
+ output="log",
+ arguments=["-d", rviz_config_file]
+ )
+
+ return LaunchDescription(
+ [
+ joint_state_publisher_node,
+ robot_state_publisher_node,
+ rviz_node,
+ gazebo,
+ spawn
+ ]
+ )
diff --git a/solo12_bringup/package.xml b/solo12_bringup/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>solo12_bringup</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="[email protected]">jazzy</maintainer>
+ <license>TODO: License declaration</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>
diff --git a/solo12_description/CMakeLists.txt b/solo12_description/CMakeLists.txt
@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(solo12_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(DIRECTORY urdf meshes launch rviz DESTINATION share/${PROJECT_NAME}/)
+
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # comment the line when a copyright and license is added to all source files
+ set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # comment the line when this package is in a git repo and when
+ # a copyright and license is added to all source files
+ set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/solo12_description/README.md b/solo12_description/README.md
@@ -0,0 +1 @@
+# `solo12_description`
diff --git a/solo12_description/launch/test_solo12_description.launch.py b/solo12_description/launch/test_solo12_description.launch.py
@@ -0,0 +1,47 @@
+import os
+import xacro
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+ package_name = "solo12_description"
+
+ rviz_config_file = PathJoinSubstitution([FindPackageShare(package_name), "rviz", "solo12.rviz"])
+
+ # Get URDF path
+ urdf_path = os.path.join(get_package_share_directory(package_name), 'urdf', 'solo12.urdf.xacro')
+
+ robot_description = {"robot_description": xacro.process_file(urdf_path).toxml()}
+
+ joint_state_publisher_node = Node(
+ package="joint_state_publisher_gui",
+ executable="joint_state_publisher_gui",
+ )
+
+ robot_state_publisher_node = Node(
+ package="robot_state_publisher",
+ executable="robot_state_publisher",
+ output="both",
+ parameters=[robot_description, {"use_sim_time": True}],
+ )
+
+ rviz_node = Node(
+ package="rviz2",
+ executable="rviz2",
+ name="rviz2",
+ output="log",
+ arguments=["-d", rviz_config_file]
+ )
+
+ return LaunchDescription(
+ [
+ joint_state_publisher_node,
+ robot_state_publisher_node,
+ rviz_node,
+ ]
+ )
diff --git a/solo12_description/meshes/collision/base.stl b/solo12_description/meshes/collision/base.stl
diff --git a/solo12_description/meshes/collision/hip_fe_fl.stl b/solo12_description/meshes/collision/hip_fe_fl.stl
diff --git a/solo12_description/meshes/collision/hip_fe_fr.stl b/solo12_description/meshes/collision/hip_fe_fr.stl
diff --git a/solo12_description/meshes/collision/hip_fe_hl.stl b/solo12_description/meshes/collision/hip_fe_hl.stl
diff --git a/solo12_description/meshes/collision/hip_fe_hr.stl b/solo12_description/meshes/collision/hip_fe_hr.stl
diff --git a/solo12_description/meshes/collision/isolated_body.stl b/solo12_description/meshes/collision/isolated_body.stl
diff --git a/solo12_description/meshes/collision/isolated_foot.stl b/solo12_description/meshes/collision/isolated_foot.stl
diff --git a/solo12_description/meshes/collision/isolated_lower_leg_left_side.stl b/solo12_description/meshes/collision/isolated_lower_leg_left_side.stl
diff --git a/solo12_description/meshes/collision/isolated_lower_leg_right_side.stl b/solo12_description/meshes/collision/isolated_lower_leg_right_side.stl
diff --git a/solo12_description/meshes/collision/isolated_lower_leg_v2_left_side.stl b/solo12_description/meshes/collision/isolated_lower_leg_v2_left_side.stl
diff --git a/solo12_description/meshes/collision/isolated_lower_leg_v2_right_side.stl b/solo12_description/meshes/collision/isolated_lower_leg_v2_right_side.stl
diff --git a/solo12_description/meshes/collision/isolated_upper_leg_left_side.stl b/solo12_description/meshes/collision/isolated_upper_leg_left_side.stl
diff --git a/solo12_description/meshes/collision/isolated_upper_leg_right_side.stl b/solo12_description/meshes/collision/isolated_upper_leg_right_side.stl
diff --git a/solo12_description/meshes/collision/lower_leg_left_side.stl b/solo12_description/meshes/collision/lower_leg_left_side.stl
diff --git a/solo12_description/meshes/collision/lower_leg_right_side.stl b/solo12_description/meshes/collision/lower_leg_right_side.stl
diff --git a/solo12_description/meshes/collision/upper_leg_left_side.stl b/solo12_description/meshes/collision/upper_leg_left_side.stl
diff --git a/solo12_description/meshes/collision/upper_leg_right_side.stl b/solo12_description/meshes/collision/upper_leg_right_side.stl
diff --git a/solo12_description/package.xml b/solo12_description/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>solo12_description</name>
+ <version>1.0.0</version>
+ <description>Robot description for Solo 12 by the Open Dynamic Robot Initiative</description>
+ <maintainer email="[email protected]">harleylara</maintainer>
+ <license>BSD-3-clause</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <exec_depend>joint_state_publisher_gui</exec_depend>
+ <exec_depend>joint_state_publisher</exec_depend>
+ <exec_depend>urdf</exec_depend>
+ <exec_depend>xacro</exec_depend>
+ <exec_depend>rviz2</exec_depend>
+
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>