├── Chapter01and02 └── mastering_ros_demo_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ └── Demo_action.action │ ├── launch │ ├── demo_msg.launch │ ├── demo_service.launch │ └── demo_topic.launch │ ├── msg │ └── demo_msg.msg │ ├── package.xml │ ├── src │ ├── demo_action_client.cpp │ ├── demo_action_server.cpp │ ├── demo_msg_publisher.cpp │ ├── demo_msg_subscriber.cpp │ ├── demo_service_client.cpp │ ├── demo_service_server.cpp │ ├── demo_topic_publisher.cpp │ └── demo_topic_subscriber.cpp │ ├── srv │ └── demo_srv.srv │ └── tracks.yaml ├── Chapter03 └── mastering_ros_robot_description_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ ├── view_arm.launch │ ├── view_demo.launch │ ├── view_mobile_robot.launch │ ├── view_pan_tilt_urdf.launch │ └── view_pan_tilt_xacro.launch │ ├── meshes │ ├── caster_wheel.stl │ └── sensors │ │ └── xtion_pro_live │ │ ├── xtion_pro_live.dae │ │ └── xtion_pro_live.png │ ├── package.xml │ ├── urdf.rviz │ ├── urdf.vcg │ └── urdf │ ├── diff_wheeled_robot.urdf │ ├── diff_wheeled_robot.xacro │ ├── diff_wheeled_robot_with_laser.xacro │ ├── grasp_object.urdf │ ├── grasp_object.xacro │ ├── pan_tilt.urdf │ ├── pan_tilt.xacro │ ├── pan_tilt_generated.urdf │ ├── sensors │ ├── xtion_pro_live.gazebo.xacro │ └── xtion_pro_live.urdf.xacro │ ├── seven_dof_arm.urdf │ ├── seven_dof_arm.xacro │ ├── seven_dof_arm_with_rgbd.xacro │ └── wheel.urdf.xacro ├── Chapter04 ├── diff_wheeled_robot_control │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── joint_position_control.yaml │ ├── launch │ │ └── keyboard_teleop.launch │ ├── package.xml │ └── scripts │ │ └── diff_wheeled_robot_key ├── diff_wheeled_robot_gazebo │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ ├── amcl.launch │ │ ├── diff_wheeled_gazebo.launch │ │ ├── diff_wheeled_gazebo_full.launch │ │ ├── diff_wheeled_gazebo_with_laser.launch │ │ ├── gazebo.rviz │ │ ├── gmapping.launch │ │ ├── includes │ │ │ ├── amcl.launch.xml │ │ │ ├── gmapping.launch.xml │ │ │ └── move_base.launch.xml │ │ └── test_world.launch │ ├── maps │ │ ├── test.pgm │ │ └── test.yaml │ ├── package.xml │ ├── param │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml │ └── world │ │ └── test └── seven_dof_arm_gazebo │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ ├── seven_dof_arm_gazebo_control.yaml │ ├── seven_dof_arm_gazebo_joint_position.yaml │ ├── seven_dof_arm_gazebo_joint_states.yaml │ ├── seven_dof_arm_grasp_data (copy).yaml │ ├── seven_dof_arm_grasp_data.yaml │ └── trajectory_control.yaml │ ├── launch │ ├── grasp_generator_server.launch │ ├── pick_place.launch │ ├── seven_dof_arm_bringup.launch │ ├── seven_dof_arm_bringup_grasping.launch │ ├── seven_dof_arm_bringup_grasping_gpd.launch │ ├── seven_dof_arm_bringup_moveit.launch │ ├── seven_dof_arm_gazebo_control.launch │ ├── seven_dof_arm_gazebo_position.launch │ ├── seven_dof_arm_gazebo_states.launch │ ├── seven_dof_arm_trajectory_controller.launch │ ├── seven_dof_arm_with_rgbd_world.launch │ ├── seven_dof_arm_world.launch │ └── seven_dof_arm_world_grasping.launch │ ├── package.xml │ ├── scripts │ ├── pick_and_place.py │ ├── pick_and_place_both_working_good.py │ ├── pick_and_place_pick_working.py │ └── pick_and_place_working_1.py │ └── worlds │ ├── grasp_final.sdf │ └── grasping.world ├── Chapter05 ├── vrep_common │ ├── CMakeLists.txt │ ├── README.md │ ├── mainpage.dox │ ├── msg │ │ ├── ForceSensorData.msg │ │ ├── JointSetStateData.msg │ │ ├── ObjectGroupData.msg │ │ ├── ProximitySensorData.msg │ │ ├── ScriptFunctionCallData.msg │ │ ├── VisionSensorData.msg │ │ ├── VisionSensorDepthBuff.msg │ │ └── VrepInfo.msg │ ├── package.xml │ └── srv │ │ ├── simRosAddStatusbarMessage.srv │ │ ├── simRosAppendStringSignal.srv │ │ ├── simRosAuxiliaryConsoleClose.srv │ │ ├── simRosAuxiliaryConsoleOpen.srv │ │ ├── simRosAuxiliaryConsolePrint.srv │ │ ├── simRosAuxiliaryConsoleShow.srv │ │ ├── simRosBreakForceSensor.srv │ │ ├── simRosCallScriptFunction.srv │ │ ├── simRosClearFloatSignal.srv │ │ ├── simRosClearIntegerSignal.srv │ │ ├── simRosClearStringSignal.srv │ │ ├── simRosCloseScene.srv │ │ ├── simRosCopyPasteObjects.srv │ │ ├── simRosCreateDummy.srv │ │ ├── simRosDisablePublisher.srv │ │ ├── simRosDisableSubscriber.srv │ │ ├── simRosDisplayDialog.srv │ │ ├── simRosEnablePublisher.srv │ │ ├── simRosEnableSubscriber.srv │ │ ├── simRosEndDialog.srv │ │ ├── simRosEraseFile.srv │ │ ├── simRosGetAndClearStringSignal.srv │ │ ├── simRosGetArrayParameter.srv │ │ ├── simRosGetBooleanParameter.srv │ │ ├── simRosGetCollectionHandle.srv │ │ ├── simRosGetCollisionHandle.srv │ │ ├── simRosGetDialogInput.srv │ │ ├── simRosGetDialogResult.srv │ │ ├── simRosGetDistanceHandle.srv │ │ ├── simRosGetFloatSignal.srv │ │ ├── simRosGetFloatingParameter.srv │ │ ├── simRosGetInfo.srv │ │ ├── simRosGetIntegerParameter.srv │ │ ├── simRosGetIntegerSignal.srv │ │ ├── simRosGetJointMatrix.srv │ │ ├── simRosGetJointState.srv │ │ ├── simRosGetLastErrors.srv │ │ ├── simRosGetModelProperty.srv │ │ ├── simRosGetObjectChild.srv │ │ ├── simRosGetObjectFloatParameter.srv │ │ ├── simRosGetObjectGroupData.srv │ │ ├── simRosGetObjectHandle.srv │ │ ├── simRosGetObjectIntParameter.srv │ │ ├── simRosGetObjectParent.srv │ │ ├── simRosGetObjectPose.srv │ │ ├── simRosGetObjectSelection.srv │ │ ├── simRosGetObjects.srv │ │ ├── simRosGetStringParameter.srv │ │ ├── simRosGetStringSignal.srv │ │ ├── simRosGetUIButtonProperty.srv │ │ ├── simRosGetUIEventButton.srv │ │ ├── simRosGetUIHandle.srv │ │ ├── simRosGetUISlider.srv │ │ ├── simRosGetVisionSensorDepthBuffer.srv │ │ ├── simRosGetVisionSensorImage.srv │ │ ├── simRosLoadModel.srv │ │ ├── simRosLoadScene.srv │ │ ├── simRosLoadUI.srv │ │ ├── simRosPauseSimulation.srv │ │ ├── simRosReadCollision.srv │ │ ├── simRosReadDistance.srv │ │ ├── simRosReadForceSensor.srv │ │ ├── simRosReadProximitySensor.srv │ │ ├── simRosReadVisionSensor.srv │ │ ├── simRosRemoveModel.srv │ │ ├── simRosRemoveObject.srv │ │ ├── simRosRemoveUI.srv │ │ ├── simRosSetArrayParameter.srv │ │ ├── simRosSetBooleanParameter.srv │ │ ├── simRosSetFloatSignal.srv │ │ ├── simRosSetFloatingParameter.srv │ │ ├── simRosSetIntegerParameter.srv │ │ ├── simRosSetIntegerSignal.srv │ │ ├── simRosSetJointForce.srv │ │ ├── simRosSetJointPosition.srv │ │ ├── simRosSetJointState.srv │ │ ├── simRosSetJointTargetPosition.srv │ │ ├── simRosSetJointTargetVelocity.srv │ │ ├── simRosSetModelProperty.srv │ │ ├── simRosSetObjectFloatParameter.srv │ │ ├── simRosSetObjectIntParameter.srv │ │ ├── simRosSetObjectParent.srv │ │ ├── simRosSetObjectPose.srv │ │ ├── simRosSetObjectPosition.srv │ │ ├── simRosSetObjectQuaternion.srv │ │ ├── simRosSetObjectSelection.srv │ │ ├── simRosSetSphericalJointMatrix.srv │ │ ├── simRosSetStringSignal.srv │ │ ├── simRosSetUIButtonLabel.srv │ │ ├── simRosSetUIButtonProperty.srv │ │ ├── simRosSetUISlider.srv │ │ ├── simRosSetVisionSensorImage.srv │ │ ├── simRosStartSimulation.srv │ │ ├── simRosStopSimulation.srv │ │ ├── simRosSynchronous.srv │ │ ├── simRosSynchronousTrigger.srv │ │ └── simRosTransferFile.srv ├── vrep_demo_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── scene │ │ ├── demo_publisher_subscriber.ttt │ │ ├── mobile_robot.ttt │ │ ├── plugin_publisher_subscriber.ttt │ │ └── seven_dof_arm.ttt │ ├── src │ │ ├── start_stop_scene.cpp │ │ └── start_stop_scene_with_msg.cpp │ └── urdf │ │ ├── seven_dof_arm.urdf │ │ └── seven_dof_arm.xacro └── vrep_plugin │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ ├── luaFunctionData.h │ ├── luaFunctionDataItem.h │ ├── v_repConst.h │ ├── v_repLib.h │ ├── v_repTypes.h │ └── vrep_plugin │ │ ├── ROS_server.h │ │ ├── vrepSubscriber.h │ │ └── vrep_plugin.h │ ├── mainpage.dox │ ├── package.xml │ └── src │ ├── ROS_server.cpp │ ├── luaFunctionData.cpp │ ├── luaFunctionDataItem.cpp │ ├── v_repLib.cpp │ ├── vrepSubscriber.cpp │ └── vrep_plugin.cpp ├── Chapter06 └── seven_dof_arm_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ ├── controllers.yaml │ ├── fake_controllers.yaml │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── sensors_kinect_depthmap.yaml │ ├── sensors_kinect_pointcloud.yaml │ ├── sensors_rgbd.yaml │ └── seven_dof_arm.srdf │ ├── launch │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── fake_moveit_controller_manager.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_planning_execution.launch │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── seven_dof_arm_moveit_controller_manager.launch │ ├── seven_dof_arm_moveit_controller_manager.launch.xml │ ├── seven_dof_arm_moveit_sensor_manager.launch.xml │ ├── trajectory_execution.launch.xml │ ├── warehouse.launch │ └── warehouse_settings.launch.xml │ └── package.xml ├── Chapter07 ├── gazebo_basic_world_plugin │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── hello.world │ └── hello_world.cc ├── nodelet_hello_world │ ├── CMakeLists.txt │ ├── README.md │ ├── hello_world.launch │ ├── hello_world.xml │ ├── package.xml │ └── src │ │ └── hello_world.cpp └── plugin_calculator │ ├── CMakeLists.txt │ ├── README.md │ ├── calculator_plugins.xml │ ├── include │ └── pluginlib_calculator │ │ ├── calculator_base.h │ │ └── calculator_plugins.h │ ├── package.xml │ └── src │ ├── calculator_loader.cpp │ └── calculator_plugins.cpp ├── Chapter08 ├── my_controller │ ├── CMakeLists.txt │ ├── README.md │ ├── controller_plugins.xml │ ├── launch │ │ ├── my_controller.launch │ │ └── seven_dof_arm_world.launch │ ├── my_controller.yaml │ ├── package.xml │ ├── src │ │ ├── my_controller.cpp │ │ └── my_controller.h │ └── urdf │ │ ├── diff_wheeled_robot.urdf │ │ ├── diff_wheeled_robot.xacro │ │ ├── grasp_object.urdf │ │ ├── grasp_object.xacro │ │ ├── pan_tilt.urdf │ │ ├── pan_tilt.xacro │ │ ├── pan_tilt_generated.urdf │ │ ├── sensors │ │ ├── xtion_pro_live.gazebo.xacro │ │ └── xtion_pro_live.urdf.xacro │ │ ├── seven_dof_arm.urdf │ │ ├── seven_dof_arm.xacro │ │ ├── seven_dof_arm_with_rgbd.xacro │ │ └── wheel.urdf.xacro └── rviz_teleop_commander │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ ├── plugin_description.xml │ └── src │ ├── teleop_pad.cpp │ └── teleop_pad.h ├── Chapter09 ├── Arduino │ ├── ADXL3xx_ROS │ │ ├── ADXL.fzz │ │ └── ADXL3xx_ROS.ino │ ├── Hello_Publisher │ │ └── Hello_Publisher.ino │ ├── Odom │ │ └── Odom.ino │ ├── Ultrasonic │ │ ├── Ultrasonic.ino │ │ └── Untitled Sketch 2.fzz │ └── button_example │ │ └── button_example.ino └── ros_wiring_examples │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── blink.cpp │ └── button.cpp ├── Chapter10 ├── apriltags_ros_demo │ ├── CMakeLists.txt │ ├── README.md │ ├── bags │ │ └── objects.bag │ ├── launch │ │ └── apriltags_ros_objects.launch │ └── package.xml ├── cv_bridge_tutorial_pkg │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ │ └── sample_cv_bridge_node.cpp └── pcl_ros_tutorial │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── src │ ├── pcl_filter.cpp │ ├── pcl_publisher.cpp │ ├── pcl_read.cpp │ └── pcl_write.cpp ├── Chapter11 ├── chefbot_navig_cpp │ ├── CMakeLists.txt │ ├── launch │ │ └── robot_standalone.launch │ ├── package.xml │ └── src │ │ ├── bkup │ │ ├── diff_tf (copy).cpp │ │ ├── odometry_.cpp │ │ ├── wheel_odometry (copy).cpp │ │ └── wheel_odometry.cpp │ │ ├── diff_tf.cpp │ │ └── twist_to_motor.cpp ├── chefbot_ros_pkg │ ├── README.md │ ├── chefbot │ │ ├── chefbot_bringup │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ │ ├── 3dsensor.launch │ │ │ │ ├── amcl_demo.launch │ │ │ │ ├── gmapping_demo.launch │ │ │ │ ├── includes │ │ │ │ │ ├── amcl.launch.xml │ │ │ │ │ ├── gmapping.launch.xml │ │ │ │ │ ├── move_base.launch.xml │ │ │ │ │ ├── safety_controller.launch.xml │ │ │ │ │ └── velocity_smoother.launch.xml │ │ │ │ ├── keyboard_teleop.launch │ │ │ │ ├── model_robot.launch │ │ │ │ ├── robot_standalone.launch │ │ │ │ ├── view_navigation.launch │ │ │ │ └── view_robot.launch │ │ │ ├── map │ │ │ │ ├── hotel1.pgm │ │ │ │ └── hotel1.yaml │ │ │ ├── package.xml │ │ │ ├── param │ │ │ │ ├── .svn │ │ │ │ │ ├── all-wcprops │ │ │ │ │ ├── entries │ │ │ │ │ └── text-base │ │ │ │ │ │ ├── ardros.yaml.svn-base │ │ │ │ │ │ ├── joystick.yaml.svn-base │ │ │ │ │ │ └── teleop.yaml.svn-base │ │ │ │ ├── ardros.yaml │ │ │ │ ├── base_local_planner_params.yaml │ │ │ │ ├── board_config.yaml │ │ │ │ ├── costmap_common_params.yaml │ │ │ │ ├── dwa_local_planner_params.yaml │ │ │ │ ├── encoders.yaml │ │ │ │ ├── global_costmap_params.yaml │ │ │ │ ├── joystick.yaml │ │ │ │ ├── local_costmap_params.yaml │ │ │ │ ├── move_base_params.yaml │ │ │ │ ├── mux.yaml │ │ │ │ ├── serial.yaml │ │ │ │ └── teleop.yaml │ │ │ ├── rviz │ │ │ │ ├── model.rviz │ │ │ │ ├── navigation.rviz │ │ │ │ └── robot.rviz │ │ │ ├── scripts │ │ │ │ ├── SerialDataGateway.py │ │ │ │ ├── SerialDataGateway.pyc │ │ │ │ ├── bkup_working │ │ │ │ │ ├── DeadReckoning.py │ │ │ │ │ ├── GoalsSequencer.py │ │ │ │ │ ├── SerialDataGateway.pyc │ │ │ │ │ ├── arduino (copy).py │ │ │ │ │ ├── arduino.py │ │ │ │ │ ├── arduino.py_bkup │ │ │ │ │ ├── arduino_bkup.py │ │ │ │ │ ├── base_controller.py │ │ │ │ │ ├── err │ │ │ │ │ ├── launchpad_node (copy).py │ │ │ │ │ ├── launchpad_process_node.py │ │ │ │ │ ├── launchpad_robot_teleop_key │ │ │ │ │ ├── lpid_velocity.py │ │ │ │ │ ├── murray_demo.py │ │ │ │ │ ├── murray_demo_test.py │ │ │ │ │ ├── pid_velocity_sim.py │ │ │ │ │ ├── rpid_velocity.py │ │ │ │ │ ├── velocityLogger.py │ │ │ │ │ ├── velocityLogger.pyc │ │ │ │ │ ├── virtual_joystick.py │ │ │ │ │ ├── wheel_loopback.py │ │ │ │ │ └── wheel_scaler.py │ │ │ │ ├── chefbot_teleop_key │ │ │ │ ├── diff_tf.py │ │ │ │ ├── launchpad_node.py │ │ │ │ ├── pid_velocity.py │ │ │ │ ├── robot_gui.py │ │ │ │ ├── simple_navig_goals.py │ │ │ │ └── twist_to_motors.py │ │ │ └── src │ │ │ │ └── send_robot_goal.cpp │ │ ├── chefbot_description │ │ │ ├── CMakeLists.txt │ │ │ ├── meshes │ │ │ │ ├── base_plate.dae │ │ │ │ ├── create_body.tga │ │ │ │ └── wheel.dae │ │ │ ├── package.xml │ │ │ ├── robots │ │ │ │ ├── chefbot_circles_kinect.urdf.xacro │ │ │ │ └── roomba_circles_kinect.urdf.xacro │ │ │ └── urdf │ │ │ │ ├── bkup │ │ │ │ ├── chefbot_base.urdf.xacro │ │ │ │ ├── chefbot_base_gazebo.urdf.xacro │ │ │ │ ├── chefbot_gazebo.urdf.xacro │ │ │ │ ├── chefbot_library.urdf.xacro │ │ │ │ ├── chefbot_properties.urdf.xacro │ │ │ │ └── common_properties.urdf.xacro │ │ │ │ ├── chefbot_base.urdf.xacro │ │ │ │ ├── chefbot_base.xacro │ │ │ │ ├── chefbot_base_gazebo.urdf.xacro │ │ │ │ ├── chefbot_gazebo.urdf.xacro │ │ │ │ ├── chefbot_library.urdf.xacro │ │ │ │ ├── chefbot_properties.urdf.xacro │ │ │ │ ├── chefbot_rviz_base.urdf.xacro │ │ │ │ ├── chefbot_rviz_library.urdf.xacro │ │ │ │ ├── common_properties.urdf.xacro │ │ │ │ └── sensors │ │ │ │ ├── asus_xtion_pro.urdf.xacro │ │ │ │ └── kinect.urdf.xacro │ │ └── chefbot_simulator │ │ │ └── chefbot_gazebo │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ ├── amcl_demo.launch │ │ │ ├── chefbot_empty_world.launch │ │ │ ├── chefbot_hotel_world.launch │ │ │ ├── chefbot_playground.launch │ │ │ ├── chefbot_room_world.launch │ │ │ └── gmapping_demo.launch │ │ │ ├── maps │ │ │ ├── playground.pgm │ │ │ ├── playground.yaml │ │ │ ├── room.pgm │ │ │ └── room.yaml │ │ │ ├── package.xml │ │ │ └── worlds │ │ │ ├── complete_hotel.sdf │ │ │ ├── empty.world │ │ │ ├── empty_.world │ │ │ ├── original │ │ │ └── empty.world │ │ │ ├── playground.world │ │ │ └── test_room.sdf │ ├── chefbot_navig_cpp │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── robot_standalone.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── bkup │ │ │ ├── diff_tf (copy).cpp │ │ │ ├── odometry_.cpp │ │ │ ├── wheel_odometry (copy).cpp │ │ │ └── wheel_odometry.cpp │ │ │ ├── diff_tf.cpp │ │ │ └── twist_to_motor.cpp │ └── tiva_c_energia_code_final │ │ ├── MPU6050.zip │ │ ├── Messenger.zip │ │ └── new_sensor_sketch_with_dmp.ino └── tiva_c_energia_code_final │ ├── MPU6050.zip │ └── new_sensor_sketch_with_dmp.ino ├── Chapter12 ├── cool_arm │ ├── cool5000_controller │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cool5000.yaml │ │ │ ├── cool5000_trajectory_controller.yaml │ │ │ └── dynamixel_ports.yaml │ │ ├── launch │ │ │ ├── cool5000_controller.launch │ │ │ └── joint_state_aggregator.launch │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── cool5000_play.py │ │ │ ├── cool5000_record.py │ │ │ ├── pose_zero.py │ │ │ └── set_all_torque.py │ │ └── src │ │ │ └── joint_state_aggregator.cpp │ ├── cool5000_description │ │ ├── launch │ │ │ ├── display.launch │ │ │ └── gazebo.launch │ │ ├── manifest.xml │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── index_link.STL │ │ │ ├── index_tip_link.STL │ │ │ ├── link_1.STL │ │ │ ├── link_2.STL │ │ │ ├── link_3.STL │ │ │ ├── link_4.STL │ │ │ ├── link_5.STL │ │ │ ├── link_6.STL │ │ │ ├── link_7.STL │ │ │ ├── middle_link.STL │ │ │ ├── middle_tip_link.STL │ │ │ ├── thumb_base_link.STL │ │ │ ├── thumb_link.STL │ │ │ └── thumb_tip_link.STL │ │ └── robots │ │ │ └── cool5000_description.URDF │ └── cool5000_moveit_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── cool5000_description.srdf │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ └── ompl_planning.yaml │ │ ├── launch │ │ ├── 5k.launch │ │ ├── cool5000_description_moveit_sensor_manager.launch.xml │ │ ├── default_warehouse_db.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ │ └── package.xml └── seven_dof_arm_test │ ├── CMakeLists.txt │ ├── README.md │ ├── grasping_object_model │ ├── model.config │ └── model.sdf │ ├── grasping_table_model │ ├── model.config │ └── model.sdf │ ├── launch │ └── gpd.launch │ ├── package.xml │ └── src │ ├── add_collision_object.cpp │ ├── attach_detach_object.cpp │ ├── check_collision.cpp │ ├── pick_place.cpp │ ├── pick_place_action.cpp │ ├── remove_collision_objct.cpp │ ├── test_custom.cpp │ └── test_random.cpp ├── Chapter13 └── ros_matlab_test │ ├── README.md │ ├── get_laser.m │ ├── plot_laser.m │ ├── publisher.mdl │ ├── publisher_cgxe.mexw64 │ ├── ros_rate.m │ ├── slprj │ ├── _cgxe │ │ ├── publisher │ │ │ ├── info │ │ │ │ ├── SysObjReport.mat │ │ │ │ ├── exported_values.mat │ │ │ │ ├── index.css │ │ │ │ ├── index.html │ │ │ │ ├── resources │ │ │ │ │ ├── Error_document.gif │ │ │ │ │ ├── Fatal_document.gif │ │ │ │ │ ├── Warning_document.gif │ │ │ │ │ ├── cc_sourcecodec.png │ │ │ │ │ ├── collapsible-last.gif │ │ │ │ │ ├── collapsible.gif │ │ │ │ │ ├── cs_document_check.png │ │ │ │ │ ├── cs_document_error.png │ │ │ │ │ ├── cs_document_warning.png │ │ │ │ │ ├── cs_folder_close_check.png │ │ │ │ │ ├── cs_folder_close_error.png │ │ │ │ │ ├── cs_folder_close_warning.png │ │ │ │ │ ├── cs_folder_open_check.png │ │ │ │ │ ├── cs_folder_open_error.png │ │ │ │ │ ├── cs_folder_open_warning.png │ │ │ │ │ ├── css │ │ │ │ │ │ └── coder_app.css │ │ │ │ │ ├── emcvhtml.js │ │ │ │ │ ├── eml_report.css │ │ │ │ │ ├── eml_report_interactions.js │ │ │ │ │ ├── eml_report_layout.js │ │ │ │ │ ├── eml_report_loadable_data.js │ │ │ │ │ ├── expandable-last.gif │ │ │ │ │ ├── expandable.gif │ │ │ │ │ ├── folderclosed.gif │ │ │ │ │ ├── folderopen.gif │ │ │ │ │ ├── help.png │ │ │ │ │ ├── hilite_warning.png │ │ │ │ │ ├── inspect.html │ │ │ │ │ ├── jQuery │ │ │ │ │ │ ├── jquery-1.3.2.min.js │ │ │ │ │ │ ├── jquery-ui-1.7.custom.min.js │ │ │ │ │ │ ├── jquery.hotkeys-0.7.8.js │ │ │ │ │ │ ├── jquery.tablesorter.mod.js │ │ │ │ │ │ └── ui.resizable.css │ │ │ │ │ ├── js │ │ │ │ │ │ └── coder_app.js │ │ │ │ │ ├── leaf-last.gif │ │ │ │ │ ├── leaf.gif │ │ │ │ │ ├── matlab-report-styles.css │ │ │ │ │ ├── mhighlight.css │ │ │ │ │ ├── nav.html │ │ │ │ │ ├── navToolbar.html │ │ │ │ │ ├── nolines_minus.gif │ │ │ │ │ ├── nolines_plus.gif │ │ │ │ │ ├── range_highlighter.js │ │ │ │ │ ├── right_arrow.gif │ │ │ │ │ ├── rtwannotate.js │ │ │ │ │ ├── rtwcodemetricsreport_utils.js │ │ │ │ │ ├── rtwhilite.js │ │ │ │ │ ├── rtwmsg.html │ │ │ │ │ ├── rtwreport.css │ │ │ │ │ ├── rtwreport_utils.js │ │ │ │ │ ├── rtwshrink.js │ │ │ │ │ ├── search.js │ │ │ │ │ ├── spinner.gif │ │ │ │ │ ├── status_failed.png │ │ │ │ │ ├── status_passed.png │ │ │ │ │ ├── status_warning.png │ │ │ │ │ ├── tablesorter_bkgrd.png │ │ │ │ │ ├── texture_blue.png │ │ │ │ │ ├── texture_gray1.png │ │ │ │ │ ├── texture_gray2.png │ │ │ │ │ └── webview_codegen.js │ │ │ │ ├── ros_rate3_mcode.html │ │ │ │ ├── ros_rate3_watch.html │ │ │ │ ├── ros_rate5_mcode.html │ │ │ │ ├── ros_rate5_watch.html │ │ │ │ ├── setupImpl92_mcode.html │ │ │ │ ├── setupImpl92_watch.html │ │ │ │ ├── stepImpl23_mcode.html │ │ │ │ ├── stepImpl23_watch.html │ │ │ │ ├── stepImpl2_mcode.html │ │ │ │ └── stepImpl2_watch.html │ │ │ ├── publisher_Cache.mat │ │ │ └── src │ │ │ │ ├── c_mexapi_version.obj │ │ │ │ ├── csleepfun_windows.obj │ │ │ │ ├── ctimefun_windows.obj │ │ │ │ ├── lccstub.obj │ │ │ │ ├── m_Muaidk3Mt9YKJ8xvv4B4QE.c │ │ │ │ ├── m_Muaidk3Mt9YKJ8xvv4B4QE.h │ │ │ │ ├── m_muaidk3mt9ykj8xvv4b4qe.obj │ │ │ │ ├── modelInterface.h │ │ │ │ ├── multiword_types.h │ │ │ │ ├── publisher_cgxe.bat │ │ │ │ ├── publisher_cgxe.c │ │ │ │ ├── publisher_cgxe.def │ │ │ │ ├── publisher_cgxe.exp │ │ │ │ ├── publisher_cgxe.h │ │ │ │ ├── publisher_cgxe.lib │ │ │ │ ├── publisher_cgxe.lmk │ │ │ │ ├── publisher_cgxe.lmko │ │ │ │ ├── publisher_cgxe.obj │ │ │ │ ├── publisher_cgxe_registry.c │ │ │ │ ├── publisher_cgxe_registry.obj │ │ │ │ ├── roundtolong.obj │ │ │ │ ├── rtwtypes.h │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ └── sfun.map │ │ ├── subscriber │ │ │ ├── src │ │ │ │ ├── c_mexapi_version.obj │ │ │ │ ├── csleepfun_windows.obj │ │ │ │ ├── ctimefun_windows.obj │ │ │ │ ├── lccstub.obj │ │ │ │ ├── m_Muaidk3Mt9YKJ8xvv4B4QE.c │ │ │ │ ├── m_Muaidk3Mt9YKJ8xvv4B4QE.h │ │ │ │ ├── m_muaidk3mt9ykj8xvv4b4qe.obj │ │ │ │ ├── modelInterface.h │ │ │ │ ├── multiword_types.h │ │ │ │ ├── roundtolong.obj │ │ │ │ ├── rtwtypes.h │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ ├── sfun.map │ │ │ │ ├── subscriber_cgxe.bat │ │ │ │ ├── subscriber_cgxe.c │ │ │ │ ├── subscriber_cgxe.def │ │ │ │ ├── subscriber_cgxe.exp │ │ │ │ ├── subscriber_cgxe.h │ │ │ │ ├── subscriber_cgxe.lib │ │ │ │ ├── subscriber_cgxe.lmk │ │ │ │ ├── subscriber_cgxe.lmko │ │ │ │ ├── subscriber_cgxe.obj │ │ │ │ ├── subscriber_cgxe_registry.c │ │ │ │ └── subscriber_cgxe_registry.obj │ │ │ └── subscriber_Cache.mat │ │ ├── turtlebot_orientation_ctrl │ │ │ ├── src │ │ │ │ ├── c_mexapi_version.obj │ │ │ │ ├── csleepfun_windows.obj │ │ │ │ ├── ctimefun_windows.obj │ │ │ │ ├── lccstub.obj │ │ │ │ ├── m_xkq2bYMqTPePvRauP0qkrG.c │ │ │ │ ├── m_xkq2bYMqTPePvRauP0qkrG.h │ │ │ │ ├── m_xkq2bymqtpepvraup0qkrg.obj │ │ │ │ ├── modelInterface.h │ │ │ │ ├── multiword_types.h │ │ │ │ ├── roundtolong.obj │ │ │ │ ├── rtwtypes.h │ │ │ │ ├── rtwtypeschksum.mat │ │ │ │ ├── sfun.map │ │ │ │ ├── turtlebot_orientation_ctrl_cgxe.c │ │ │ │ └── turtlebot_orientation_ctrl_cgxe.h │ │ │ └── turtlebot_orientation_ctrl_Cache.mat │ │ └── turtlebot_orientation_ctrl_v2 │ │ │ └── src │ │ │ ├── c_mexapi_version.obj │ │ │ ├── csleepfun_windows.obj │ │ │ ├── ctimefun_windows.obj │ │ │ ├── lccstub.obj │ │ │ ├── m_xkq2bYMqTPePvRauP0qkrG.c │ │ │ ├── m_xkq2bYMqTPePvRauP0qkrG.h │ │ │ ├── m_xkq2bymqtpepvraup0qkrg.obj │ │ │ ├── modelInterface.h │ │ │ ├── multiword_types.h │ │ │ ├── roundtolong.obj │ │ │ ├── rtwtypes.h │ │ │ ├── rtwtypeschksum.mat │ │ │ └── sfun.map │ ├── _jitprj │ │ ├── jitEngineAccessInfo.mat │ │ ├── s0xqbYforRp0u6UJx6nz5EG.l │ │ ├── s0xqbYforRp0u6UJx6nz5EG.mat │ │ ├── s1Dg24CQLn5WAvDLoLhtOiH.l │ │ ├── s1Dg24CQLn5WAvDLoLhtOiH.mat │ │ ├── s2YIZRvBtiNgQFGe5OxwFd.l │ │ ├── s2YIZRvBtiNgQFGe5OxwFd.mat │ │ ├── s2duBCNSw1s6tRiLQGHbQpG.l │ │ ├── s2duBCNSw1s6tRiLQGHbQpG.mat │ │ ├── s3DXci41BxNdihbbkqDVoHH.l │ │ ├── s3DXci41BxNdihbbkqDVoHH.mat │ │ ├── s48F5Zsn7D9COm5uOrcwUAE.l │ │ ├── s48F5Zsn7D9COm5uOrcwUAE.mat │ │ ├── s4EhI3dfssbbq4837hqq6CD.l │ │ ├── s4EhI3dfssbbq4837hqq6CD.mat │ │ ├── s4MrgU4wKnFqDdEE0mo3v0G.l │ │ ├── s4MrgU4wKnFqDdEE0mo3v0G.mat │ │ ├── s4xB6cQhm6kOzsj9sLjtELB.l │ │ ├── s4xB6cQhm6kOzsj9sLjtELB.mat │ │ ├── s7qFE03TKGvTJboU5m3xuQC.l │ │ ├── s7qFE03TKGvTJboU5m3xuQC.mat │ │ ├── sCAKHc5uWk3Kgg10ducE3tH.l │ │ ├── sCAKHc5uWk3Kgg10ducE3tH.mat │ │ ├── sCB5OHGqw6L0Uid0YvhsfUD.l │ │ ├── sCB5OHGqw6L0Uid0YvhsfUD.mat │ │ ├── sCEz5BAIPUWO5B3JDYrl4FC.l │ │ ├── sCEz5BAIPUWO5B3JDYrl4FC.mat │ │ ├── sG8NfCHUH8QSesOMKv9GgD.l │ │ ├── sG8NfCHUH8QSesOMKv9GgD.mat │ │ ├── sKOZAdA4HdEySpfr2zrh18C.l │ │ ├── sKOZAdA4HdEySpfr2zrh18C.mat │ │ ├── sQVibFb8kVJJ6GqZP0Us7FC.l │ │ ├── sQVibFb8kVJJ6GqZP0Us7FC.mat │ │ ├── sYaLhNhxrgILkpazE2qr35E.l │ │ ├── sYaLhNhxrgILkpazE2qr35E.mat │ │ ├── saIEujhrvzSghQHQRQYglWE.l │ │ ├── saIEujhrvzSghQHQRQYglWE.mat │ │ ├── sbEKcgFxrShGZgvnKlAavXF.l │ │ ├── sbEKcgFxrShGZgvnKlAavXF.mat │ │ ├── scotkviPExTUmYysigoRYnE.l │ │ ├── scotkviPExTUmYysigoRYnE.mat │ │ ├── sfspqkOgC6tNh1rfajImXaG.l │ │ ├── sfspqkOgC6tNh1rfajImXaG.mat │ │ ├── sfxTAv84U0h9y1BRRB65UPG.l │ │ ├── sfxTAv84U0h9y1BRRB65UPG.mat │ │ ├── sgzwpoMFYUg40UN9KZGHA6F.l │ │ ├── sgzwpoMFYUg40UN9KZGHA6F.mat │ │ ├── skVEmkn6iobjYWTz6bPwt2F.l │ │ ├── skVEmkn6iobjYWTz6bPwt2F.mat │ │ ├── sl10Mk3gyPGj8iEmYzi0QVD.l │ │ ├── sl10Mk3gyPGj8iEmYzi0QVD.mat │ │ ├── sm5k462JzL3UVMqZq0iUqdG.l │ │ ├── sm5k462JzL3UVMqZq0iUqdG.mat │ │ ├── smF1G7ulUe0P6mIN1b9p73G.l │ │ ├── smF1G7ulUe0P6mIN1b9p73G.mat │ │ ├── smI1SgsFAw83bLG7MpS61IE.l │ │ ├── smI1SgsFAw83bLG7MpS61IE.mat │ │ ├── soQ164Bu04GgXLHxqKT4YUC.l │ │ ├── soQ164Bu04GgXLHxqKT4YUC.mat │ │ ├── sqGFYnMNkdBR1LYI3VrCbPE.l │ │ ├── sqGFYnMNkdBR1LYI3VrCbPE.mat │ │ ├── sqfADtAxg3R4AhsCAMlXpeD.l │ │ ├── sqfADtAxg3R4AhsCAMlXpeD.mat │ │ ├── szc94GLazneBQTy84sm3LiD.l │ │ └── szc94GLazneBQTy84sm3LiD.mat │ └── _sfprj │ │ ├── EMLReport │ │ ├── 0oKDw236mEndDoqNUyUqpH.mat │ │ ├── emlReportAccessInfo.mat │ │ ├── s0xqbYforRp0u6UJx6nz5EG.mat │ │ ├── s1Dg24CQLn5WAvDLoLhtOiH.mat │ │ ├── s2YIZRvBtiNgQFGe5OxwFd.mat │ │ ├── s2duBCNSw1s6tRiLQGHbQpG.mat │ │ ├── s3DXci41BxNdihbbkqDVoHH.mat │ │ ├── s48F5Zsn7D9COm5uOrcwUAE.mat │ │ ├── s4EhI3dfssbbq4837hqq6CD.mat │ │ ├── s4MrgU4wKnFqDdEE0mo3v0G.mat │ │ ├── s4xB6cQhm6kOzsj9sLjtELB.mat │ │ ├── s7qFE03TKGvTJboU5m3xuQC.mat │ │ ├── sCAKHc5uWk3Kgg10ducE3tH.mat │ │ ├── sCB5OHGqw6L0Uid0YvhsfUD.mat │ │ ├── sCEz5BAIPUWO5B3JDYrl4FC.mat │ │ ├── sG8NfCHUH8QSesOMKv9GgD.mat │ │ ├── sKOZAdA4HdEySpfr2zrh18C.mat │ │ ├── sQVibFb8kVJJ6GqZP0Us7FC.mat │ │ ├── sYaLhNhxrgILkpazE2qr35E.mat │ │ ├── saIEujhrvzSghQHQRQYglWE.mat │ │ ├── sbEKcgFxrShGZgvnKlAavXF.mat │ │ ├── scotkviPExTUmYysigoRYnE.mat │ │ ├── sectaJTKs3ZtbRjQ8ksSPHG.mat │ │ ├── sectajtks3ztbrjq8kssphg │ │ │ ├── exported_values.mat │ │ │ ├── fcn1_mcode.html │ │ │ ├── fcn1_watch.html │ │ │ ├── index.css │ │ │ ├── index.html │ │ │ └── resources │ │ │ │ ├── Error_document.gif │ │ │ │ ├── Fatal_document.gif │ │ │ │ ├── cc_sourcecodec.png │ │ │ │ ├── collapsible.gif │ │ │ │ ├── css │ │ │ │ └── coder_app.css │ │ │ │ ├── emcvhtml.js │ │ │ │ ├── eml_report.css │ │ │ │ ├── expandable-last.gif │ │ │ │ ├── expandable.gif │ │ │ │ ├── folderclosed.gif │ │ │ │ ├── folderopen.gif │ │ │ │ ├── help.png │ │ │ │ ├── hilite_warning.png │ │ │ │ ├── inspect.html │ │ │ │ ├── js │ │ │ │ └── coder_app.js │ │ │ │ ├── leaf-last.gif │ │ │ │ ├── leaf.gif │ │ │ │ ├── mhighlight.css │ │ │ │ ├── nav.html │ │ │ │ ├── navToolbar.html │ │ │ │ ├── nolines_minus.gif │ │ │ │ ├── nolines_plus.gif │ │ │ │ ├── right_arrow.gif │ │ │ │ ├── rtwannotate.js │ │ │ │ ├── rtwhilite.js │ │ │ │ ├── rtwmsg.html │ │ │ │ ├── rtwreport.css │ │ │ │ ├── rtwreport_utils.js │ │ │ │ ├── rtwshrink.js │ │ │ │ ├── search.js │ │ │ │ ├── spinner.gif │ │ │ │ ├── status_failed.png │ │ │ │ ├── status_passed.png │ │ │ │ ├── status_warning.png │ │ │ │ ├── texture_blue.png │ │ │ │ ├── texture_gray1.png │ │ │ │ ├── texture_gray2.png │ │ │ │ └── webview_codegen.js │ │ ├── sfspqkOgC6tNh1rfajImXaG.mat │ │ ├── sfxTAv84U0h9y1BRRB65UPG.mat │ │ ├── sgzwpoMFYUg40UN9KZGHA6F.mat │ │ ├── skVEmkn6iobjYWTz6bPwt2F.mat │ │ ├── sl10Mk3gyPGj8iEmYzi0QVD.mat │ │ ├── sm5k462JzL3UVMqZq0iUqdG.mat │ │ ├── smF1G7ulUe0P6mIN1b9p73G.mat │ │ ├── smI1SgsFAw83bLG7MpS61IE.mat │ │ ├── soQ164Bu04GgXLHxqKT4YUC.mat │ │ ├── sqGFYnMNkdBR1LYI3VrCbPE.mat │ │ ├── sqfADtAxg3R4AhsCAMlXpeD.mat │ │ └── szc94GLazneBQTy84sm3LiD.mat │ │ ├── precompile │ │ ├── 32y1brm87LO2noABU27vmB.mat │ │ ├── 3G6AffamgXolcHrMkHbZUF.mat │ │ ├── 8R0Xr1KAFQw7aP9Z70TBoC.mat │ │ ├── 8nQvraJewKuXNZ4qksaXn.mat │ │ ├── BltifFY0SBumzkR0KaEIfB.mat │ │ ├── CBDQgCClc3tktropzvDgXH.mat │ │ ├── CMBd4vFMlaaHzXsNU9JryG.mat │ │ ├── D8RJje4SIxd8yp9MGwLVoC.mat │ │ ├── ELpGAv0ekwpih4srEEnsfC.mat │ │ ├── Ea3BudD1sMhYrnPUfJab0D.mat │ │ ├── H5NqiiLiawk7dCn1AxYXZG.mat │ │ ├── HMGiODe4L31sJNsUNU8CY.mat │ │ ├── HtJ4lbqFafxem4Lbz3jRz.mat │ │ ├── JZWwrvcd798MfJ5H1xzPvE.mat │ │ ├── LnNvTtEvnMm6K8PxT3NQfG.mat │ │ ├── Luz6ofYXxkHz1PZSNyeIfB.mat │ │ ├── M5yCjqHKbnwZrT3Bk7ZvRD.mat │ │ ├── OhJFCpwxn5GaSEpORo4jeD.mat │ │ ├── SCsLAOQW7qiMMgo9biSLZF.mat │ │ ├── TsDicgrJKo81GVMxWB2MY.mat │ │ ├── WeuGi8ZCALIyZeR9siNkwH.mat │ │ ├── Xbn8y51jvMFO6rHpP0zQID.mat │ │ ├── autoInferAccessInfo.mat │ │ ├── fIrzEa2xyzFdv5QKZ2gDLC.mat │ │ ├── g9sOokx1O0hiCsnnJieME.mat │ │ ├── gsWq0PosPY33fbSufvNCaF.mat │ │ ├── iAhaZDccKUD8n1dYhUXaNB.mat │ │ ├── nvDRgZseVriF6aKd7ejxtF.mat │ │ ├── o9C5bvbG4bAKh9HWIjhzH.mat │ │ ├── q1YIUldBYIE42Y0ZRgU6tD.mat │ │ ├── rvyWRUh0PGQAd2Two2snEH.mat │ │ ├── uBL8pq1g07a4K0yiwZ4ZQB.mat │ │ ├── xYKoeVQ8oswpf9r6P9AjaG.mat │ │ ├── y7Yn2MyREYs0mi2bp9ChU.mat │ │ └── yYW6i41XaWiFYGfzS0Zib.mat │ │ ├── simulationTemplate │ │ └── _self │ │ │ └── sfun │ │ │ └── info │ │ │ └── binfo.mat │ │ ├── turtlebot_orientation_ctrl │ │ └── _self │ │ │ └── sfun │ │ │ └── info │ │ │ └── binfo.mat │ │ └── turtlebot_orientation_ctrl_v2 │ │ └── _self │ │ └── sfun │ │ └── info │ │ └── binfo.mat │ ├── starting_example.mdl │ ├── subscriber.mdl │ ├── subscriber_cgxe.mexw64 │ ├── talker.m │ ├── turtlebot_orientation_ctrl.mdl │ ├── turtlebot_orientation_ctrl_cgxe.mexw64 │ ├── turtlebot_orientation_ctrl_v2_cgxe.mexw64 │ └── vfh_obstacle_avoidance.m ├── Chapter14 ├── abb-kinetic-devel.zip ├── abb_irb6640_moveit_plugins │ ├── CMakeLists.txt │ ├── abb_irb6640_manipulator_ikfast_solver.cpp │ ├── abb_irb6640_manipulator_moveit_ikfast_plugin_description.xml │ ├── ikfastdemo.cpp │ ├── include │ │ └── ikfast.h │ ├── package.xml │ ├── src │ │ ├── abb_irb6640_manipulator_ikfast_moveit_plugin.cpp │ │ └── abb_irb6640_manipulator_ikfast_solver.cpp │ └── update_ikfast_plugin.sh ├── ikfast_demo │ ├── abb_irb6640_185_280.srdf │ ├── compute │ ├── ikfast.h │ ├── ikfast61.cpp │ ├── ikfastdemo.cpp │ ├── irb6640.dae │ ├── irb6640.urdf │ └── output_ikfast61.cpp └── universal_robot-kinetic-devel.zip └── README.md /Chapter01and02/mastering_ros_demo_pkg/action/Demo_action.action: -------------------------------------------------------------------------------- 1 | #goal definition 2 | int32 count 3 | --- 4 | #result definition 5 | int32 final_count 6 | --- 7 | #feedback 8 | int32 current_number 9 | -------------------------------------------------------------------------------- /Chapter01and02/mastering_ros_demo_pkg/launch/demo_msg.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /Chapter01and02/mastering_ros_demo_pkg/launch/demo_service.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /Chapter01and02/mastering_ros_demo_pkg/launch/demo_topic.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /Chapter01and02/mastering_ros_demo_pkg/msg/demo_msg.msg: -------------------------------------------------------------------------------- 1 | string greeting 2 | int32 number 3 | -------------------------------------------------------------------------------- /Chapter01and02/mastering_ros_demo_pkg/srv/demo_srv.srv: -------------------------------------------------------------------------------- 1 | string in 2 | --- 3 | string out 4 | -------------------------------------------------------------------------------- /Chapter03/mastering_ros_robot_description_pkg/launch/view_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /Chapter03/mastering_ros_robot_description_pkg/meshes/caster_wheel.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter03/mastering_ros_robot_description_pkg/meshes/caster_wheel.stl -------------------------------------------------------------------------------- /Chapter03/mastering_ros_robot_description_pkg/meshes/sensors/xtion_pro_live/xtion_pro_live.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter03/mastering_ros_robot_description_pkg/meshes/sensors/xtion_pro_live/xtion_pro_live.png -------------------------------------------------------------------------------- /Chapter04/diff_wheeled_robot_control/config/joint_position_control.yaml: -------------------------------------------------------------------------------- 1 | joint_state_controller: 2 | type: joint_state_controller/JointStateController 3 | publish_rate: 10 4 | -------------------------------------------------------------------------------- /Chapter04/diff_wheeled_robot_control/launch/keyboard_teleop.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /Chapter04/diff_wheeled_robot_gazebo/maps/test.pgm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter04/diff_wheeled_robot_gazebo/maps/test.pgm -------------------------------------------------------------------------------- /Chapter04/diff_wheeled_robot_gazebo/maps/test.yaml: -------------------------------------------------------------------------------- 1 | image: test.pgm 2 | resolution: 0.050000 3 | origin: [-12.200000, -12.200000, 0.000000] 4 | negate: 0 5 | occupied_thresh: 0.65 6 | free_thresh: 0.196 7 | 8 | -------------------------------------------------------------------------------- /Chapter04/diff_wheeled_robot_gazebo/param/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: /map 3 | robot_base_frame: /base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | transform_tolerance: 0.5 8 | -------------------------------------------------------------------------------- /Chapter04/diff_wheeled_robot_gazebo/param/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: /base_footprint 4 | update_frequency: 5.0 5 | publish_frequency: 2.0 6 | static_map: false 7 | rolling_window: true 8 | width: 4.0 9 | height: 4.0 10 | resolution: 0.05 11 | transform_tolerance: 0.5 12 | -------------------------------------------------------------------------------- /Chapter04/diff_wheeled_robot_gazebo/param/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | # Move base node parameters. For full documentation of the parameters in this file, please see 2 | # 3 | # http://www.ros.org/wiki/move_base 4 | # 5 | shutdown_costmaps: false 6 | 7 | controller_frequency: 5.0 8 | controller_patience: 3.0 9 | 10 | planner_frequency: 1.0 11 | planner_patience: 5.0 12 | 13 | oscillation_timeout: 10.0 14 | oscillation_distance: 0.2 15 | 16 | # local planner - default is trajectory rollout 17 | base_local_planner: "dwa_local_planner/DWAPlannerROS" 18 | -------------------------------------------------------------------------------- /Chapter04/seven_dof_arm_gazebo/config/seven_dof_arm_gazebo_joint_states.yaml: -------------------------------------------------------------------------------- 1 | seven_dof_arm: 2 | # Publish all joint states ----------------------------------- 3 | joint_state_controller: 4 | type: joint_state_controller/JointStateController 5 | publish_rate: 50 6 | 7 | -------------------------------------------------------------------------------- /Chapter04/seven_dof_arm_gazebo/config/seven_dof_arm_grasp_data (copy).yaml: -------------------------------------------------------------------------------- 1 | base_link: 'base_link' 2 | 3 | gripper: 4 | end_effector_name: 'gripper' 5 | 6 | # Default grasp params 7 | joints: ['finger_joint1', 'finger_joint2'] 8 | 9 | pregrasp_posture: [0.0, 0.0] 10 | pregrasp_time_from_start: 4.0 11 | 12 | grasp_posture: [1.0, 1.0] 13 | grasp_time_from_start: 4.0 14 | 15 | postplace_time_from_start: 4.0 16 | 17 | # Desired pose from end effector to grasp [x, y, z] + [R, P, Y] 18 | grasp_pose_to_eef: [0.0, 0.0, 0.0] 19 | grasp_pose_to_eef_rotation: [0.0, 0.0, 0.0] 20 | 21 | end_effector_parent_link: 'gripper_roll_link' 22 | -------------------------------------------------------------------------------- /Chapter04/seven_dof_arm_gazebo/config/seven_dof_arm_grasp_data.yaml: -------------------------------------------------------------------------------- 1 | base_link: 'base_link' 2 | 3 | gripper: 4 | end_effector_name: 'gripper' 5 | 6 | # Default grasp params 7 | joints: ['finger_joint1', 'finger_joint2'] 8 | 9 | pregrasp_posture: [0.0, 0.0] 10 | pregrasp_time_from_start: 4.0 11 | 12 | grasp_posture: [1.0, 1.0] 13 | grasp_time_from_start: 4.0 14 | 15 | postplace_time_from_start: 4.0 16 | 17 | # Desired pose from end effector to grasp [x, y, z] + [R, P, Y] 18 | grasp_pose_to_eef: [0.0, 0.0, 0.0] 19 | grasp_pose_to_eef_rotation: [0.0, 0.0, 0.0] 20 | 21 | end_effector_parent_link: 'gripper_roll_link' 22 | -------------------------------------------------------------------------------- /Chapter04/seven_dof_arm_gazebo/launch/grasp_generator_server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /Chapter04/seven_dof_arm_gazebo/launch/seven_dof_arm_bringup.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Chapter04/seven_dof_arm_gazebo/launch/seven_dof_arm_bringup_grasping.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Chapter04/seven_dof_arm_gazebo/launch/seven_dof_arm_bringup_grasping_gpd.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /Chapter04/seven_dof_arm_gazebo/launch/seven_dof_arm_trajectory_controller.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b vrep_common 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/msg/ForceSensorData.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Int32 sensorState 2 | geometry_msgs/Vector3 force 3 | geometry_msgs/Vector3 torque 4 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/msg/JointSetStateData.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Int32MultiArray handles 2 | std_msgs/UInt8MultiArray setModes 3 | std_msgs/Float32MultiArray values 4 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/msg/ObjectGroupData.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Int32MultiArray handles 2 | std_msgs/Int32MultiArray intData 3 | std_msgs/Float32MultiArray floatData 4 | std_msgs/String stringData 5 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/msg/ProximitySensorData.msg: -------------------------------------------------------------------------------- 1 | geometry_msgs/Point32 detectedPoint 2 | std_msgs/Int32 detectedObject 3 | geometry_msgs/Point32 normalVector 4 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/msg/ScriptFunctionCallData.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Int32MultiArray intData 2 | std_msgs/Float32MultiArray floatData 3 | std_msgs/String stringData 4 | std_msgs/String bufferData 5 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/msg/VisionSensorData.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Int32 triggerState 2 | std_msgs/Float32MultiArray packetData 3 | std_msgs/Int32MultiArray packetSizes 4 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/msg/VisionSensorDepthBuff.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Int32 x 2 | std_msgs/Int32 y 3 | std_msgs/Float32MultiArray data -------------------------------------------------------------------------------- /Chapter05/vrep_common/msg/VrepInfo.msg: -------------------------------------------------------------------------------- 1 | std_msgs/Header headerInfo 2 | std_msgs/Int32 simulatorState 3 | std_msgs/Float32 simulationTime 4 | std_msgs/Float32 timeStep 5 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/package.xml: -------------------------------------------------------------------------------- 1 | 2 | vrep_common 3 | Common messages 4 | Marc 5 | 3.3.0 6 | Marc 7 | GPLv3 8 | http://www.coppeliarobotics.com 9 | catkin 10 | roscpp 11 | std_msgs 12 | sensor_msgs 13 | libopencv-dev 14 | message_generation 15 | roscpp 16 | message_runtime 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosAddStatusbarMessage.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simAddStatusbarMessage(const simChar* message) 3 | # 4 | 5 | string message 6 | --- 7 | int32 result 8 | 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosAppendStringSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simAppendStringSignal(const simChar* signalName,const simChar* signalValue,simInt stringLength) 3 | # 4 | 5 | string signalName 6 | string signalValue 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosAuxiliaryConsoleClose.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simAuxiliaryConsoleClose(simInt consoleHandle) 3 | # 4 | 5 | int32 consoleHandle 6 | --- 7 | int32 result 8 | 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosAuxiliaryConsoleOpen.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simAuxiliaryConsoleOpen(const simChar* title,simInt maxLines,simInt mode,simInt* position,simInt* size,simFloat* textColor,simFloat* backgroundColor) 3 | # 4 | 5 | string title 6 | int32 maxLines 7 | int32 mode 8 | int32[] position 9 | int32[] size 10 | float32[] textColor 11 | float32[] backgroundColor 12 | --- 13 | int32 consoleHandle 14 | 15 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosAuxiliaryConsolePrint.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simAuxiliaryConsolePrint(simInt consoleHandle,const simChar* text) 3 | # 4 | 5 | int32 consoleHandle 6 | string text 7 | --- 8 | int32 result 9 | 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosAuxiliaryConsoleShow.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simAuxiliaryConsoleShow(simInt consoleHandle,simBool showState) 3 | # 4 | 5 | int32 consoleHandle 6 | uint8 showState 7 | --- 8 | int32 result 9 | 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosBreakForceSensor.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simBreakForceSensor(simInt objectHandle) 3 | # 4 | 5 | int32 objectHandle 6 | --- 7 | int32 result 8 | 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosCallScriptFunction.srv: -------------------------------------------------------------------------------- 1 | # 2 | # 3 | # 4 | 5 | string functionNameAtObjectName 6 | int32 scriptHandleOrType 7 | int32[] inputInts 8 | float32[] inputFloats 9 | string[] inputStrings 10 | string inputBuffer 11 | --- 12 | int32 result 13 | int32[] outputInts 14 | float32[] outputFloats 15 | string[] outputStrings 16 | string outputBuffer 17 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosClearFloatSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simClearFloatSignal(const simChar* signalName) 3 | # 4 | 5 | string signalName 6 | --- 7 | int32 result 8 | 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosClearIntegerSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simClearIntegerSignal(const simChar* signalName) 3 | # 4 | 5 | string signalName 6 | --- 7 | int32 result 8 | 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosClearStringSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simClearStringSignal(const simChar* signalName) 3 | # 4 | 5 | string signalName 6 | --- 7 | int32 result 8 | 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosCloseScene.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simCloseScene() 3 | # 4 | 5 | --- 6 | int32 result 7 | 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosCopyPasteObjects.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxCopyPasteObjects(const simxInt* objectHandles,simxInt objectCount,simxInt** newObjectHandles,simxInt* newObjectCount) 3 | # 4 | 5 | int32[] objectHandles 6 | --- 7 | int32 result 8 | int32[] newObjectHandles 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosCreateDummy.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simCreateDummy(simFloat size,const simFloat* colors) 3 | # 4 | 5 | float32 size 6 | int8[] colors 7 | --- 8 | int32 dummyHandle 9 | 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosDisablePublisher.srv: -------------------------------------------------------------------------------- 1 | # 2 | # 3 | # 4 | 5 | string topicName 6 | --- 7 | int32 referenceCounter 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosDisableSubscriber.srv: -------------------------------------------------------------------------------- 1 | # 2 | # 3 | # 4 | 5 | int32 subscriberID 6 | --- 7 | uint8 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosDisplayDialog.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simDisplayDialog(const simChar* titleText,const simChar* mainText,simInt dialogType,const simChar* initialText,const simFloat* titleColors,const simFloat* dialogColors,simInt* uiHandle) 3 | # 4 | 5 | string titleText 6 | string mainText 7 | int32 dialogType 8 | string initialText 9 | float32[] titleColors 10 | float32[] dialogColors 11 | --- 12 | int32 dialogHandle 13 | int32 uiHandle 14 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosEnablePublisher.srv: -------------------------------------------------------------------------------- 1 | # 2 | # 3 | # 4 | 5 | string topicName 6 | int32 queueSize 7 | int32 streamCmd 8 | int32 auxInt1 9 | int32 auxInt2 10 | string auxString 11 | --- 12 | string effectiveTopicName 13 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosEnableSubscriber.srv: -------------------------------------------------------------------------------- 1 | # 2 | # 3 | # 4 | 5 | string topicName 6 | int32 queueSize 7 | int32 streamCmd 8 | int32 auxInt1 9 | int32 auxInt2 10 | string auxString 11 | --- 12 | int32 subscriberID 13 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosEndDialog.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simEndDialog(simInt genericDialogHandle) 3 | # 4 | 5 | int32 dialogHandle 6 | --- 7 | int32 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosEraseFile.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxEraseFile(const simxChar* fileName_serverSide,simxInt operationMode) 3 | # 4 | 5 | string fileName 6 | --- 7 | int32 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetAndClearStringSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxChar* simxGetAndClearStringSignal(const simxChar* signalName,simxInt* stringLength) 3 | # 4 | 5 | string signalName 6 | --- 7 | int32 result 8 | string signalValue 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetArrayParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetArrayParameter(simInt parameter,simVoid* parameterValues) 3 | # 4 | 5 | int32 parameter 6 | --- 7 | int32 result 8 | float32[] parameterValues 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetBooleanParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetBooleanParameter(simInt parameter) 3 | # 4 | 5 | int32 parameter 6 | --- 7 | int32 parameterValue 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetCollectionHandle.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetCollectionHandle(const simChar* collectionName) 3 | # 4 | 5 | string collectionName 6 | --- 7 | int32 handle 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetCollisionHandle.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetCollisionHandle(const simChar* collisionObjectName) 3 | # 4 | 5 | string collisionName 6 | --- 7 | int32 handle 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetDialogInput.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simChar* simGetDialogInput(simInt genericDialogHandle) 3 | # 4 | 5 | int32 dialogHandle 6 | --- 7 | int32 result 8 | string input 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetDialogResult.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetDialogResult(simInt genericDialogHandle) 3 | # 4 | 5 | int32 dialogHandle 6 | --- 7 | int32 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetDistanceHandle.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetDistanceHandle(const simChar* distanceObjectName) 3 | # 4 | 5 | string distanceName 6 | --- 7 | int32 handle 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetFloatSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetFloatSignal(const simChar* signalName,simFloat* signalValue) 3 | # 4 | 5 | string signalName 6 | --- 7 | int32 result 8 | float32 signalValue 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetFloatingParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetFloatingParameter(simInt parameter,simFloat* floatState) 3 | # 4 | 5 | int32 parameter 6 | --- 7 | int32 result 8 | float32 parameterValue 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetInfo.srv: -------------------------------------------------------------------------------- 1 | # 2 | # 3 | # 4 | 5 | 6 | --- 7 | Header headerInfo 8 | int32 simulatorState 9 | float32 simulationTime 10 | float32 timeStep 11 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetIntegerParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetIntegerParameter(simInt parameter,simInt* intState) 3 | # 4 | 5 | int32 parameter 6 | --- 7 | int32 result 8 | int32 parameterValue 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetIntegerSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetIntegerSignal(const simChar* signalName,simInt* signalValue) 3 | # 4 | 5 | string signalName 6 | --- 7 | int32 result 8 | int32 signalValue 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetJointMatrix.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetJointMatrix(simInt objectHandle,simFloat* matrix) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | geometry_msgs/TransformStamped transform 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetJointState.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetJointPosition(simInt objectHandle,simFloat* position) 3 | # ... 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | sensor_msgs/JointState state 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetLastErrors.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxGetLastErrors(simxInt* errorCnt,simxChar** errorStrings,simxInt operationMode) 3 | # 4 | 5 | 6 | --- 7 | int32 errorCnt 8 | string errorStrings 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetModelProperty.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetModelProperty(simInt objectHandle) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 propertyValue 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetObjectChild.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetObjectChild(simInt objectHandle,simInt index) 3 | # 4 | 5 | int32 handle 6 | int32 index 7 | --- 8 | int32 childHandle 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetObjectFloatParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetObjectFloatParameter(simInt objectHandle,simInt parameterID,simFloat* parameter) 3 | # 4 | 5 | int32 handle 6 | int32 parameterID 7 | --- 8 | int32 result 9 | float32 parameterValue 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetObjectGroupData.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxGetObjectGroupData(simxInt clientID,simxInt objectType,simxInt dataType,simxInt* handlesCount,simxInt** handles,simxInt* intDataCount,simxInt** intData,simxInt* floatDataCount,simxFloat** floatData,simxInt* stringDataCount,simxChar** stringData,simxInt operationMode) 3 | # 4 | 5 | int32 objectType 6 | int32 dataType 7 | --- 8 | int32[] handles 9 | int32[] intData 10 | float32[] floatData 11 | string[] strings 12 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetObjectHandle.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetObjectHandle(const simChar* objectName) 3 | # 4 | 5 | string objectName 6 | --- 7 | int32 handle 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetObjectIntParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetObjectIntParameter(simInt objectHandle,simInt parameterID,simInt* parameter) 3 | # 4 | 5 | int32 handle 6 | int32 parameterID 7 | --- 8 | int32 result 9 | int32 parameterValue 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetObjectParent.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetObjectParent(simInt objectHandle) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 parentHandle 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetObjectPose.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetObjectPosition(simInt objectHandle,simInt relativeToObjectHandle,simFloat* position) 3 | # simInt simGetObjectQuaternion(simInt objectHandle,simInt relativeToObjectHandle,simFloat* quat) 4 | 5 | int32 handle 6 | int32 relativeToObjectHandle 7 | --- 8 | int32 result 9 | geometry_msgs/PoseStamped pose 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetObjectSelection.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxGetObjectSelection(simxInt** objectHandles,simxInt* objectCount,simxInt operationMode) 3 | # 4 | 5 | --- 6 | int32[] handles 7 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetObjects.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxGetObjects(simxInt objectType,simxInt* objectCount,simxInt** objectHandles,simxInt operationMode) 3 | # 4 | 5 | int32 objectType 6 | --- 7 | int32 result 8 | int32[] handles 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetStringParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simChar* simGetStringParameter(simInt parameter) 3 | # 4 | 5 | int32 parameter 6 | --- 7 | int32 result 8 | string parameterValue 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetStringSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simChar* simGetStringSignal(const simChar* signalName,simInt* stringLength) 3 | # 4 | 5 | string signalName 6 | --- 7 | int32 result 8 | string signalValue 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetUIButtonProperty.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetUIButtonProperty(simInt uiHandle,simInt buttonHandle) 3 | # 4 | 5 | int32 uiHandle 6 | int32 buttonID 7 | --- 8 | int32 propertyValue 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetUIEventButton.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetUIEventButton(simInt uiHandle,simInt* auxiliaryValues) 3 | # 4 | 5 | int32 uiHandle 6 | --- 7 | int32 buttonID 8 | int32[] auxiliaryValues 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetUIHandle.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetUIHandle(const simChar* uiName) 3 | # 4 | 5 | string uiName 6 | --- 7 | int32 handle 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetUISlider.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simGetUISlider(simInt uiHandle,simInt buttonHandle) 3 | # 4 | 5 | int32 uiHandle 6 | int32 buttonID 7 | --- 8 | int32 position 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetVisionSensorDepthBuffer.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxGetVisionSensorDepthBuffer(simxInt sensorHandle,simxInt* resolution,simxFloat** buffer,simxInt operationMode) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | int32[] resolution 9 | float32[] buffer 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosGetVisionSensorImage.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxGetVisionSensorImage(simxInt sensorHandle,simxInt* resolution,simxChar** image,simxChar options,simxInt operationMode) 3 | # 4 | 5 | int32 handle 6 | uint8 options 7 | --- 8 | int32 result 9 | sensor_msgs/Image image 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosLoadModel.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxLoadModel(const simxChar* modelPathAndName,simxChar options,simxInt* baseHandle,simxInt operationMode) 3 | # 4 | 5 | string fileName 6 | --- 7 | int32 result 8 | int32 baseHandle 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosLoadScene.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxLoadScene(const simxChar* scenePathAndName,simxChar options,simxInt operationMode) 3 | # 4 | 5 | string fileName 6 | --- 7 | int32 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosLoadUI.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxLoadUI(const simxChar* uiPathAndName,simxChar options,simxInt* count,simxInt** uiHandles,simxInt operationMode) 3 | # 4 | 5 | string fileName 6 | --- 7 | int32 result 8 | int32[] uiHandles 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosPauseSimulation.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simPauseSimulation() 3 | # 4 | 5 | --- 6 | int32 result 7 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosReadCollision.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simReadCollision(simInt collisionObjectHandle) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 collisionState 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosReadDistance.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simReadDistance(simInt distanceObjectHandle,simFloat* smallestDistance) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | float32 distance -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosReadForceSensor.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simReadForceSensor(simInt objectHandle,simFloat* forceVector,simFloat* torqueVector) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | geometry_msgs/Vector3 force 9 | geometry_msgs/Vector3 torque 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosReadProximitySensor.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simReadProximitySensor(simInt sensorHandle,simFloat* detectedPoint,simInt* detectedObjectHandle,simFloat* detectedSurfaceNormalVector) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | float32[] detectedPoint 9 | int32 detectedObject 10 | float32[] normalVector 11 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosReadVisionSensor.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simReadVisionSensor(simInt visionSensorHandle,simFloat** auxValues,simInt** auxValuesCount) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | float32[] packetData 9 | int32[] packetSizes 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosRemoveModel.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simRemoveModel(simInt objectHandle) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosRemoveObject.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simRemoveObject(simInt objectHandle) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosRemoveUI.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simRemoveUI(simInt uiHandle) 3 | # 4 | 5 | int32 handle 6 | --- 7 | int32 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetArrayParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetArrayParameter(simInt parameter,simVoid* parameterValues) 3 | # 4 | 5 | int32 parameter 6 | float32[] parameterValues 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetBooleanParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetBooleanParameter(simInt parameter,simBool boolState) 3 | # 4 | 5 | int32 parameter 6 | uint8 parameterValue 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetFloatSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetFloatSignal(const simChar* signalName,simFloat signalValue) 3 | # 4 | 5 | string signalName 6 | float32 signalValue 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetFloatingParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetFloatingParameter(simInt parameter,simFloat floatState) 3 | # 4 | 5 | int32 parameter 6 | float32 parameterValue 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetIntegerParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetIntegerParameter(simInt parameter,simInt intState) 3 | # 4 | 5 | int32 parameter 6 | int32 parameterValue 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetIntegerSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetIntegerSignal(const simChar* signalName,simInt signalValue) 3 | # 4 | 5 | string signalName 6 | int32 signalValue 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetJointForce.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetJointForce(simInt objectHandle,simFloat forceOrTorque) 3 | # 4 | 5 | int32 handle 6 | float64 forceOrTorque 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetJointPosition.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetJointPosition(simInt objectHandle,simFloat position) 3 | # 4 | 5 | int32 handle 6 | float64 position 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetJointState.srv: -------------------------------------------------------------------------------- 1 | # 2 | # 3 | # ... 4 | 5 | int32[] handles 6 | uint8[] setModes 7 | float32[] values 8 | --- 9 | int32 result 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetJointTargetPosition.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetJointTargetPosition(simInt objectHandle,simFloat targetPosition) 3 | # 4 | 5 | int32 handle 6 | float64 targetPosition 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetJointTargetVelocity.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetJointTargetVelocity(simInt objectHandle,simFloat targetVelocity) 3 | # 4 | 5 | int32 handle 6 | float64 targetVelocity 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetModelProperty.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetModelProperty(simInt objectHandle,simInt prop) 3 | # 4 | 5 | int32 handle 6 | int32 propertyValue 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetObjectFloatParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetObjectFloatParameter(simInt objectHandle,simInt parameterID,simFloat parameter) 3 | # 4 | 5 | int32 handle 6 | int32 parameter 7 | float32 parameterValue 8 | --- 9 | int32 result 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetObjectIntParameter.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetObjectIntParameter(simInt objectHandle,simInt parameterID,simInt parameter) 3 | # 4 | 5 | int32 handle 6 | int32 parameter 7 | int32 parameterValue 8 | --- 9 | int32 result 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetObjectParent.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetObjectParent(simInt objectHandle,simInt parentObjectHandle,simBool keepInPlace) 3 | # 4 | 5 | int32 handle 6 | int32 parentHandle 7 | uint8 keepInPlace 8 | --- 9 | int32 result 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetObjectPose.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetObjectPosition(simInt objectHandle,simInt relativeToObjectHandle,simFloat* pos) 3 | # simInt simSetObjectQuaternion(simInt objectHandle,simInt relativeToObjectHandle,simFloat* quat) 4 | 5 | int32 handle 6 | int32 relativeToObjectHandle 7 | geometry_msgs/Pose pose 8 | --- 9 | int32 result 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetObjectPosition.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetObjectPosition(simInt objectHandle,simInt relativeToObjectHandle,simFloat* position) 3 | # 4 | 5 | int32 handle 6 | int32 relativeToObjectHandle 7 | geometry_msgs/Point position 8 | --- 9 | int32 result 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetObjectQuaternion.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetObjectQuaternion(simInt objectHandle,simInt relativeToObjectHandle,simFloat* quat) 3 | # 4 | 5 | int32 handle 6 | int32 relativeToObjectHandle 7 | geometry_msgs/Quaternion quaternion 8 | --- 9 | int32 result 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetObjectSelection.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxSetObjectSelection(const simxInt* objectHandles,simxInt objectCount,simxInt operationMode) 3 | # 4 | 5 | int32[] handles 6 | --- 7 | int32 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetSphericalJointMatrix.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetSphericalJointMatrix(simInt objectHandle,simFloat* matrix) 3 | # 4 | 5 | int32 handle 6 | geometry_msgs/Quaternion quaternion 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetStringSignal.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetStringSignal(const simChar* signalName,const simChar* signalValue,simInt stringLength) 3 | # 4 | 5 | string signalName 6 | string signalValue 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetUIButtonLabel.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetUIButtonLabel(simInt uiHandle,simInt buttonHandle,const simChar* upStateLabel,const simChar* downStateLabel) 3 | # 4 | 5 | int32 uiHandle 6 | int32 buttonID 7 | string upStateLabel 8 | string downStateLabel 9 | --- 10 | int32 result 11 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetUIButtonProperty.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetUIButtonProperty(simInt uiHandle,simInt buttonHandle,simInt buttonProperty) 3 | # 4 | 5 | int32 uiHandle 6 | int32 buttonID 7 | int32 propertyValue 8 | --- 9 | int32 result 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetUISlider.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetUISlider(simInt uiHandle,simInt buttonHandle,simInt position) 3 | # 4 | 5 | int32 uiHandle 6 | int32 buttonID 7 | int32 position 8 | --- 9 | int32 result 10 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSetVisionSensorImage.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simSetVisionSensorImage(simInt sensorHandle,simFloat* image) 3 | # 4 | 5 | int32 handle 6 | sensor_msgs/Image image 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosStartSimulation.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simStartSimulation() 3 | # 4 | 5 | --- 6 | int32 result 7 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosStopSimulation.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simInt simStopSimulation() 3 | # 4 | 5 | --- 6 | int32 result 7 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSynchronous.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxSynchronous(simxChar enable) 3 | # 4 | 5 | uint8 enable 6 | --- 7 | int32 result 8 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosSynchronousTrigger.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxSynchronousTrigger() 3 | # 4 | 5 | --- 6 | int32 result 7 | -------------------------------------------------------------------------------- /Chapter05/vrep_common/srv/simRosTransferFile.srv: -------------------------------------------------------------------------------- 1 | # 2 | # simxInt simxTransferFile(const simxChar* filePathAndName,const simxChar* fileName_serverSide,simxInt timeOut,simxInt operationMode) 3 | # 4 | 5 | uint8[] data 6 | string fileName 7 | --- 8 | int32 result 9 | -------------------------------------------------------------------------------- /Chapter05/vrep_demo_pkg/scene/demo_publisher_subscriber.ttt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter05/vrep_demo_pkg/scene/demo_publisher_subscriber.ttt -------------------------------------------------------------------------------- /Chapter05/vrep_demo_pkg/scene/mobile_robot.ttt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter05/vrep_demo_pkg/scene/mobile_robot.ttt -------------------------------------------------------------------------------- /Chapter05/vrep_demo_pkg/scene/plugin_publisher_subscriber.ttt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter05/vrep_demo_pkg/scene/plugin_publisher_subscriber.ttt -------------------------------------------------------------------------------- /Chapter05/vrep_demo_pkg/scene/seven_dof_arm.ttt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter05/vrep_demo_pkg/scene/seven_dof_arm.ttt -------------------------------------------------------------------------------- /Chapter05/vrep_plugin/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b vrep_plugin 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/.setup_assistant: -------------------------------------------------------------------------------- 1 | moveit_setup_assistant_config: 2 | URDF: 3 | package: mastering_ros_robot_description_pkg 4 | relative_path: urdf/seven_dof_arm.xacro 5 | SRDF: 6 | relative_path: config/seven_dof_arm.srdf 7 | CONFIG: 8 | author_name: jcacace 9 | author_email: jonathan.cacace@gmail.com 10 | generated_timestamp: 1505671311 -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(seven_dof_arm_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 9 | PATTERN "setup_assistant.launch" EXCLUDE) 10 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 11 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/config/controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_manager_ns: controller_manager 2 | controller_list: 3 | - name: seven_dof_arm/seven_dof_arm_joint_controller 4 | action_ns: follow_joint_trajectory 5 | type: FollowJointTrajectory 6 | default: true 7 | joints: 8 | - shoulder_pan_joint 9 | - shoulder_pitch_joint 10 | - elbow_roll_joint 11 | - elbow_pitch_joint 12 | - wrist_roll_joint 13 | - wrist_pitch_joint 14 | - gripper_roll_joint 15 | - name: seven_dof_arm/gripper_controller 16 | action_ns: follow_joint_trajectory 17 | type: FollowJointTrajectory 18 | default: true 19 | joints: 20 | - finger_joint1 21 | - finger_joint2 22 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_arm_controller 3 | joints: 4 | - shoulder_pan_joint 5 | - shoulder_pitch_joint 6 | - elbow_roll_joint 7 | - elbow_pitch_joint 8 | - wrist_roll_joint 9 | - wrist_pitch_joint 10 | - gripper_roll_joint 11 | - name: fake_gripper_controller 12 | joints: 13 | - finger_joint1 14 | - finger_joint2 -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | arm: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/config/sensors_kinect_depthmap.yaml: -------------------------------------------------------------------------------- 1 | sensors: 2 | - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater 3 | image_topic: /head_mount_kinect/depth_registered/image_raw 4 | queue_size: 5 5 | near_clipping_plane_distance: 0.3 6 | far_clipping_plane_distance: 5.0 7 | shadow_threshold: 0.2 8 | padding_scale: 4.0 9 | padding_offset: 0.03 10 | filtered_cloud_topic: filtered_cloud 11 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/config/sensors_kinect_pointcloud.yaml: -------------------------------------------------------------------------------- 1 | sensors: 2 | - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater 3 | point_cloud_topic: /rgbd_camera/depth/points 4 | max_range: 5.0 5 | point_subsample: 1 6 | padding_offset: 0.1 7 | padding_scale: 1.0 8 | filtered_cloud_topic: filtered_cloud 9 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/config/sensors_rgbd.yaml: -------------------------------------------------------------------------------- 1 | sensors: 2 | - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater 3 | point_cloud_topic: /rgbd_camera/depth/points 4 | max_range: 10 5 | padding_offset: 0.01 6 | padding_scale: 1.0 7 | point_subsample: 1 8 | filtered_cloud_topic: output_cloud 9 | 10 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/default_warehouse_db.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/fake_moveit_controller_manager.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/fake_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/joystick_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/moveit_planning_execution.launch: -------------------------------------------------------------------------------- 1 | 2 | # The planning and execution components of MoveIt! configured to 3 | # publish the current configuration of the robot (simulated or real) 4 | # and the current state of the world as seen by the planner 5 | 6 | 7 | 8 | # The visualization component of MoveIt! 9 | 10 | 11 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/moveit_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/seven_dof_arm_moveit_controller_manager.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/seven_dof_arm_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/seven_dof_arm_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /Chapter06/seven_dof_arm_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /Chapter07/gazebo_basic_world_plugin/.gitignore: -------------------------------------------------------------------------------- 1 | build 2 | -------------------------------------------------------------------------------- /Chapter07/gazebo_basic_world_plugin/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8 FATAL_ERROR) 2 | 3 | set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}") 4 | 5 | find_package(Boost REQUIRED COMPONENTS system) 6 | include_directories(${Boost_INCLUDE_DIRS}) 7 | link_directories(${Boost_LIBRARY_DIRS}) 8 | 9 | include (FindPkgConfig) 10 | if (PKG_CONFIG_FOUND) 11 | pkg_check_modules(GAZEBO gazebo) 12 | endif() 13 | include_directories(${GAZEBO_INCLUDE_DIRS}) 14 | link_directories(${GAZEBO_LIBRARY_DIRS}) 15 | 16 | add_library(hello_world SHARED hello_world.cc) 17 | target_link_libraries(hello_world ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}) 18 | 19 | -------------------------------------------------------------------------------- /Chapter07/gazebo_basic_world_plugin/hello.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /Chapter07/nodelet_hello_world/hello_world.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /Chapter07/nodelet_hello_world/hello_world.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | A node to republish a message 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /Chapter07/plugin_calculator/include/pluginlib_calculator/calculator_base.h: -------------------------------------------------------------------------------- 1 | #ifndef PLUGINLIB_CALCULATOR_CALCULTOR_BASE_H_ 2 | #define PLUGINLIB_CALCULATOR_CALCULTOR_BASE_H_ 3 | 4 | namespace calculator_base 5 | { 6 | class calc_functions 7 | { 8 | public: 9 | virtual void get_numbers(double number1, double number2) = 0; 10 | virtual double operation() = 0; 11 | virtual ~calc_functions(){} 12 | 13 | protected: 14 | calc_functions(){} 15 | }; 16 | }; 17 | #endif 18 | -------------------------------------------------------------------------------- /Chapter07/plugin_calculator/src/calculator_plugins.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | PLUGINLIB_EXPORT_CLASS(calculator_plugins::Add, calculator_base::calc_functions); 6 | PLUGINLIB_EXPORT_CLASS(calculator_plugins::Sub, calculator_base::calc_functions); 7 | PLUGINLIB_EXPORT_CLASS(calculator_plugins::Mul, calculator_base::calc_functions); 8 | PLUGINLIB_EXPORT_CLASS(calculator_plugins::Div, calculator_base::calc_functions); 9 | 10 | -------------------------------------------------------------------------------- /Chapter08/my_controller/controller_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /Chapter08/my_controller/launch/my_controller.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | -------------------------------------------------------------------------------- /Chapter08/my_controller/my_controller.yaml: -------------------------------------------------------------------------------- 1 | my_controller_name: 2 | type: my_controller_ns/MyControllerClass 3 | joint_name: elbow_pitch_joint 4 | -------------------------------------------------------------------------------- /Chapter08/rviz_teleop_commander/plugin_description.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | A panel widget allowing simple velocity command streaming. 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /Chapter09/Arduino/ADXL3xx_ROS/ADXL.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter09/Arduino/ADXL3xx_ROS/ADXL.fzz -------------------------------------------------------------------------------- /Chapter09/Arduino/Hello_Publisher/Hello_Publisher.ino: -------------------------------------------------------------------------------- 1 | 2 | 3 | #include 4 | #include 5 | 6 | 7 | 8 | ros::NodeHandle nh; 9 | 10 | std_msgs::String str_msg; 11 | 12 | ros::Publisher chatter("chatter", &str_msg); 13 | 14 | void callback ( const std_msgs::String& msg){ 15 | 16 | str_msg.data = msg.data; 17 | chatter.publish( &str_msg ); 18 | 19 | } 20 | 21 | ros::Subscriber sub("talker", callback); 22 | 23 | 24 | void setup() 25 | { 26 | nh.initNode(); 27 | nh.advertise(chatter); 28 | nh.subscribe(sub); 29 | } 30 | 31 | void loop() 32 | { 33 | nh.spinOnce(); 34 | delay(3); 35 | } 36 | -------------------------------------------------------------------------------- /Chapter09/Arduino/Ultrasonic/Untitled Sketch 2.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter09/Arduino/Ultrasonic/Untitled Sketch 2.fzz -------------------------------------------------------------------------------- /Chapter09/ros_wiring_examples/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ros_wiring_examples) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | std_msgs 7 | ) 8 | 9 | find_package(Boost REQUIRED COMPONENTS system) 10 | 11 | 12 | set(wiringPi_include "/usr/local/include") 13 | 14 | 15 | include_directories( 16 | ${catkin_INCLUDE_DIRS} 17 | ${wiringPi_include} 18 | ) 19 | 20 | LINK_DIRECTORIES("/usr/local/lib") 21 | 22 | 23 | add_executable(blink_led src/blink.cpp) 24 | 25 | add_executable(button_led src/button.cpp) 26 | 27 | target_link_libraries(blink_led 28 | ${catkin_LIBRARIES} wiringPi 29 | ) 30 | 31 | target_link_libraries(button_led 32 | ${catkin_LIBRARIES} wiringPi 33 | ) 34 | 35 | -------------------------------------------------------------------------------- /Chapter10/apriltags_ros_demo/bags/objects.bag: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter10/apriltags_ros_demo/bags/objects.bag -------------------------------------------------------------------------------- /Chapter10/cv_bridge_tutorial_pkg/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(cv_bridge_tutorial_pkg) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | cv_bridge 6 | image_transport 7 | roscpp 8 | sensor_msgs 9 | std_msgs 10 | ) 11 | 12 | find_package( OpenCV REQUIRED ) 13 | 14 | catkin_package() 15 | include_directories( 16 | ${catkin_INCLUDE_DIRS} 17 | ${OpenCV_INCLUDE_DIRS} 18 | ) 19 | 20 | add_executable(sample_cv_bridge_node src/sample_cv_bridge_node.cpp) 21 | target_link_libraries(sample_cv_bridge_node 22 | ${catkin_LIBRARIES} 23 | ${OpenCV_LIBRARIES} 24 | ) 25 | 26 | include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) 27 | -------------------------------------------------------------------------------- /Chapter10/pcl_ros_tutorial/src/pcl_write.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | 7 | void cloudCB(const sensor_msgs::PointCloud2 &input) 8 | { 9 | pcl::PointCloud cloud; 10 | pcl::fromROSMsg(input, cloud); 11 | pcl::io::savePCDFileASCII ("test.pcd", cloud); 12 | } 13 | 14 | main (int argc, char **argv) 15 | { 16 | ros::init (argc, argv, "pcl_write"); 17 | 18 | ROS_INFO("Started PCL write node"); 19 | 20 | ros::NodeHandle nh; 21 | ros::Subscriber bat_sub = nh.subscribe("pcl_output", 10, cloudCB); 22 | 23 | ros::spin(); 24 | 25 | return 0; 26 | } 27 | 28 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/launch/gmapping_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/launch/includes/safety_controller.launch.xml: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/launch/keyboard_teleop.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/launch/view_navigation.launch: -------------------------------------------------------------------------------- 1 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/launch/view_robot.launch: -------------------------------------------------------------------------------- 1 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/map/hotel1.pgm: 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-------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/param/.svn/text-base/teleop.yaml.svn-base: -------------------------------------------------------------------------------- 1 | linearAxisIndex: 3 2 | angularAxisIndex: 2 3 | linearScalingFactor: 0.4 4 | angularScalingFactor: 0.5 5 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/param/board_config.yaml: -------------------------------------------------------------------------------- 1 | port: /dev/ttyACM0 2 | #port: /dev/ttyUSB0 3 | baudRate: 115200 4 | 5 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/param/encoders.yaml: -------------------------------------------------------------------------------- 1 | port: /dev/ttyUSB1 2 | baudRate: 115200 3 | # trackwidth [m], distancePerCount [m] 4 | # http://learn.parallax.com/activitybot/calculating-angles-rotation 5 | # Distance Per Tick for Arlo: http://forums.parallax.com/showthread.php/154274-The-quot-Artist-quot-robot?p=1271544&viewfull=1#post1271544 6 | # Track Width for Arlo is from measurement and then testing 7 | #driveGeometry: {trackWidth: 0.403, distancePerCount: 0.00676} 8 | driveGeometry: {trackWidth: 0.3, distancePerCount: 0.00676} 9 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/param/global_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | global_costmap: 2 | global_frame: /map 3 | robot_base_frame: /base_footprint 4 | update_frequency: 1.0 5 | publish_frequency: 0.5 6 | static_map: true 7 | transform_tolerance: 0.5 8 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/param/joystick.yaml: -------------------------------------------------------------------------------- 1 | dev: /dev/input/js0 2 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/param/local_costmap_params.yaml: -------------------------------------------------------------------------------- 1 | local_costmap: 2 | global_frame: odom 3 | robot_base_frame: /base_footprint 4 | update_frequency: 5.0 5 | publish_frequency: 2.0 6 | static_map: false 7 | rolling_window: true 8 | width: 4.0 9 | height: 4.0 10 | resolution: 0.05 11 | transform_tolerance: 0.5 12 | -------------------------------------------------------------------------------- /Chapter11/chefbot_ros_pkg/chefbot/chefbot_bringup/param/move_base_params.yaml: -------------------------------------------------------------------------------- 1 | # Move base node parameters. 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robots/cool5000_description.URDF 5 | SRDF: 6 | relative_path: config/cool5000_description.srdf 7 | CONFIG: 8 | generated_timestamp: 1445411347 -------------------------------------------------------------------------------- /Chapter12/cool_arm/cool5000_moveit_config/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(cool5000_moveit_config) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | catkin_package() 7 | 8 | install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 9 | install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 10 | -------------------------------------------------------------------------------- /Chapter12/cool_arm/cool5000_moveit_config/config/fake_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: fake_manipulator_controller 3 | joints: 4 | - joint_1 5 | - joint_2 6 | - joint_3 7 | - joint_4 8 | - joint_5 9 | - joint_6 10 | - joint_7 11 | - name: fake_gripper_controller 12 | joints: 13 | - index_joint 14 | - index_tip_joint 15 | - middle_joint 16 | - middle_tip_joint 17 | - thumb_base_joint 18 | - thumb_joint 19 | - thumb_tip_joint -------------------------------------------------------------------------------- /Chapter12/cool_arm/cool5000_moveit_config/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | manipulator: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 5 | kinematics_solver_attempts: 3 -------------------------------------------------------------------------------- /Chapter12/cool_arm/cool5000_moveit_config/launch/cool5000_description_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 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/Chapter12/cool_arm/cool5000_moveit_config/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /Chapter12/cool_arm/cool5000_moveit_config/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Chapter12/cool_arm/cool5000_moveit_config/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /Chapter12/cool_arm/cool5000_moveit_config/launch/warehouse.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /Chapter12/cool_arm/cool5000_moveit_config/launch/warehouse_settings.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /Chapter12/seven_dof_arm_test/grasping_object_model/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Grasp_Object 5 | 1.0 6 | model.sdf 7 | 8 | 9 | Lentin Joseph 10 | qboticslabs@gmail.com 11 | 12 | 13 | 14 | A simple box 15 | 16 | 17 | -------------------------------------------------------------------------------- /Chapter12/seven_dof_arm_test/grasping_table_model/model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Grasp_Table 5 | 1.0 6 | model.sdf 7 | 8 | 9 | Lentin Joseph 10 | qboticslabs@gmail.com 11 | 12 | 13 | 14 | A simple table 15 | 16 | 17 | -------------------------------------------------------------------------------- /Chapter12/seven_dof_arm_test/src/test_random.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | 4 | int main(int argc, char **argv) 5 | { 6 | ros::init(argc, argv, "move_group_interface_demo", ros::init_options::AnonymousName); 7 | // start a ROS spinning thread 8 | ros::AsyncSpinner spinner(1); 9 | spinner.start(); 10 | // this connecs to a running instance of the move_group node 11 | moveit::planning_interface::MoveGroupInterface group("arm"); 12 | // specify that our target will be a random one 13 | group.setRandomTarget(); 14 | // plan the motion and then move the group to the sampled target 15 | group.move(); 16 | 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-------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/publisher/src/publisher_cgxe.bat: -------------------------------------------------------------------------------- 1 | "C:\Program Files\MATLAB\R2017b\sys\lcc64\lcc64\bin\lccmake.exe" -f publisher_cgxe.lmk 2 | -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/publisher/src/publisher_cgxe.c: -------------------------------------------------------------------------------- 1 | /* Include files */ 2 | 3 | #include "publisher_cgxe.h" 4 | #include "m_Muaidk3Mt9YKJ8xvv4B4QE.h" 5 | 6 | unsigned int cgxe_publisher_method_dispatcher(SimStruct* S, int_T method, void 7 | * data) 8 | { 9 | if (ssGetChecksum0(S) == 1367728901 && 10 | ssGetChecksum1(S) == 1484596684 && 11 | ssGetChecksum2(S) == 3577695903 && 12 | ssGetChecksum3(S) == 643404390) { 13 | method_dispatcher_Muaidk3Mt9YKJ8xvv4B4QE(S, method, data); 14 | return 1; 15 | } 16 | 17 | return 0; 18 | } 19 | -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/publisher/src/publisher_cgxe.def: -------------------------------------------------------------------------------- 1 | LIBRARY publisher_cgxe.mexw64 2 | EXPORTS 3 | mexFunction 4 | mexfilerequiredapiversion -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/publisher/src/publisher_cgxe.exp: -------------------------------------------------------------------------------- 1 | publisher_cgxe.mexw64 2 | mexFunction mexFunction 3 | mexfilerequiredapiversion mexfilerequiredapiversion 4 | -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/publisher/src/publisher_cgxe.h: -------------------------------------------------------------------------------- 1 | #ifndef __publisher_cgxe_h__ 2 | #define __publisher_cgxe_h__ 3 | 4 | /* Include files */ 5 | #include "simstruc.h" 6 | #include "rtwtypes.h" 7 | #include "multiword_types.h" 8 | #include "emlrt.h" 9 | #include "covrt.h" 10 | #include "cgxert.h" 11 | #include "ctimefun.h" 12 | #define rtInf (mxGetInf()) 13 | #define rtMinusInf (-(mxGetInf())) 14 | #define rtNaN (mxGetNaN()) 15 | #define rtIsNaN(X) ((int)mxIsNaN(X)) 16 | #define rtIsInf(X) ((int)mxIsInf(X)) 17 | 18 | extern unsigned int cgxe_publisher_method_dispatcher(SimStruct* S, int_T method, 19 | void* data); 20 | 21 | #endif 22 | -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/publisher/src/publisher_cgxe.lib: -------------------------------------------------------------------------------- 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/Chapter13/ros_matlab_test/slprj/_cgxe/subscriber/src/subscriber_cgxe.bat: -------------------------------------------------------------------------------- 1 | "C:\Program Files\MATLAB\R2017b\sys\lcc64\lcc64\bin\lccmake.exe" -f subscriber_cgxe.lmk 2 | -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/subscriber/src/subscriber_cgxe.c: -------------------------------------------------------------------------------- 1 | /* Include files */ 2 | 3 | #include "subscriber_cgxe.h" 4 | #include "m_Muaidk3Mt9YKJ8xvv4B4QE.h" 5 | 6 | unsigned int cgxe_subscriber_method_dispatcher(SimStruct* S, int_T method, void* 7 | data) 8 | { 9 | if (ssGetChecksum0(S) == 1367728901 && 10 | ssGetChecksum1(S) == 1484596684 && 11 | ssGetChecksum2(S) == 3577695903 && 12 | ssGetChecksum3(S) == 643404390) { 13 | method_dispatcher_Muaidk3Mt9YKJ8xvv4B4QE(S, method, data); 14 | return 1; 15 | } 16 | 17 | return 0; 18 | } 19 | -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/subscriber/src/subscriber_cgxe.def: -------------------------------------------------------------------------------- 1 | LIBRARY subscriber_cgxe.mexw64 2 | EXPORTS 3 | mexFunction 4 | mexfilerequiredapiversion -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/subscriber/src/subscriber_cgxe.exp: -------------------------------------------------------------------------------- 1 | subscriber_cgxe.mexw64 2 | mexFunction mexFunction 3 | mexfilerequiredapiversion mexfilerequiredapiversion 4 | -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/subscriber/src/subscriber_cgxe.h: -------------------------------------------------------------------------------- 1 | #ifndef __subscriber_cgxe_h__ 2 | #define __subscriber_cgxe_h__ 3 | 4 | /* Include files */ 5 | #include "simstruc.h" 6 | #include "rtwtypes.h" 7 | #include "multiword_types.h" 8 | #include "emlrt.h" 9 | #include "covrt.h" 10 | #include "cgxert.h" 11 | #include "ctimefun.h" 12 | #define rtInf (mxGetInf()) 13 | #define rtMinusInf (-(mxGetInf())) 14 | #define rtNaN (mxGetNaN()) 15 | #define rtIsNaN(X) ((int)mxIsNaN(X)) 16 | #define rtIsInf(X) ((int)mxIsInf(X)) 17 | 18 | extern unsigned int cgxe_subscriber_method_dispatcher(SimStruct* S, int_T method, 19 | void* data); 20 | 21 | #endif 22 | -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/subscriber/src/subscriber_cgxe.lib: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter13/ros_matlab_test/slprj/_cgxe/subscriber/src/subscriber_cgxe.lib 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method_dispatcher_xkq2bYMqTPePvRauP0qkrG(S, method, data); 14 | return 1; 15 | } 16 | 17 | return 0; 18 | } 19 | -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/turtlebot_orientation_ctrl/turtlebot_orientation_ctrl_Cache.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Second-Edition/cb56612094689566263e9a4f0777e194c0ddd79a/Chapter13/ros_matlab_test/slprj/_cgxe/turtlebot_orientation_ctrl/turtlebot_orientation_ctrl_Cache.mat -------------------------------------------------------------------------------- /Chapter13/ros_matlab_test/slprj/_cgxe/turtlebot_orientation_ctrl_v2/src/c_mexapi_version.obj: -------------------------------------------------------------------------------- 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